WO2019037102A1

WO2019037102A1 - Method and apparatus for obtaining flight simulation data, storage medium and device

Info

Publication number: WO2019037102A1
Application number: PCT/CN2017/099113
Authority: WO
Inventors: 赵开勇; 姚尧; 马岳文; 郑石真
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-08-25
Filing date: 2017-08-25
Publication date: 2019-02-28
Also published as: CN108701164A

Abstract

A method for obtaining flight simulation data, comprising: acquiring one or more target environment sub-models of an aircraft model in a flight scene to be simulated, the target environment sub-model including a target dynamic environment model, the dynamic environment model being a model created for environmental factors having a dynamic change characteristic; processing the interaction between each target environment sub-model and the aircraft model to obtain a first type of data and a second type of data; and rendering the first type of data and outputting the rendered data, and directly outputting the second type of data. The method can effectively simulate various possible scenes in the real world and can provide more realistic and accurate simulation data to the development process of an aircraft, thus providing effective assistance for an aircraft under development. An apparatus for obtaining flight simulation data, a computer readable storage medium, and a computing device are all used to implement the described method.

Description

Method, device, storage medium and device for obtaining flight simulation data

Technical field

The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a storage medium, and a device for obtaining flight simulation data.

Background technique

At present, the aircraft has a wide range of applications. In order to ensure that the aircraft can cope with various scene changes during the actual flight process, the flight simulator will be designed accordingly, and the flight process of the aircraft will be simulated to optimize the various parameters of the aircraft according to the simulation results. , as well as control performance and so on.

In the related art, the flight simulator is usually simulated by a robot simulator. The simulation result can only simulate an idealized static environment scene, and the aircraft still faces the complicated and varied scenes and environments during the actual flight process. More adjustments are needed. In some extreme environments, the aircraft may even be ineffective. Therefore, the existing flight simulator is relatively simple, so it is difficult to effectively assist the actual flight process of the aircraft based on the flight simulation data obtained.

Summary of the invention

The application provides a method, device, storage medium and device for obtaining flight simulation data.

According to a first aspect of the present application, a method of obtaining flight simulation data is provided, the method comprising:

Obtaining one or more target environment sub-models of the aircraft model to be simulated flight scene, wherein the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is a model created for environmental factors having dynamic change characteristics;

Processing the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data;

The first type of data is rendered and output, and the second type of data is directly output.

According to a second aspect of the present application, an apparatus for obtaining flight simulation data is provided, comprising:

An acquiring unit, configured to acquire one or more target environment sub-models in an aircraft model to be simulated flight scenario, where the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is for an environmental factor having dynamic changing characteristics Created model;

a processing unit, configured to process interaction between each target environment sub-model and the aircraft model to obtain first type data and second type data;

And an output unit, configured to output the first type of data after being rendered, and directly output the second type of data.

According to a third aspect of the present application, there is provided a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to:

According to a fourth aspect of the present application, a computing device is provided, comprising a memory, a processor and an external interface connected by an internal bus,

The memory is configured to store machine readable instructions corresponding to control logic for obtaining flight simulation data;

The processor is configured to read the machine readable instructions on the memory and execute the instructions to:

It can be seen from the technical solutions provided by the above embodiments of the present application that the present application combines the processing and rendering of the sub-models of multiple scenes by simulating the flight scene of the aircraft through the different dynamic environment models established, and finally outputs the flight. The simulation data can effectively simulate various possible scenes in the real world, so it can provide more realistic and accurate simulation data to the development process of the aircraft, which can provide effective assistance for the aircraft in the development process, for example, the sensor can be optimized. Parameter configuration and optimization include various algorithms including control algorithms and navigation algorithms.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following description of the embodiments is required. BRIEF DESCRIPTION OF THE DRAWINGS The drawings in the following description are merely illustrative of some embodiments of the present application, and may be obtained by those skilled in the art without departing from the scope of the invention. Other drawings.

FIG. 1 is a schematic diagram of an application scenario of an embodiment of the present application;

2 is a schematic diagram of the principle of the embodiment of the present application;

3 is a flow chart of one embodiment of a method for obtaining flight simulation data in the present application;

4 is a flow chart of another embodiment of a method for obtaining flight simulation data in the present application;

5 is a block diagram of an embodiment of an apparatus for obtaining flight simulation data of the present application;

6 is a block diagram of an embodiment of a computing device of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application. Further, the features of the following embodiments and examples may be combined with each other without conflict.

The flight simulator can simulate the flight of the aircraft with high fidelity. The flight simulation data obtained by the simulation can be used to optimize the sensor parameter configuration of the aircraft and optimize various flight control algorithms and navigation control algorithms. The functionality of the flight simulator is reflected in the ability to provide simulations that are closer to the real scene for complex and variable environments. The flight simulators in the related art can usually only simulate idealized scenes, so it is difficult to carry out the actual flight process of the aircraft. Effective assistance.

FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present application:

In Fig. 1, the flight simulator is an APP (Application), which can be installed in a terminal device, for example, a mobile phone, a tablet computer, etc. In practical applications, when the user opens the flight simulation APP, the flight simulation control can be entered. Interface, at this time, the user can input various simulation commands to the aircraft model by operating on the flight simulation control interface, thereby presenting a flight simulation image of the aircraft model on the terminal device, thereby obtaining various flight simulation data. In order to enable the flight simulator to simulate more real scenes, especially dynamically changing scenes, different dynamic environment models may be established in advance, so as to simulate sub-models of multiple scenes when simulating the scene of the aircraft flying. Merge processing and rendering, so that the final output of flight simulation data can effectively simulate various possible scenarios in the real world.

