CN116257975A - One-seat control multi-machine visual simulation system and design method thereof - Google Patents

Abstract

The invention discloses a one-seat control multi-machine vision simulation system and a design method thereof, which are characterized by comprising the following steps: the system comprises a three-dimensional terrain, a model database (1), a multi-machine access unit (2), a multi-machine adaptation unit (3), a multi-machine view display unit (4) and a compressed view image unit (5). The invention can realize the control of multiple aircrafts, the synchronous simulation and the step-by-step control of the system on the multiple aircrafts, including but not limited to five aircrafts and five aircrafts, and the number and the types of the aircrafts can be freely combined according to the actual demands by user definition. According to the method, through the thought of clustering modeling, the overall visual requirements of the flight simulation of the aircraft are firstly combed, the universal simulation model classes of the aircraft in different classes are formed in a summary mode, then specific parameters are given to the universal models in a large class according to the specific characteristics of the aircraft in different classes, the universal models are associated with specific real aircraft in a certain class, and the purpose that a set of flight simulation excitation is shared by multiple or even multiple aircraft is achieved.

Description

One-seat control multi-machine visual simulation system and design method thereof

Technical Field

The invention belongs to the field of unmanned aerial vehicle command control, and particularly relates to a visual simulation system design method under a one-seat control multi-machine scene.

Background

Modern unmanned aerial vehicle task environment is increasingly complex, and single unmanned aerial vehicle task completion condition is easily influenced by load, duration, communication etc. and is difficult to form continuous batting power, and the battle mode of multi-unmanned aerial vehicle cooperative battle is developed, and different battle modes such as multi-axial main battle cooperation, flight suppression, high ultrafast battle, penetration battle, bundling attack, mixed scattering all need the mutual cooperation of many unmanned aerial vehicles. The resources consumed by the actual flight exercise of the unmanned aerial vehicles are huge, the large-scale multi-frequency flight exercise cannot be performed in daily training, the simulation training is usually performed by utilizing the virtual visual simulation technology of the unmanned aerial vehicles, however, the visual simulation part in the conventional simulation training of each unmanned aerial vehicle only supports the visual field of one machine, the multi-type unmanned aerial vehicles cannot be simultaneously accessed and simultaneously displayed, and the aim of the collaborative flight exercise of the unmanned aerial vehicles cannot be achieved under the limitation of the number of single seats. Therefore, the invention relates to a design method of a one-seat control multi-machine vision simulation system, which is helpful for improving the collaborative efficiency.

Disclosure of Invention

The invention aims to provide a design method of a multi-machine visual simulation system with good adaptability, compatibility and expansibility, which is used for solving command and cooperative control requirements in multi-machine cooperative simulation training under the condition of limited seat number.

The main technical scheme of the invention is as follows:

the invention provides a design method of a multi-machine vision simulation system with good adaptability, compatibility and expansibility.

The multi-machine vision simulation system mainly comprises: three-dimensional topography, model database (1), multimachine access unit (2), multimachine adaptation unit (3), multimachine view show unit (4), compression view image unit (5) five parts.

The invention obtains elicitations from an object-oriented programming language, builds a multi-machine model library by adopting a clustering modeling idea, builds a three-dimensional terrain database by adopting a spatial position fusion idea to carry out terrain fitting, and forms a three-dimensional terrain and model database (1).

The multi-aircraft access unit (2) can access flight data recorded by the real aircraft flight and virtual aircraft flight excitation data required by training.

The invention designs a design flow of a conversion plug-in unit, which is used for receiving and identifying information required by views in different ground-air protocols, namely ground-air protocol adaptation, because the formats of the ground-air protocols are different from each other according to different models, and the data of the airplanes with different models are required to be accessed simultaneously. The virtual aircraft wants to communicate with the data of the real aircraft, real communication protocol adaptation is needed, and currently, the domestic large unmanned aerial vehicle usually uses a DDS/UPS communication protocol, and the adaptation of the virtual aircraft is needed. The ground-air protocol adaptation and the communication protocol adaptation form a multi-machine adaptation unit (3).

The adapted data enter a multi-machine vision display unit (4), firstly, battlefield element loading is carried out according to the information of the three-dimensional terrain and model database (1), and a virtual battlefield is constructed. And then, synchronous visual picture display of multiple aircrafts is carried out by a multi-view port display technology, and the aim of multi-aircraft control is achieved by designing control and switching logic of multi-aircraft simulation.

