KR101571760B1 - Device and method for generating time based moving path scenario of object model - Google Patents

Abstract

An apparatus and method for generating a moving path scenario of a time-based object model are disclosed. The present invention includes an interface unit for receiving a user command and displaying a scenario creation screen, a map storage unit for storing at least one map, an object model storage unit for storing at least one object model, And at least one route point designating a route to be traveled on the map displayed on the scenario creation screen by at least one object model, and at least one routing point And when the time path calculation command is given, transmits object state information and path point state information for at least one object model, and sets at least one object model to a time A path to be displayed on the scenario creation screen through the interface unit The object state information and the path point state information applied by the government and the route setting unit are analyzed to determine the current state and the target state of the object, and the state change rate occurring during the movement of the object model from the current state to the target state is divided into predetermined units And a path time calculator for calculating the TTG reaching the target state by acquiring the update state by integrating and integrating according to time, determining whether the TTG is within the threshold value, and transmitting the elapsed time to the path setting unit.

Description

TECHNICAL FIELD [0001] The present invention relates to a device and method for generating a moving path scenario of a time-based object model,

The present invention relates to an apparatus and method for generating a moving path scenario of an object model, and more particularly, to an apparatus and method for creating a moving path scenario of a time-based object model.

Currently, the defense area has a problem to cope with the rapidly changing security environment, to effectively execute the budget, and to cultivate a high-tech elite with highly informed and rational operating system in the future.

As the importance of M & S (Modeling and Simulation) is emphasized as a useful alternative to solve these problems, countries around the world are paying attention to building and using a defense simulation system. Defense simulation is increasingly useful as a scientific and objective means throughout the defense, including power assessment, weapon system acquisition analysis, combat experiments, and unit training.

In the past, the field of testing and training has relied heavily on the operation of real systems, but now with the development of distributed simulation technology, we can expect to see a dramatic effect on mission and team level training by using distributed simulation in testing and training.

Currently, defense simulation is mostly object-based to support interoperability and reusability. In defense simulation, an object is basically an individual combat element, meaning an object that can act independently in a simulation and perform a mission.

In the simulation development, each object to be included in the simulation is modeled as an object model. For the movable objects of the object, the movement path scenario of each object should be prepared in advance and included in the object model so that the movement path of the object is simulated together .

However, since the scenarios for object movement in the existing defense simulation model only the movement route information through the object, before executing the defense simulation, time information according to the position of the moving object or the position of the moving object with respect to time There was a problem that it could not be known. That is, since the elapsed time required for each of the plurality of objects included in the defense simulation can not be accurately determined, it is impossible to generate a precise movement path scenario. There is a problem in that the operation of the moving object can not be accurately modeled if the elapsed time according to the position of the moving object can not be accurately determined. That is, it is difficult to perform accurate simulation.

Therefore, it is troublesome to create a scenario for a moving object, check the elapsed time according to the position of the moving object while executing the simulation, and correct the scenario according to the elapsed time and location of the checked moving object. Also, since the simulation has to be executed every time, the time loss is great.

Korean Registered Patent No. 10-1386631 (registered April 2014)

It is an object of the present invention to provide an apparatus for generating a moving route scenario of a time-based object model that allows a moving object to be easily located according to elapsed time when a scenario for a moving object model for simulation is generated.

Another object of the present invention is to provide a method of generating a moving path scenario of a time-based object model to achieve the above object.

According to another aspect of the present invention, there is provided an apparatus for generating a route path scenario of a time-based object model, the apparatus comprising: an interface unit receiving a user command and displaying a scenario creation screen; A map storage unit for storing at least one map; An object model storage unit for storing at least one object model; A path scenario storage unit for storing at least one movement path scenario; Wherein the at least one object model includes at least one route point designating a route to be traveled on the map displayed on the scenario creation screen, Path state information, and when the time path calculation command is given, transmits the object state information and the path point state information for the at least one object model, and the at least one object model moves the path A path setting unit for receiving the time and the position and displaying the received scenario on the scenario creation screen through the interface unit; And analyzing the object state information and the path point state information applied by the path setting unit to determine a current state and a target state of the object, and generating the object model when the object model moves from the current state to the target state Calculating a TTG reaching the target state by acquiring an update state by integrating and analyzing the state change rate according to a predetermined unit time, calculating a TTG to arrive at the target state, determining whether it is within a threshold value, and transmitting an elapsed time to the path setting unit part; .

Wherein the route setting unit generates the route point to which the object model is to be moved in the selected position or inputted position coordinates on the map in response to the route creation command in the route setting command, And adds a path point to be passed to the object model before the path point previously generated in the input position coordinates, and in response to the path modification command, the position of the selected path point among the created path points is dragged and dropped , And changes the input position coordinates to the inputted position coordinates, and deletes the selected path point among the previously generated path points in response to the path deletion command.