Referring to FIG. 2, a schematic diagram of an embodiment of obtaining flight simulation data according to the present application is shown:

The schematic shown in Figure 2 includes a plurality of pre-created models and processing systems. The plurality of models may be stored in a memory, and the plurality of models may include: a static environment model indicating that the environment is stable in the environment and the object does not move; and a dynamic environment model including a state change and the object may move; An aircraft model used to simulate the appearance and flight control of an actual aircraft. The processing system can call the aircraft model from the memory, and the selected static environment model and the dynamic environment model, etc., by combining the processing and rendering of the interaction between the models, and outputting as the first Image data and depth data of the class data, and sensor type data without rendering processing as the second type of data can be directly output, and the above two pieces of data are collectively referred to as flight simulation data.

The embodiments of the present application are described in detail below with reference to FIG. 1 and FIG.

Referring to FIG. 3, a flow chart of an embodiment of a method for obtaining flight simulation data according to the present application includes the following steps:

Step 301: Acquire one or more target environment sub-models in the aircraft model to be simulated flight scenario, and the target environment sub-model includes the target dynamic environment model.

In the embodiment of the present application, the flight simulator may simulate the flight process of the aircraft model in a flight scenario composed of one or more environmental sub-models.

Wherein, the aircraft model may include: a dynamic model for interacting with the target environment submodel, a control model for controlling the flight attitude of the aircraft model, and a visual system model for providing visual data for the control model; the environmental submodel may include The static environment model and the dynamic environment model; the flight scene may include: a flight scene that changes according to the weather system; a flight scene that changes according to the type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; Flight scene.

In an alternative implementation, the static environment model generally represents an object in the environment that contains state stability and does not create movement. The static environment model may include one or more of the following sub-models: a terrain sub-model, a building sub-model.

In one example, the terrain submodel can be used to simulate the generation of ultrasonic data to the ground. The ultrasonic data is the distance data generated by the physics engine from the collision of multiple beams emitted by the ultrasonic transmitter at the bottom of the aircraft with the surface model. The flight control logic can be provided with a reference for landing, or a terrain following function for navigation. Taking flight control as the example of the control logic when landing, the height of the aircraft from the ground can be obtained by ultrasonic data. The ultrasonic data is monitored in real time when the aircraft is landing. When the aircraft approaches the surface, the aircraft is decelerated, and the upper limit of the aircraft and the distance of the aircraft are controlled. Taking the distance of the ground as a direct example; taking the terrain following function when providing navigation as an example, by recording the initial height of the aircraft when the function is initially turned on, the altitude and the initial height of the aircraft from the ground are compared in real time, and when the altitude is higher than the initial height, the control aircraft is lowered. When the altitude is lower than the initial height, the control aircraft is raised.

In another example, the building sub-model can be used to simulate obstacle information in image data and depth data captured by the aircraft. By identifying the distance, location, etc. of the building, the obstacle avoidance strategy of the aircraft can be specified. , bypass strategy, etc.

A dynamic environment model is a model created for environmental factors with dynamically changing characteristics. It usually indicates that the environment contains objects that are state-variable and may move. The dynamic environment model may include one or more of the following sub-models: Weather System Submodel, light source submodel, environment modifier submodel, moving object submodel, and interference submodel.

In one example, the sub-model of the light source can be used to simulate the effect on the brightness of the image captured by the aircraft. When the image is overexposed or partially overexposed, the vision system of the aircraft may fail. The vision system may include a sensing function module and a navigation function. a module, wherein the sensing function module can be used to calculate the position of the aircraft by image data captured by the onboard camera, or to perceive an object within a certain range by the ultrasonic sensor, and the navigation function module can be used to plan the aircraft for image data taken by the onboard camera. Navigation data, the navigation data may include the navigation flight path data and flight behavior data of the aircraft, so the light source sub-model can be used to test whether the aircraft can maintain safe flight after the vision system fails, or whether it can be restored after the image brightness returns to normal. Visual system function. Similarly, the snow model in the environmental modifier model can be used to simulate the overexposure of the image by snow reflection. In the snow environment, the image of the aircraft is difficult to extract because the image is white. With enough feature points, the visual system function of the aircraft can also be tested by the ground area snow model.

In another example, the rain-snow sub-model in the weather system sub-model can be used to simulate the noise impact on the image captured by the aircraft. In the image picture taken by the aircraft, if there is rain or snow, it is equivalent to adding noise to the image. Therefore, it is possible to test the robustness of the visual algorithm and the performance of filtering noise. Further, by simulating the bad weather, for example, heavy rain or blizzard, the boundary of the visual algorithm can be tested to obtain the safe flight limit of the aircraft.

In another example, the moving object submodel can be used to simulate people, animals, vehicles, etc. in the scene, and the corresponding aircraft model can simulate generating a main camera image code stream and transmit the image code stream to the navigation algorithm module for advanced Functional development tests, such as tracking or wrapping vehicles, recognizing human gestures, etc.

The dynamic environment models in the above examples can be used to simulate the generation of visual image information and to verify the visual system of the aircraft. Among them, the visual image is usually a grayscale image, and the main camera image code stream is usually a color image stream.