The multi-machine vision image generated by the multi-machine vision display unit can be directly output on a display, or can be directly read and compressed by the compressed vision image unit (5) and the H.264 algorithm, so that the multi-machine vision image can be conveniently transmitted to another display device in a long distance.

The beneficial effects of the invention are as follows:

1. the invention relates to a simulation calling mechanism, which can carry out simulation behavior scheduling according to a centralized, distributed and hierarchical behavior scheduling mode to realize multi-machine control, and the system synchronously simulates and stepwise controls the multi-machine, including five planes and five planes, and can freely combine the number and types of the customized planes according to actual demands.

2. Because of different aircraft structures and different aerodynamic parameters, each type of aircraft needs to have independent embedded flight simulation software, protocols of each type of aircraft are different, and multiple frames of unmanned aerial vehicle simulation data cannot be accessed at the same time.

3. The method can be used for simultaneously accessing flight data of a virtual aircraft and a multi-type real aircraft, and can be used for DDS/UDP communication and truly accessing a control network.

4. The terrain fitting method is characterized in that vertexes are constructed on terrain data, and then fusion treatment and vertex sharing of the same vertexes are carried out according to coordinate transformation, so that gaps and overlapping possibility between various models are avoided, and the problem of visual flickering of overlapping surfaces in the fitting process of the terrain and a new model in the traditional method is fundamentally solved.

Drawings

FIG. 1 is a basic block diagram of a multi-machine vision simulation system;

FIG. 2 is a flow chart of co-simulation for multiple machines and multiple models;

FIG. 3 (including FIGS. 3 a-d) is an illustration of the present receive and transmit adaptation interface;

FIG. 4 is a receive adaptation flow diagram of an embodiment;

FIG. 5 is a transmit adaptation flow diagram of an embodiment;

fig. 6 is a receiving adaptation flow chart of a further embodiment;

FIG. 7 is a transmission adaptation flow chart of yet another embodiment;

FIG. 8 is a schematic diagram of an adaptive pyramid technique;

FIG. 9 depicts multiple layers of data (in the case of images) in a topographic data logic unit;

FIG. 10 illustrates an adapter workflow for local image and vector data invocation;

FIG. 11 flight simulation task centralized scheduling;

FIG. 12 flight simulation task distributed scheduling;

FIG. 13 flight simulation task hierarchical scheduling;

fig. 14 multiple viewports shows a flight simulation case screenshot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any inventive effort are intended to fall within the scope of the present invention.

Features and exemplary embodiments of various aspects of the invention are described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by showing examples of the invention. The present invention is in no way limited to any particular arrangement and method set forth below, but rather covers any adaptations, alternatives, and modifications of structure, method, and device without departing from the spirit of the invention. In the drawings and the following description, well-known structures and techniques have not been shown in detail in order not to unnecessarily obscure the present invention.

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other, and the embodiments may be referred to and cited with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Fig. 1 is a basic block diagram of a multi-machine vision simulation system.

Referring to fig. 1, the multi-machine vision simulation system mainly includes: three-dimensional topography, model database (1), multimachine access unit (2), multimachine adaptation unit (3), multimachine view show unit (4), compression view image unit (5) five parts.

The invention obtains elicitations from an object-oriented programming language, builds a multi-machine model library by adopting a clustering modeling idea, builds a three-dimensional terrain database by adopting a spatial position fusion idea to carry out terrain fitting, and forms a three-dimensional terrain and model database (1).

The multi-aircraft access unit (2) can access flight data recorded by the real aircraft flight and virtual aircraft flight excitation data required by training.

The invention designs a design flow of a conversion plug-in unit, which is used for receiving and identifying information required by views in different ground-air protocols, namely ground-air protocol adaptation, because the formats of the ground-air protocols are different from each other according to different models, and the data of the airplanes with different models are required to be accessed simultaneously. The virtual aircraft wants to communicate with the data of the real aircraft, real communication protocol adaptation is needed, and currently, the domestic large unmanned aerial vehicle usually uses a DDS/UPS communication protocol, and the adaptation of the virtual aircraft is needed. The ground-air protocol adaptation and the communication protocol adaptation form a multi-machine adaptation unit (3).