In this step, when the flight simulation state is to be entered, one or more environment sub-models of the aircraft to be simulated flight scene may be acquired in different manners, and the one or more environment sub-models are referred to as the target environment sub-model.

Typically one or more environment submodels may be mapped to a particular flight scenario, or different flight scenarios may correspond to one or more environment submodels. Based on this, two alternative implementations for obtaining the target environment submodel are provided:

In an optional implementation manner, when entering the flight simulation state, the environment sub-model list may be directly outputted on the display interface, and the environment sub-model list includes all the preset dynamic environment models and static environment models, and the user may To simulate a flight scenario, select one or more target environment sub-models from the list of environment sub-models, that is, the target environment sub-model is mapped to a target flight scenario, wherein the one or more target environment sub-models include a dynamic environment model Further, a static environment model can also be included.

In another optional implementation manner, the created aircraft model and the plurality of types of environment sub-models may be pre-stored, and the correspondence between different flight scenes and different environment sub-model names may be saved when entering the flight simulation state. The plurality of flight scenes can be directly outputted on the display interface for the user to select, and the result selected by the user is determined as the target flight scene to be simulated by the aircraft model, and the corresponding relationship is searched according to the target flight scene, thereby calling one corresponding to the target flight scene. Or multiple target environment submodels.

Step 302: Process interaction between each target environment sub-model and the aircraft model to obtain first type data and second type data.

In this step, when obtaining the first type of data, the target position of the dynamic object in the flight scene in the target dynamic environment model in the target environment sub-model may be determined first, and then the dynamic object is superimposed to the target according to the target position. The corresponding position in the target static environment model in the environment submodel, thereby obtaining a merged model as the first type of data.

In this step, when the second type of data is obtained, the flight state data of the aircraft model in the merged model can be calculated to obtain the second type of data. Wherein, the flight state data may include at least one of the following data: position data of the aircraft model, distance data of the aircraft model and the remote controller, altitude data of the aircraft model, and direction data of the aircraft model. Correspondingly, the second type of data may include at least one of the following sensor type data: GPS data obtained from the position data, compass data obtained from the direction data, barometer data obtained from the height data, and a remote controller obtained from the distance data Signal strength data, ultrasonic sensor data obtained from position data and direction data, and IMU data, and the like.

Step 303: Perform rendering on the first type of data, and directly output the second type of data.

In this step, after obtaining the merged model as the first type of data, the merged model may be rendered, and the rendering process may adopt various existing rendering algorithms, which are not described herein. The first type of data after rendering can include: image data and depth data.

It can be seen from the above embodiment that the embodiment uses the different dynamic environment models to simulate the flight scene of the aircraft, and combines and renders the sub-models of the multiple scenes, and finally outputs the flight simulation data, which can be effectively The real world's various possible scenarios are simulated, so that more realistic and accurate simulation data can be provided to the aircraft development process, which can provide effective assistance for the aircraft during development.

Referring to FIG. 4, a flow chart of another embodiment of a method for obtaining flight simulation data according to the present application, illustrates in detail a process of obtaining flight simulation data and performing flight control adjustment according to the flight simulation data:

Step 401: Pre-storing the created aircraft model and multiple types of environment sub-models, and preserving the correspondence between different flight scenarios and different environment sub-model names, wherein the plurality of types of environment sub-models include a dynamic environment model and Static environment model.

In this embodiment, the aircraft model for simulating the actual aircraft may include: a dynamic model for interacting with the environment submodel, a control model for controlling the flight attitude of the aircraft model, and for providing visual data for the control model Visual system model.

The environment sub-model may include a static environment model and a dynamic environment model. The static environment model usually represents an object in the environment that contains stable state and does not move. The static environment model can include one or more of the following sub-models: terrain sub-models such as mountains, plains, etc.; building sub-models, such as buildings, Commercial buildings, etc.; dynamic environment models are models created for environmental factors with dynamically changing characteristics, usually indicating that the environment contains objects that are state-variable and may move. The dynamic environment model may include one or more of the following sub-models. : weather system sub-models, such as clouds, wind, rain, snow, etc.; light source sub-models, such as direct light source, scattered light source, point light source, parallel light source, etc.; environmental modifier sub-model, such as ground area snow, ground area water, etc.; Object submodels, such as animals, people, vehicles, etc.; interference submodels, such as magnetic field interference, GPS interference, control signal interference, etc.

The sub-model of the above dynamic environment model can be characterized by the algorithm and formula model in the related technology. The following describes the process of establishing the sub-model with several examples:

Taking the wind model as an example, the average wind power of the corresponding area can usually be calculated according to different geographical regions, and then an intermittent wind is superimposed on the basis of the wind to simulate the dynamic wind of the corresponding area, and the intermittent wind can pass the sine The signal y = sin(wt) is characterized, where w is the intermittent frequency, t is the time, and y is the wind power.

Taking the magnetic field interference model as an example, a strip magnet can be arranged around the aircraft model as the interference magnetic field, and then the magnetic field and the strip magnet magnetic field are superimposed to realize the interference to the geomagnetic signal. Among them, the mathematical model of the strip magnet and the mathematical model of the geomagnetic field can adopt the model in the related art. For example, the mathematical model of the geomagnetic field can adopt the World Magnetic Model 2015, and the mathematical model of the strip magnet can be based on O.-Savar's law establishes a magnetic field generated by a steady current, which can be characterized by a formula

Where I is the source current, L' is the integral path, and dl' is the tiny line element of the source current.

Taking the establishment of the GPS interference model as an example, the standard used for GPS communication is the NMEA 0183 standard, so it can be changed. The number of satellites used in the GPGGA (GPS fixed data output statement) and the horizontal accuracy are used to simulate GPS interference.

Taking the establishment of control signal interference as an example, interference can be achieved by blocking communication between the remote control and the aircraft model.

The flight scene may include: a flight scene that changes according to the weather system; a flight scene that changes according to the type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; and a flight scene that changes according to the interference situation. Since different flight scenarios can correspond to one or more environment sub-models, the correspondence between different flight scenarios and different environment sub-models can be created in advance in this embodiment, for example,

The above aircraft model and multiple types of environment sub-models can be characterized by various mathematical formulas, and the corresponding relationships between the various models and the above-described creation can be saved in the memory.

Step 402: Determine a target flight scenario to be simulated by the aircraft;

When entering the flight simulation state, multiple flight scenarios can be directly output on the display interface for the user to select, and the result selected by the user is determined as the target flight scenario to be simulated by the aircraft model. In an alternative implementation, the user's selection result may be a plurality of flight scenes, for example, a flight scene that includes both snow and a ground scene containing snow.

Step 403: Find a correspondence between different flight scenarios and different environment sub-model names according to the target flight scenario, and obtain an environment sub-model name corresponding to the target flight scenario.

Step 404: Invoke one or more target environment sub-models corresponding to the environment sub-model name from the saved multiple types of environment sub-models.

Step 405: Process the interaction between each target environment sub-model and the aircraft model, obtain the first type of data and the second type of data, and perform

steps

406 and 410 respectively.

In this embodiment, the interaction between the environment sub-model and the aircraft model can be simulated by using various existing physical system models, including: the mechanical physical model can be used to simulate the collision of the aircraft and the influence of gravity on the aircraft, which can be adopted. The electromagnetic model simulates the attenuation, shielding, and electromagnetic interference of the flight control signal. The magnet model can be used to simulate the interference of the magnetic field on the compass of the aircraft. The hydrodynamic model can be used to simulate the wind, air resistance, and propeller power of the aircraft. The above physical model is described below through several specific alternative implementations:

In an alternative implementation, the physical model interacting with the aircraft model and the aircraft model may include: an interaction force model of the aircraft and the air at different body motion speeds and propeller speeds, the interaction force model being used to obtain After the force of the aircraft model relative to the air, the flight state information of the aircraft, such as the motion acceleration and angular acceleration of the aircraft fuselage, is obtained by synthesizing the force with the gravity of the fuselage.

In another alternative implementation, when the static environment model containing the building interacts with the dynamic environment model containing the wind system, the wind speed values may be different at different locations of the building due to differences in building height and volume. Therefore, when simulating wind power through a hydrodynamic model, wind speed fields at different positions can be created in advance, and the wind speed field can be a function of time, thereby simulating wind speed variation and turbulence.

In this step, when obtaining the first type of data, the target position of the dynamic object in the flight scene in the target dynamic environment model in the target environment sub-model may be determined first, and then the dynamic object is superimposed to the target according to the target position. The corresponding position in the target static environment model in the environment submodel, thereby obtaining a merged model as the first type of data. For example, in a flight scenario simulated by an aircraft model, the target static environment model includes a building, and the target dynamic environment model includes a moving vehicle (a moving object submodel) and a falling snow (a weather system submodel), which may be at the target. In the same background environment as the static environment and the target static environment, the position of the car and the snowflake is determined first, and then the car and the snowflake are superimposed to the corresponding position in the background environment of the building according to the position, thereby obtaining the target static environment model. A merged model of the target dynamic environment model.

Step 406: After the first type of data is rendered and output.

Step 407: Input the first type of data into the visual system model of the aircraft model.

Step 408: Obtain visual data obtained after the visual system model senses and navigates the first type of data.

Step 409: Input the visual data into the control model of the aircraft model to end the current process.

In combination with the foregoing steps 407 to 409, the visual system may include a sensing function module and a navigation function module, and the first type of data may be input into the sensing function module and the navigation function module, thereby obtaining an aircraft obtained by the sensing function module according to the first type of data. Location data and location data of surrounding objects, and obtaining navigation data of the aircraft obtained by the navigation function module according to the first type of data, the navigation data may include navigation flight path data and flight behavior data of the aircraft, and then the above location data and navigation data The control model is entered so that the control model can use this data for flight control.

Step 410: Input the second type of data into the control model of the aircraft model.

Step 411: Obtain flight control data that is output after the control model performs virtual flight control on the aircraft according to the second type of data.

Step 412: Adjust the flight control logic of the aircraft according to the flight control data, and end the current process.

In combination with the above steps 410 to 412, in an example of an optional adjustment flight control logic, it is assumed that the control mode in which the aircraft is flying is a fixed point mode. If the aircraft loses the GPS signal due to magnetic field interference, the aircraft should automatically switch to the attitude. Mode, Application The embodiment of the present application can simulate the above scenario by a flight simulator to detect whether the flight simulator will switch to the attitude mode.

In another example of the optional adjustment of the flight control logic, it is assumed that the aircraft encounters a strong geomagnetic compass interference, and the original value of the aircraft state calculated by the navigation control system may be incorrect at this time, and the embodiment of the present application may be adopted. The flight simulator simulates the true value of the state of the aircraft in the above scenario. By calculating the difference between the real value and the original value, it provides a basis for the development and improvement of the navigation algorithm in the navigation control system, that is, the navigation algorithm can be informed that the geomagnetic compass arrives in the interference. To what extent may result in failure.