The adapted data enter a multi-machine vision display unit (4), firstly, battlefield element loading is carried out according to the information of the three-dimensional terrain and model database (1), and a virtual battlefield is constructed. And then, synchronous visual picture display of multiple aircrafts is carried out by a multi-view port display technology, and the aim of multi-aircraft control is achieved by designing control and switching logic of multi-aircraft simulation.

The multi-machine vision image generated by the multi-machine vision display unit can be directly output on a display, or can be directly read and compressed by the compressed vision image unit (5) and the H.264 algorithm, so that the multi-machine vision image can be conveniently transmitted to another display device in a long distance.

(1) Construction of a three-dimensional terrain and model database (1)

FIG. 2 is a flow chart of co-simulation for multiple machines and models. Referring to fig. 2:

1. in the aspect of model database construction, a multi-aircraft model library is built by adopting a clustering modeling idea, firstly, the flight simulation view requirements are combed, the modeling of global parameters (longitude, latitude, relative altitude, pitch angle, roll angle, yaw angle, rotation angle of load, focal length information) and the like for driving the aircraft to move is found, the aircraft class is built according to different constructions of fixed wings, rotating wings, robots, unmanned aerial vehicles, aircraft formation and the like (in terms of application popularization, the model library can be divided according to larger classes such as an aerial platform, an offshore platform, a land platform and an air platform), constraint conditions (such as the highest lift-off altitude in different weather environments such as a sunny day, the maximum speed, the maximum acceleration, the maximum operational radius, the highest cruising altitude and the like) are adopted, the repeated static parameter limit is reduced, then, the interaction relation (instruction set) of the large aircraft model is built, the interaction is divided into real interaction and entity interaction fields, and the entity interaction is a communication instruction or a communication instruction of a certain area is sent to a certain warplane; virtual interaction does not exist in actual combat, but simulation system needs, such as hit interaction, actual missile breaks an aircraft, fragment killing is actually realized, and simulation is a virtual interaction which is sent to enemy aircraft to 'destroy you'. Defining behaviors in the interaction relation, defining types of the behaviors (such as air path flight, reconnaissance and striking behaviors), issuing and receiving logic of data, and finally performing rough clustering abstraction on actual states and operational rules (flight, reconnaissance, detection and attack related rules, such as that the flight rules carry out airplane according to a set navigation path or the airplane is controlled according to remote sensing outside, reconnaissance is to calculate a list of possible detected targets according to a detection angle and a radar equation, attack is to automatically calculate targets of an attack target list according to a designed formula, and can be transmitted according to an external instruction; if a formation instruction interaction set is planned, a cluster of long-range commands can be edited, the long-range names of parameter sending instructions and the bureau names of receiving instructions are contained, then the cluster can be inherited when attack interaction and reconnaissance interaction are edited, in addition, unique attributes such as target names and target orientations are added to the attack interaction, and unique attributes such as reconnaissance directions and radar frequencies are added to the reconnaissance interaction. The clustering modeling process is completed.

On the basis, model instance creation is carried out, specific model parameters in a certain class are substituted, configurable dynamic attributes are determined, a general flying excitation aggregation entity of a specific model is formed, different models are distinguished by different names and parameter values, after model building is carried out on a simulated aircraft entity, simulation distributed task scheduling control is realized through unified scheduling of a simulation engine according to different flying simulation tasks, and accordingly multi-machine multi-model collaborative simulation is realized. The flow is shown in the following chart:

in the clustering modeling process, model information such as pneumatic and weapon equipment is given on the basis of clustering modeling, specific default values and value ranges of parameters are set, and upper and lower relationships are set for related objects.