Corresponding to the foregoing method embodiments for obtaining flight simulation data, the present application also provides an embodiment of an apparatus and apparatus for obtaining flight simulation data.

Referring to FIG. 5, a block diagram of an embodiment of an apparatus for obtaining flight simulation data according to the present application is as follows:

The apparatus includes an acquisition unit 510, a processing unit 520, and an output unit 530.

The acquiring unit 510 is configured to acquire one or more target environment sub-models in the aircraft model to be simulated flight scenario, where the target environment sub-model includes a target dynamic environment model, where the dynamic environment model is for the dynamic change characteristic a model created by environmental factors;

The processing unit 520 is configured to process interaction between each target environment sub-model and the aircraft model to obtain first type data and second type data;

The output unit 530 is configured to perform post-rendering output on the first type of data, and directly output the second type of data.

In an optional implementation manner, the obtaining unit 510 may include:

a list output subunit, configured to output an environment submodel list, where the environment submodel list includes a dynamic environment model and a static environment model;

The target obtaining subunit is configured to obtain one or more target environment submodels selected by the user from the list of environment submodels.

In another optional implementation manner, the obtaining unit 510 may include:

a target determining subunit for determining a target flight scene to be simulated by the aircraft;

The target invocation subunit is configured to invoke one or more target environment submodels corresponding to the target flight scene.

Based on the foregoing implementation manner, the apparatus may further include:

a saving unit, configured to pre-save the created aircraft model and the plurality of types of environment sub-models, and save a correspondence between different flight scenarios and different environment sub-model names, wherein the plurality of types of environment sub-models include Dynamic environment model and static environment model.

Correspondingly, the target calling subunit is specifically configured to search the corresponding relationship according to the target flight scenario, obtain an environment submodel name corresponding to the target flight scenario, and obtain from the saved multiple types of environment sub-categories One or more target environment sub-models corresponding to the environment sub-model name are called in the model.

In another alternative implementation:

The flight scene includes: a flight scene according to a change of the weather system; a flight scene that changes according to the type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; and a flight scene that changes according to the interference condition;

The static environment model in the environment sub-model includes one or more of the following sub-models: a terrain sub-model, a building sub-model;

The dynamic environment model in the environment sub-model includes one or more of the following sub-models: a weather system sub-model, a light source sub-model, an environment modifier sub-model, a moving object sub-model, and an interference sub-model.

The weather system sub-model includes a wind sub-model, and the wind sub-model is characterized by a corresponding relationship between wind speed fields and wind speed values of different geographical locations;

The interference sub-model is simulated by a set electromagnetic model including: a magnetic field interference sub-model, a GPS interference sub-model, and a remote control control signal interference sub-model.

In another optional implementation, the processing unit 520 can include:

a location determining subunit, configured to determine a target location of the dynamic object in the target dynamic environment model in the flight scenario;

An object superposition subunit, configured to superimpose the dynamic object to a corresponding position in a target static environment model in the target environment submodel according to the target location, to obtain a merge model as the first type of data; ,

a data calculation subunit for calculating flight state data in the merged model of the aircraft model, Get the second type of data.

The first type of data after the rendering of the merged model includes: image data and depth data;

The flight state data includes at least one of the following: position data of the aircraft model, distance data between the aircraft model and the remote controller, altitude data of the aircraft model, and direction data of the aircraft model;

The second type of data includes at least one of the following sensor type data: GPS data obtained from the position data, compass data obtained from the direction data, barometer data obtained from the height data, according to the Remote control signal strength data obtained from the distance data, ultrasonic sensor data obtained from the position data and direction data, and IMU data.

In another optional implementation, the aircraft model includes: a dynamic model for interacting with the target environment submodel, a control model for controlling an aircraft model flight attitude, and for using the control model A visual system model that provides visual data.

Correspondingly, in an example, the device may further include:

a first input unit, configured to input the first type of data into the vision system model;

a first obtaining unit, configured to obtain visual data obtained after the visual system model senses and navigates the first type of data;

The first input unit is further configured to input the visual data into the control model.

Correspondingly, in another example, the apparatus may further include:

a second input unit, configured to input the second type of data into the control model;

a second obtaining unit, configured to obtain flight control data that is output after the control model performs virtual flight control on the aircraft according to the second type of data;

An adjustment unit for adjusting flight control logic of the aircraft based on the flight control data.

Referring to FIG. 6 , it is a schematic diagram of an embodiment of a computing device of the present application. The computing device may include a memory 620 connected through an internal bus 610 , a processor 630 , and an external interface 640 .

The memory 620 is configured to store machine readable instructions corresponding to control logic for obtaining flight simulation data;

The processor 630 is configured to read the machine readable instructions on the memory 620 and execute the instructions to:

Obtaining one or more target environment sub-models of the aircraft model to be simulated flight scene, the target environment sub-model The model includes a target dynamic environment model, wherein the dynamic environment model is a model created for environmental factors having dynamically changing characteristics;

In an optional implementation manner, the processor 630 is specifically configured to output an environment sub-model list, where the environment sub-model list is selected when performing one or more target environment sub-models under the aircraft model to be simulated flight scene. The dynamic environment model and the static environment model are included; one or more target environment sub-models selected by the user from the list of environment sub-models are obtained.