2. Three-dimensional topography database construction

Three-dimensional topography that the virtual visual of traditional large-scale unmanned aerial vehicle of military use used is usually two kinds of modes, and one kind is whole topography and is the spheroid, according to the area of battle difference, covers different precision nationwide even global range's elevation and satellite image data, and another kind is the planar topography storehouse, only loads the model in specific battle area the inside. However, the two construction methods are both faced with the problem of terrain update caused by models such as newly-increased fine airports, buildings and the like, and the problem of fitting new models and old models. The terrain fitting is to superimpose other terrain data or three-dimensional model data on the terrain data, the former three-dimensional rendering adopts a triangular surface mode, if the terrain and the model are superimposed, the triangular surfaces can not be completely matched like curved surfaces, conflict can be ensured among rendering surfaces, the rendering sequence can be disordered in an engine, the visual effect is affected by mutual interference among the surfaces, the display effect is stronger along with the larger polarization granularity, the conflict can not be completely resolved, and the huge computer resource waste is brought, and the requirement on computer configuration is higher. According to the invention, the vertexes are constructed on the terrain data, the true position information of the vertexes of the triangular surface of the model is obtained after coordinate transformation according to the position of the center point of the placed new model, then the fusion processing of the same vertexes of the new model and the old model is carried out by adopting the vertex indexes, the same vertexes use the same points, and the indexes are correspondingly modified, so that the newly added terrain, the models and the original data are shared by vertexes, gaps and overlapping possibility do not exist between various models, and therefore, the problem of terrain fitting is fundamentally solved, and the problem of visual flicker of overlapping surfaces does not occur.

(2) Multi-machine access unit (2)

The multi-aircraft access unit (2) can access flight data recorded by the real aircraft flight and virtual aircraft flight excitation data required by training.

The formats of the ground-air protocol and the communication protocol are different from each other due to different models of the real aircraft, so that the requirement of accessing the aircraft data of different models at the same time is met, and the ground-air protocol and the communication protocol are required to be subjected to multi-machine adaptation.

(3) Multi-machine adapting unit (3)

The invention designs a design flow of a conversion plug-in, which is used for receiving and identifying information required by views in different ground-air protocols, and is called ground-air protocol adaptation. The virtual aircraft wants to communicate with the data of the real aircraft, real communication protocol adaptation is needed, and currently, the domestic large unmanned aerial vehicle usually uses a DDS/UPS communication protocol, and the adaptation of the virtual aircraft is needed. The ground-air protocol adaptation and the communication protocol adaptation form a multi-machine adaptation unit (3).

1. Ground-air protocol adaptation

Fig. 3 (including fig. 3 a-d) is an illustration of the present receive and transmit adaptation interface. Referring to fig. 3:

the ground-to-air protocol conversion plug-in is used for defining the position of data required by visual simulation in ground-to-air protocols of different airplanes and comprises the following information: current message subject settings (read, write profile), aircraft type, aircraft model position, aircraft number position, heading angle position, pitch angle position, roll angle position, longitude position, satellite altitude position, standard barometric altitude position, radio altitude position, photovoltaic angle position, and the number of bits occupied by each of the above parameters.

2. Communication protocol adaptation

Unmanned aerial vehicle visual simulation systems typically employ UDP or DDS communication protocols/modes,

UDP provides a method for applications to send encapsulated IP packets without having to establish a connection. The UDP communication flow of the vision system is as follows:

fig. 4 receives an adaptation flow chart. Referring to fig. 4:

the receiving process is to create a DDS folder under the engineering catalog\3rdPart\, create a lib folder under the DDS folder, copy the required library of the DDS to the folder, then create an Include folder under the DDS folder, and copy the required header file of the DDS to the folder. Setting a message theme and domain through a DDS message receiving interface, and writing the message theme and domain number, the message format on the interface and the like into a PlanEConfigure.ini file in an out Put userData data folder under an installation directory. In use, a data structure is created for storing the message subject and domain read in the configuration file, and other information, and then initializing the message subject and domain number.

Creating a callback function, calling the callback function when receiving the message, creating corresponding data according to the data type in the function, copying a corresponding computer expression value from the message stream by using memcpy and the message format read in the data structure, then carrying out data stream inversion according to the size end of the message format, and finally calculating a material quantity true value by using a calculation formula given by a first party. The engine creates and updates the entity position according to the entity model set by the setting interface and the attribute information received by the message.

Fig. 4 is a receive adaptation flow diagram of an embodiment. Fig. 5 is a transmission adaptation flow diagram of an embodiment.

Referring to fig. 4 and 5: the sending flow is to set the message theme and domain through the DDS message sending interface, send the message format, etc. The message theme and domain and the sending message format will be written into the dddssendmessage.ini file in the \outputdata\data folder under the installation directory, and a data structure is created when in use, for storing the message theme and domain read in the configuration file, and other information.

When the simulation is supposed to start running, the sending interface dynamically adds the entity of the aircraft on the my side in the simulation, controls whether to send the entity information by checking the entity, judges whether the entity is checked when the position information of each entity on the my side is changed, if so, creates a character string through a groove function, converts the attribute information of the checked entity into a corresponding computer expression value according to a calculation formula given by a first party according to the data in a data structure of a read message format, then uses a corresponding function to carry out size end inversion, and finally uses memcpy to copy the character string. After the character string conversion is finished, initializing the message theme and the domain number, and sending out the message.

Fig. 6 is a receiving adaptation flow chart of a further embodiment. Fig. 7 is a transmission adaptation flow chart of yet another embodiment.

(4) Multi-machine vision display unit (4)

The adapted data enter a multi-machine vision display unit (4), firstly, battlefield element loading is carried out according to the information of the three-dimensional terrain and model database (1), and a virtual battlefield is constructed. And then, synchronous visual picture display of multiple aircrafts is carried out by a multi-view port display technology, and the aim of multi-aircraft control is achieved by designing control and switching logic of multi-aircraft simulation.

1. Battlefield element loading module:

in the invention, the three-dimensional topographic data is overlapped and updated according to the continuous use of the system, the pyramid model technology is needed to distinguish the original topographic data according to the level and the data range, the data update in the same level and the data range of the same level and the superposition of the data in different data ranges of the same level or the data in different levels are realized, the magnitude of the adaptive data is large, and in order to realize the rapid dispatch display of massive three-dimensional topographic data, the pyramid data required by the display is preprocessed and stored in a storage medium of a database in the traditional method so as to obtain the fastest data retrieval and dispatch speed. Because three-dimensional data such as images, terrains and the like in the geospatial data are complex in source and various in variety, and different time phases and different resolutions are added to influence, corresponding pyramid data are different in internal hierarchical block structures. If the pyramid data with different structures are required to be reconstructed according to the pyramid layering and blocking scheme required by display according to the traditional method in order to meet the requirement of unified display, the workload is huge, and the use requirement of users on dynamic expansion and quick update of the data cannot be met. The self-adaptive pyramid model is a data access model which is provided for adapting to unified scheduling of multi-source, multi-time-phase and multi-resolution three-dimensional terrain heterogeneous pyramid data, and solves the problems of unified display and dynamic update based on heterogeneous three-dimensional pyramid data.

The basic idea of the three-dimensional self-adaptive pyramid technology is as follows: a logic data model, a three-dimensional self-adaptive pyramid model, is defined on the multi-element heterogeneous space data. As shown. The method is a group of exchange data models, and the main functions of the method are to establish a pyramid logic structure, wherein the pyramid structure has a unified three-dimensional coordinate system, a unified data structure and type, a unified global multi-resolution level and a unified three-dimensional drawing method.

FIG. 8 is a schematic diagram of an adaptive pyramid technique. Referring to fig. 8:

an adapter: the adapter is a software functional module for converting different data into uniform topographic data logic units and is responsible for completing the functions of data format conversion, transparent color assignment, resolution conversion, coordinate conversion and the like. The loading process of the module is adaptive dynamic loading, namely, the adapter corresponding to the data is loaded only when the data of a certain type is used. After the adaptive pyramid data conversion process is performed on different types of three-dimensional topographic data using different "adapters", the new data will have the following characteristics:

spatial consistency: consistency spatial reference consistency: the DEM data, the image data, the place name data and the building model of different sources use uniform geographic coordinates, so that the requirement of constructing global three-dimensional topographic data on the basis of a uniform coordinate system is met;

dimensional consistency: resolution consistency: the multi-source DEM data and the image data under the same Lod layer have the same pixel number (such as 17×17, 33×33, 256×256, 512×512, etc. of the DEM, and each pixel occupies the same bit number;

visual continuity: the image data of adjacent Lod layers has visual continuity. This condition is also necessary to avoid abrupt terrain changes and visual jumps in the data at two adjacent different resolutions of the data when displayed.

The method is characterized by constructing a three-dimensional data exchange model of the self-adaptive pyramid based on the adapter, and is used for realizing access of three-dimensional geographic space information service to bottom space data, in particular to realizing access of multi-element and heterogeneous pyramid data. Based on the technical framework, the three-dimensional terrain and other data are accessed, so that integration and fusion of different types of elevation models and images and other data can be realized, and three-dimensional integrated display of multi-source heterogeneous data can be realized.