In another optional implementation manner, the processor 630 is specifically configured to determine a target flight scenario to be simulated by the aircraft when performing one or more target environment sub-models for acquiring an aircraft model to be simulated flight scene; One or more target environment sub-models corresponding to the target flight scene.

In another optional implementation, the memory 620 is further configured to pre-save the created aircraft model and the plurality of types of environment sub-models, and save the correspondence between different flight scenarios and different environment sub-model names. The plurality of types of environment sub-models include a dynamic environment model and a static environment model.

Correspondingly, when the processor 630 performs one or more target environment sub-models corresponding to the flight scene, the processor 630 is specifically configured to search the corresponding relationship according to the target flight scene to obtain the target flight scene. Corresponding environment sub-model name; one or more target environment sub-models corresponding to the environment sub-model name are called from the saved plurality of types of environment sub-models.

In another alternative implementation:

The weather system sub-model includes a wind sub-model that passes wind speed fields of different geographic locations and Characterizing the correspondence of wind speed values;

In another optional implementation manner, the processor 630 is configured to process the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data, specifically for determining the a target location of the dynamic object in the flight scene in the target dynamic environment model; according to the target location, the dynamic object is superimposed to a corresponding position in the target static environment model in the target environment submodel, and obtained as a merged model of the first type of data; and, by calculating flight state data of the aircraft model in the merged model, obtaining a second type of data.

In another alternative implementation:

The first type of data after rendering the merged model includes: image data and depth data;

In another optional implementation, the processor 630 is further configured to input the first type of data into the visual system model, and obtain the visual system model to perform sensing and navigation processing on the first type of data. Thereafter, the obtained visual data; the visual data is input to the control model.

In another optional implementation manner, the processor 630 is further configured to input the second type of data into the control model; and obtain the control model to perform virtual flight control on the aircraft according to the second type of data. And outputting flight control data; adjusting flight control logic of the aircraft based on the flight control data.

In addition, the flow of obtaining flight simulation data shown in the embodiment of the present application may also be included in a computer readable storage medium, and the storage medium may be connected to a processing device that executes instructions for storing control for obtaining flight simulation data. Logic-corresponding machine readable instructions executable by a processing device, the machine readable instructions being Implement the following operations:

In an optional implementation manner, when the computer instruction is executed to acquire one or more target environment sub-models in the flight model to be simulated, the following processing is specifically performed:

Outputting a list of environment sub-models, the dynamic sub-model list including a dynamic environment model and a static environment model;

Obtaining one or more target environment sub-models selected by the user from the list of environment sub-models.

In another optional implementation manner, when the computer instruction is executed to acquire one or more target environment sub-models in an aircraft model to be simulated flight scenario, the following processing is specifically performed:

Determining a target flight scene to be simulated by the aircraft;

One or more target environment sub-models corresponding to the target flight scene are invoked.

In another optional implementation, the computer instructions are further processed as follows when executed:

Pre-storing the created aircraft model and multiple types of environment sub-models, and preserving correspondence between different flight scenarios and different environment sub-model names, wherein the plurality of types of environment sub-models include dynamic environment models and static Environmental model.

In another optional implementation manner, when the computer instruction is executed to invoke one or more target environment sub-models corresponding to the flight scenario, the following processing is specifically performed:

Finding the corresponding relationship according to the target flight scenario, and obtaining an environment sub-model name corresponding to the target flight scenario;

One or more target environment sub-models corresponding to the environment sub-model name are called from the saved plurality of types of environment sub-models.

In another optional implementation manner, the flight scene includes: a flight scene that changes according to a weather system; a flight scene that changes according to a type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; a flight scene with changing conditions;

In another optional implementation manner, the weather system sub-model includes a wind sub-model, and the wind sub-model is characterized by a corresponding relationship between wind speed fields and wind speed values of different geographic locations;

In another optional implementation manner, the computer instruction is executed to process the interaction between each target environment sub-model and the aircraft model, and when the first type of data and the second type of data are obtained, the following processing is specifically performed:

Determining a target location of the dynamic object in the target dynamic environment model in the flight scenario;

And superimposing the dynamic object on a corresponding position in the target static environment model in the target environment sub-model according to the target location, obtaining a merge model as the first type of data; and

A second type of data is obtained by calculating flight state data of the aircraft model in the merged model.

In another optional implementation manner, the first type of data after the rendering of the merged model includes: image data and depth data;

Importing the first type of data into the vision system model;

Obtaining visual data obtained after the visual system model senses and navigates the first type of data;

The visual data is input to the control model.

Inputting the second type of data into the control model;

Obtaining flight control data that is output after the control model performs virtual flight control on the aircraft according to the second type of data;

The flight control logic of the aircraft is adjusted based on the flight control data.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or order between them. The terms "comprising," "comprising," or "include" or "include" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that includes a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

Embodiments of the subject matter and functional operations described in this specification can be implemented in the following: digital electronic circuits, tangible embodied computer software or firmware, computer hardware including the structures disclosed in the specification and their structural equivalents, or One or more combinations. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one of computer program instructions encoded on a tangible, non-transitory program carrier to be executed by a data processing device or to control operation of a data processing device or Multiple modules. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagating signal, such as a machine-generated electrical, optical or electromagnetic signal that is generated to encode and transmit the information to a suitable receiver device for data The processing device executes. The computer storage medium can be a machine readable storage device, a machine readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

The processes and logic flows described in this specification can be performed by one or more of executing one or more computer programs The programmable computer executes to perform the corresponding function by operating according to the input data and generating an output. The processing and logic flow may also be performed by dedicated logic circuitry, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the apparatus may also be implemented as dedicated logic circuitry.