Fig. 9 illustrates multi-layer data (in the example of an image) in a topographic data logic unit. The data call flow based on the three-dimensional adaptive pyramid model is shown in fig. 9.

(1) The client sends out a scene data request in a quadtree index mode;

(2) The client converts the scene data request into a layer data request, namely, based on the self-adaptive pyramid model data;

(3) The client sends a layer data request in the adaptive pyramid model format to the adapter;

(4) The adapter converts the pyramid model into a data model;

(5) The adapter sends a data request;

(6) The adapter converts the obtained data into data based on the adaptive pyramid model;

(7) The adapter submits layer data to the layer data request;

(8) The client submits the scene data to the scene data request.

The adapter workflow for local image data call is as follows:

1) The adapter converts pyramid model data into a data range according to submitted data level, line number and column number parameter information;

2) Requesting corresponding image data locally according to the data range;

3) Returning tile data based on texture and submitting the tile data to a client.

FIG. 10 illustrates an adapter workflow for local image, vector data call. Referring to fig. 10:

2. a multi-view port display module:

the invention relates to a simulation calling mechanism, which can perform distributed simulation behavior scheduling according to aircraft flight tasks, realize the simulation control of multiple aircraft, including but not limited to five aircraft and five classes of aircraft, and can freely combine the number and types of the custom aircraft according to actual demands. In the discrete advancing process of the system according to step length, firstly, sorting tasks of all entities according to time sequence, distinguishing maneuvering tasks and decision-making judging tasks of a platform, storing the maneuvering tasks and the decision-making judging tasks by using different sequences, and performing traversing scanning on the tasks of the simulation weapon entities by each step length, wherein the maneuvering tasks are subjected to scheduling calculation of a behavior algorithm in the first half step length, the decision-making tasks are subjected to scheduling simulation of the decision-making behavior algorithm in the second half step length, so that the operational decision of the system is ensured not to be delayed, and the system simulation reliability is reduced; the system internal scheduling can perform centralized simulation behavior scheduling, distributed simulation behavior scheduling and hierarchical simulation behavior scheduling according to user specification:

a) Centralized behavior scheduling

The system generates a behavior scheduling main thread, the main thread has global information of a task sequence, can timely master the execution condition of the task sequence, can schedule and adjust the operation of sub-threads, and performs unified management and calculation task arrangement on idle sub-threads.

FIG. 11 is a centralized schedule of flight simulation tasks, the algorithmic schedule of which is shown in FIG. 11 as follows:

b) Distributed behavior scheduling

The distributed behavior scheduling mode does not adopt a main scheduling thread for centralized scheduling, each simulation force object creates a scheduling thread as a main scheduling entry of a force entity, each task of the force adopts a mode of dividing the force down to carry out task decomposition and distribution, and the task execution conditions of subordinate sub-threads are balanced through a load balancing algorithm in the task scheduling process. The granularity call set of the distributed scheduling is deeper in scheduling, system resources can be utilized to a greater extent through load balancing scheduling, the efficiency of simulation propulsion can be improved by using the distributed scheduling in a large-scale simulation deduction process, and the algorithm scheduling is shown in the following chart:

FIG. 12 flight simulation task distributed scheduling. Referring to fig. 12:

c) Hierarchical behavior scheduling

The hierarchical behavior scheduling algorithm is a task scheduling method generated by combining centralized and distributed points, and divides a simulation thread into hierarchical sub-threads, and special nodes on different levels are used as scheduling nodes for load balancing decision so as to control the load balancing of the whole system in decentralized scheduling. The system sets a task global scheduling main thread, each force entity is used as a secondary simulation thread, each force entity is provided with a task simulation sub-thread, the load among the entities is balanced by the main thread, the load among the tasks is balanced by the entity threads, and therefore the resource utilization rate of the system is further improved, and the simulation efficiency is improved. The algorithm for hierarchical behavior scheduling is shown in the following diagram:

FIG. 13 flight simulation task hierarchical scheduling.

The vision system supports the three task scheduling mechanisms, when the number of the aircrafts is 1 and the simulation calculation is carried out on one machine, the system adopts centralized simulation, when the number and the types of the aircrafts are more than 1 and the simulation calculation is carried out on a plurality of machines, distributed simulation control is adopted, when the number and the types of the aircrafts are more, the upper and lower stages of the system are organized into control, the system adopts hierarchical scheduling simulation control, so that flight simulation verification of more than 5 aircrafts can be realized.

The method is characterized in that a multi-channel multi-view-port display technology is adopted in view display, multi-machine view display processing is realized, after simulation data are generated, objects of simulation aircraft entities are ordered, when the views receive flight simulation data, unique IDs defined in advance are adopted to distinguish, so that the flight simulation data of the plurality of aircraft entities are not conflicted, a plurality of view windows are developed at a view end to display the same three-dimensional battlefield environment, corresponding aircraft entities are subjected to follow irradiation through virtual cameras in the respective view ports, scenes in the cameras are respectively rendered on view-port interfaces to form multi-view-port display of the multi-machine flight views, 1-N view ports can be formed, the quantity limitation depends on the display performance of a computer, the system is provided with a plurality of view-ports with 4 windows on NVIDIA GeForce GTX display cards which smoothly run, RTX series display cards are adopted, the quantity can be provided with more than 10, and the display requirements of 5 machines can be met by analogy. The lower diagram is an airplane flight case screenshot with 4 view ports:

fig. 14 multiple viewports shows a flight simulation case screenshot.

Multi-machine view control logic:

the system can simultaneously display views of multiple planes (1-5 planes and extensible planes), the control aspect is that the number of planes is not more than 1 plane, manual intervention is not needed when the multiple planes fly according to a set flight line, the flight tasks can be independently completed, the planes which can be controlled to be controlled in real time through instructions, remote rods and the like are called a main control machine, the main control machine is originally defaulted to be the first plane taking off, if the other planes which are not the current main control machine need to be subjected to remote control adjustment of instruction sending, flight directions and the like, the view port of the planes is clicked, the planes are switched to the main control machine, the original main control machine is released, release logic is that when the original main control machine is released, a selection frame is popped up, the planes are selected to fly according to the current flight direction or return to the edited flight line, the speed and the heading angle of the current plane are always kept in a uniform flight state, if the planes are selected to return to the original flight line, the planes are dynamically restored to the preset flight line according to the next point which is closest to the current position, and the vision port is taken as the first step, and the original flight line is not selected to return to the default planned flight line.

The system provides that only the main control machine has weapon transmitting authority, finger vein verification is needed for weapon transmitting, and a person who passes the finger vein verification can transmit weapons within twenty minutes, if no-authority weapon transmitting is required to be prompted, when an airplane running in the system is predicted to reach a threat zone or a task zone when planning in five minutes according to the current speed, a display screen can prompt an operator to switch to the airplane to control the main control machine in advance, if a plurality of airplanes exist, prompt is carried out, and the operator decides whether to switch the main control machine or to which airplane.

(5) Compressed vision image unit (5)

The multi-machine vision image generated by the multi-machine vision display unit can be directly output on a display, or can be directly read and compressed by the compressed vision image unit (5) by using a conventional H.264 algorithm, so that the multi-machine vision image can be conveniently transmitted to another display device in a long distance.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.

Claims (9)

1. A mat-controlled multi-machine vision simulation system, comprising:

three-dimensional topography, model database (1), multimachine access unit (2), multimachine adaptation unit (3), multimachine vision show unit (4), compression vision image unit (5), wherein:

the three-dimensional terrain and model database (1) is used for constructing a multi-machine model library from an object-oriented thought of adopting a clustering modeling method, and performing terrain fitting by adopting a spatial position fusion thought to construct a three-dimensional terrain database;

the multi-aircraft access unit (2) is used for accessing flight data recorded by aircraft flight and virtual aircraft flight excitation data required by training;

the multi-machine adaptation unit (3) consists of two parts of ground-air protocol adaptation and communication protocol adaptation, and is used for carrying out ground-air protocol adaptation based on formats of different ground-air protocols of different models of real airplanes through a conversion plug-in unit, and is used for receiving and identifying information required by views in different ground-air protocols;

the multi-aircraft visual display unit (4) is used for inputting the adapted data, firstly carrying out battlefield element loading according to the information of the three-dimensional topography and model database (1), constructing a virtual battlefield, then carrying out synchronous visual picture display of a plurality of aircraft through a multi-view port display technology, and achieving the aim of multi-aircraft command by designing control and switching logic of multi-aircraft simulation;

and the compressed view image unit (5) is used for outputting the multi-machine view image generated by the multi-machine view display unit directly on a display.