Computers suitable for the execution of a computer program include, for example, a general purpose and/or special purpose microprocessor, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read only memory and/or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, the computer will also include one or more mass storage devices for storing data, such as a magnetic disk, magneto-optical disk or optical disk, or the like, or the computer will be operatively coupled to the mass storage device for receiving data or It transmits data, or both. However, the computer does not have to have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or, for example, a universal serial bus (USB) ) Portable storage devices for flash drives, to name a few.

Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices including, for example, semiconductor memory devices (eg, EPROM, EEPROM, and flash memory devices), magnetic disks (eg, internal hard drives or Mobile disk), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

The description contains many specific implementation details, which are not intended to limit the scope of the invention or the scope of the claimed invention, but are mainly used to describe the features of the specific embodiments of the invention. Certain features that are described in the various embodiments in this specification can also be implemented in combination in a single embodiment. In another aspect, the various features described in a single embodiment can also be implemented separately in various embodiments or in any suitable sub-combination. Moreover, although features may function in certain combinations as described above and even initially claimed, one or more features from the claimed combination may be removed from the combination in some cases and are required The combination of protections can point to a variant of a sub-combination or sub-combination.

Similarly, although the operations are depicted in a particular order in the drawings, this should not be construed as requiring that the operations are performed in the particular order shown or in the sequence, or that all illustrated operations are performed to achieve the desired. result. In some cases, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product. Medium, or packaged into multiple software products.

Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, The processes depicted in the figures are not necessarily shown in a particular order or in order to achieve a desired result. In some implementations, multitasking and parallel processing may be advantageous.

The method and apparatus provided in the embodiments of the present application are described in detail. The principles and implementation manners of the application are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present application and At the same time, there will be changes in the specific embodiments and application scopes according to the idea of the present application, and the contents of the present specification should not be construed as limiting the present application. .

Claims

A method for obtaining flight simulation data, the method comprising:

Obtaining one or more target environment sub-models of the aircraft model to be simulated flight scene, wherein the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is a model created for environmental factors having dynamic change characteristics;

Processing the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data;

The first type of data is rendered and output, and the second type of data is directly output.
The method according to claim 1, wherein the acquiring one or more target environment sub-models of the aircraft model to be simulated in the flight scene comprises:

Outputting a list of environment sub-models, the dynamic sub-model list including a dynamic environment model and a static environment model;

Obtaining one or more target environment sub-models selected by the user from the list of environment sub-models.
The method according to claim 1, wherein the acquiring one or more target environment sub-models of the aircraft model to be simulated in the flight scene comprises:

Determining a target flight scene to be simulated by the aircraft;

One or more target environment sub-models corresponding to the target flight scene are invoked.
The method of claim 3, wherein the method further comprises:

Pre-storing the created aircraft model and multiple types of environment sub-models, and preserving correspondence between different flight scenarios and different environment sub-model names, wherein the plurality of types of environment sub-models include dynamic environment models and static Environmental model.
The method of claim 4, wherein the invoking one or more target environment sub-models corresponding to the flight scenario comprises:

Finding the corresponding relationship according to the target flight scenario, and obtaining an environment sub-model name corresponding to the target flight scenario;

One or more target environment sub-models corresponding to the environment sub-model name are called from the saved plurality of types of environment sub-models.
The method of claim 1 wherein

The flight scene includes: a flight scene according to a change of the weather system; a flight scene that changes according to the type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; and a flight scene that changes according to the interference condition;

The static environment model in the environment sub-model includes one or more of the following sub-models: a terrain sub-model, a building sub-model;

The dynamic environment model in the environment sub-model includes one or more of the following sub-models: a weather system sub-model, a light source sub-model, an environment modifier sub-model, a moving object sub-model, and an interference sub-model.
The method of claim 6 wherein:

The weather system sub-model includes a wind sub-model, and the wind sub-model is characterized by a corresponding relationship between wind speed fields and wind speed values of different geographical locations;

The interference sub-model is simulated by a set electromagnetic model including: a magnetic field interference sub-model, a GPS interference sub-model, and a remote control control signal interference sub-model.
The method according to claim 1, wherein said processing the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data comprises:

Determining a target location of the dynamic object in the target dynamic environment model in the flight scenario;

And superimposing the dynamic object on a corresponding position in the target static environment model in the target environment sub-model according to the target location, obtaining a merge model as the first type of data; and

A second type of data is obtained by calculating flight state data of the aircraft model in the merged model.
The method of claim 8 wherein:

The first type of data after rendering the merged model includes: image data and depth data;

The flight state data includes at least one of the following: position data of the aircraft model, distance data between the aircraft model and the remote controller, altitude data of the aircraft model, and direction data of the aircraft model;

The second type of data includes at least one of the following sensor type data: GPS data obtained from the position data, compass data obtained from the direction data, barometer data obtained from the height data, according to the Remote control signal strength data obtained from the distance data, ultrasonic sensor data obtained from the position data and direction data, and IMU data.
The method according to any one of claims 1 to 9, wherein the aircraft model comprises: a dynamic model for interacting with the target environment submodel, and a control model for controlling an aircraft model flight attitude, And a vision system model for providing visual data to the control model.
The method of claim 10, wherein the method further comprises:

Importing the first type of data into the vision system model;

Obtaining visual data obtained after the visual system model senses and navigates the first type of data;

The visual data is input to the control model.
The method of claim 10, wherein the method further comprises:

Inputting the second type of data into the control model;

Obtaining flight control data that is output after the control model performs virtual flight control on the aircraft according to the second type of data;

The flight control logic of the aircraft is adjusted based on the flight control data.
An apparatus for obtaining flight simulation data, comprising:

An acquiring unit, configured to acquire one or more target environment sub-models in an aircraft model to be simulated flight scenario, where the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is for an environmental factor having dynamic changing characteristics Created model;

a processing unit, configured to process interaction between each target environment sub-model and the aircraft model to obtain first type data and second type data;

And an output unit, configured to output the first type of data after being rendered, and directly output the second type of data.
The device according to claim 13, wherein the obtaining unit comprises:

a list output subunit, configured to output an environment submodel list, where the environment submodel list includes a dynamic environment model and a static environment model;

The target obtaining subunit is configured to obtain one or more target environment submodels selected by the user from the list of environment submodels.
The device according to claim 13, wherein the obtaining unit comprises:

a target determining subunit for determining a target flight scene to be simulated by the aircraft;

The target invocation subunit is configured to invoke one or more target environment submodels corresponding to the target flight scene.
The device according to claim 15, wherein the device further comprises:

a saving unit, configured to pre-save the created aircraft model and the plurality of types of environment sub-models, and save a correspondence between different flight scenarios and different environment sub-model names, wherein the plurality of types of environment sub-models include Dynamic environment model and static environment model.
The apparatus according to claim 16, wherein the target calling subunit is specifically configured to search for the correspondence according to the target flight scenario, obtain an environment submodel name corresponding to the target flight scenario, and One or more target environment sub-models corresponding to the environment sub-model name are called from the saved plurality of types of environment sub-models.
The device of claim 13 wherein:

The flight scene includes: a flight scene according to a change of the weather system; a flight scene that changes according to the type of the light source; a flight scene that changes according to the environment modification; a flight scene that changes according to the movement of the object; and a flight scene that changes according to the interference condition;

The static environment model in the environment submodel includes one or more of the following submodels: a terrain submodel, a building sub model;

The dynamic environment model in the environment sub-model includes one or more of the following sub-models: a weather system sub-model, a light source sub-model, an environment modifier sub-model, a moving object sub-model, and an interference sub-model.
The device of claim 18, wherein

The weather system sub-model includes a wind sub-model, and the wind sub-model is characterized by a corresponding relationship between wind speed fields and wind speed values of different geographical locations;

The interference sub-model is simulated by a set electromagnetic model including: a magnetic field interference sub-model, a GPS interference sub-model, and a remote control control signal interference sub-model.
The apparatus according to claim 13, wherein said processing unit comprises:

a location determining subunit, configured to determine a target location of the dynamic object in the target dynamic environment model in the flight scenario;

An object superposition subunit, configured to superimpose the dynamic object to a corresponding position in a target static environment model in the target environment submodel according to the target location, to obtain a merge model as the first type of data; ,

a data calculation subunit for obtaining second type of data by calculating flight state data of the aircraft model in the merged model.
The device of claim 20 wherein:

The first type of data after rendering the merged model includes: image data and depth data;

The flight state data includes at least one of the following: position data of the aircraft model, distance data between the aircraft model and the remote controller, altitude data of the aircraft model, and direction data of the aircraft model;

The second type of data includes at least one of the following sensor type data: GPS data obtained from the position data, compass data obtained from the direction data, barometer data obtained from the height data, according to the Remote control signal strength data obtained from the distance data, ultrasonic sensor data obtained from the position data and direction data, and IMU data.
The apparatus according to any one of claims 13 to 21, wherein said aircraft model comprises: a dynamic model for interacting with said target environment submodel, a control model for controlling flight attitude of the aircraft model, and A vision system model for providing visual data to the control model.
The device of claim 22, wherein the device further comprises:

a first input unit, configured to input the first type of data into the vision system model;

a first obtaining unit, configured to obtain visual data obtained after the visual system model senses and navigates the first type of data;

The first input unit is further configured to input the visual data into the control model.
The device of claim 22, wherein the device further comprises:

a second input unit, configured to input the second type of data into the control model;

a second obtaining unit, configured to obtain flight control data that is output after the control model performs virtual flight control on the aircraft according to the second type of data;

An adjustment unit for adjusting flight control logic of the aircraft based on the flight control data.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to:

Obtaining one or more target environment sub-models of the aircraft model to be simulated flight scene, wherein the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is a model created for environmental factors having dynamic change characteristics;

Processing the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data;

The first type of data is rendered and output, and the second type of data is directly output.
A computing device, comprising: a memory, a processor and an external interface connected by an internal bus, the memory for storing machine readable instructions corresponding to control logic for obtaining flight simulation data;

The processor is configured to read the machine readable instructions on the memory and execute the instructions to:

Obtaining one or more target environment sub-models of the aircraft model to be simulated flight scene, wherein the target environment sub-model includes a target dynamic environment model, wherein the dynamic environment model is a model created for environmental factors having dynamic change characteristics;

Processing the interaction between each target environment sub-model and the aircraft model to obtain the first type of data and the second type of data;

The first type of data is rendered and output, and the second type of data is directly output.