2. The system of claim 1, wherein:

the ground-air protocol adaptation in the multi-machine adaptation unit (3) is used for defining the position of data required by visual simulation in ground-air protocols of different planes through a ground-air protocol conversion plug-in unit, and comprises the following information: the current message theme reads and writes the configuration file, the airplane type, the airplane model position, the airplane number position, the course angle position, the pitch angle position, the roll angle position, the longitude position, the satellite altitude position, the standard air pressure altitude position, the radio altitude position, the photoelectric angle position and the occupied bit of each parameter.

3. The system of claim 1, wherein:

communication protocol adaptation unmanned aerial vehicle visual simulation system in multimachine adaptation unit (3) adopts UDP or DDS communication protocol/mode usually, provides a method that can send encapsulated IP data packet for the application program without need to establish the connection.

4. The system of claim 1, wherein:

the three-dimensional terrain and model database (1) adopts a self-adaptive pyramid model which is a data access model provided for adapting to unified scheduling of heterogeneous pyramid data of multi-source, multi-time-phase and multi-resolution three-dimensional terrain, and solves the problems of unified display and dynamic update based on heterogeneous three-dimensional pyramid data.

5. The system of claim 1, wherein:

the three-dimensional terrain and model database (1) defines a group exchange data model on the multi-element heterogeneous space data, and is used for establishing a three-dimensional self-adaptive pyramid logic structure, wherein the data in the pyramid structure has a unified three-dimensional coordinate system, a unified data structure and type, a unified global multi-resolution level and a unified three-dimensional drawing method.

6. The system of claim 1, wherein:

the multi-machine vision display unit (4) comprises an adapter;

the adapter is used for converting different data into a software functional module of a unified topographic data logic unit and is responsible for completing data format conversion, transparent color assignment, resolution conversion and coordinate conversion;

the loading process of the adapter is self-adaptive dynamic loading, and the self-adaptive pyramid data conversion is carried out on different types of three-dimensional topographic data by using different 'adapters'.

7. A method for designing a mat-controlled multi-machine vision simulation system for a mat-controlled multi-machine vision simulation system as set forth in any one of claims 1 to 4, characterized in that the method comprises the steps of:

s1, a three-dimensional terrain and model database (1) is constructed from an object-oriented thought of adopting a clustering modeling mode to construct a multi-machine model database, and the idea of spatial position fusion is adopted to perform terrain fitting to construct a three-dimensional terrain database;

s2, accessing flight data recorded by the airplane flight and virtual airplane flight excitation data required by training by the multi-airplane access unit (2);

s3, the multi-machine adapting unit (3) performs ground-air protocol adaptation and communication protocol adaptation;

s4, inputting the adapted data by the multi-aircraft visual display unit (4), firstly loading battlefield elements according to the information of the three-dimensional topography and model database (1), constructing a virtual battlefield, then carrying out synchronous visual picture display of a plurality of aircrafts through a multi-view port display technology, and designing control and switching logic of multi-aircraft simulation so as to achieve the aim of multi-aircraft command;

s5, the multi-machine vision image generated by the multi-machine vision display unit of the compressed vision image unit (5) can be directly output on a display.

8. The method of claim 7, wherein step S1 comprises:

(1) The client sends out a scene data request in a quadtree index mode;

(2) The client converts the scene data request into a layer data request, namely, based on the self-adaptive pyramid model data;

(3) The client sends a layer data request in the adaptive pyramid model format to the adapter;

(4) The adapter converts the pyramid model into a data model;

(5) The adapter sends a data request;

(6) The adapter converts the obtained data into data based on the adaptive pyramid model;

(7) The adapter submits layer data to the layer data request;

(8) The client submits the scene data to the scene data request.

9. The method of claim 8, wherein step S2 comprises:

creating a callback function, calling the callback function when receiving the message, creating corresponding data according to the data type in the function, copying a corresponding computer expression value from a message stream by using memcpy and a message format read in the data structure, then carrying out data stream inversion according to the size end of the message format, and finally calculating a material quantity true value by using a calculation formula given by a party A;

the engine creates and updates the entity position according to the entity model set by the setting interface and the attribute information received by the message.

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