The path time calculation unit analyzes the initial state of the object from the object state information applied from the object state information, sets the current state, sets a target state of the object from the path point state information, A dynamic modeling unit for differentiating the rate of change of state occurring while the model moves from the current state to the target state by differentiating it according to the unit time, into a differential state; A TTG calculation unit for calculating a movement time required until the object model reaches the target state in the update state in which the object model moves along the movement path, and transmitting the calculated movement time to the path setting unit; And an integration unit for integrating the state change rate analyzed in the differential modeling unit in the dynamic modeling unit to acquire the state of the object variable in units of the unit time in the update state and transmit the obtained state to the dynamic modeling unit and the TTG calculation unit; And a control unit.

According to an aspect of the present invention, there is provided a method for generating a moving path scenario of a time-based object model, the method including: generating a time-based object model including an interface unit, a map storage unit, an object model storage unit, Based object model, the method comprising the steps of: generating a scenario based on a scenario in which at least one object model is output through the interface unit in response to a path setting command applied through the interface unit, Setting path point state information for each of at least one path point and at least one path point that specifies a path to be traversed on the map displayed on the creation screen; The path time calculation unit receives the object state information and the path point state information for the at least one object model from the path setting unit and analyzes the current state and the current state of the object, Setting a target state; Wherein the path time calculation unit differentiates a state change rate occurring while the object model moves from the current state to the target state according to a predetermined unit time; Integrating the state change rate to obtain an update state; And displaying the updated state of the object model on the map displayed on the scenario creation screen through the interface unit; .

Therefore, an apparatus and method for generating a moving path scenario of a time-based object model of the present invention can easily create an object model according to the elapsed time without executing a simulation when generating a moving path scenario of at least one object model included in the simulation So that it is possible to generate a movement path scenario of an object model with high accuracy, and it is not necessary to execute a simulation, so that a scenario generation time can be greatly shortened.

1 illustrates an apparatus for generating a moving path scenario of a time-based object model according to an embodiment of the present invention.
FIG. 2 shows a screen for creating a moving route scenario of the moving route scenario generating apparatus of the time-based object model of the present invention.
FIG. 3 shows a movement path setting method of the object model.
4 is a detailed view of the path time calculation unit of FIG.
5 is a view for explaining a method of updating the state of the object model by the path time calculation unit.
6 is a diagram for explaining a derivation technique applied in the dynamic modeling unit of FIG.
FIG. 7 illustrates a method of generating a movement path scenario of a time-based object model according to an embodiment of the present invention.
FIG. 8 is a detailed view of the routing step of FIG. 7. FIG.
FIG. 9 is a detailed view of the elapsed time calculation step of FIG.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when an element is referred to as "including" an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

FIG. 1 shows an apparatus for generating a moving path scenario of a time-based object model according to an embodiment of the present invention, and FIG. 2 shows a screen for creating a moving path scenario of the apparatus for generating a moving path scenario of the time-based object model of the present invention.

1, an apparatus for generating a route path scenario according to the present invention includes an interface unit 100, a path setting unit 200, a map storage unit 300, an object model storage unit 400, a path time calculation unit 500, And a path scenario storage unit 600.

The interface unit 100 receives a user command and transmits the user command to the path setting unit 200 and displays a scenario creation screen (Scenario Creator: SC) applied by the path setting unit 200 to the user. The scenario creation screen SC is configured to set and display a map capable of displaying the position and movement path of the object, a movement path of the object on the map, and a time when the object moves on the movement path. As shown in FIG. 2, the scenario creation screen SC includes an object setting command that allows a user to perform operations such as object model creation, selection of a pre-created object model, and editing of an attribute of an object, , A path setting command for performing addition, modification, and deletion operations, a position of an object and a movement path, a map selection command for visually indicating a specified path position, and an elapsed time A time-path calculation command is generated. Each of the object setting command, the path setting command, the map selection command, and the time path calculation command of the scenario creation screen SC may be provided in the form of a menu button as shown in FIG. 2, And can be configured to be expanded in a menu form so that a detailed command can be selected.

The interface unit 100 may include an input device such as a mouse or a keyboard and an output device such as a monitor, or may be implemented as a touch screen in which an input device and an output device are integrated.

The path setting unit 200 receives at least one of a scenario generation command, a map selection command, an object setting command, a path setting command, and a time path calculation command in response to a user command from the interface unit 100, .

The path setting unit 200 outputs a scenario creation screen SC for setting the movement path of the object when the scenario creation command is given. When the map selection command on the scenario creation screen SC is selected, in response to the map selection command, at least one map among the plurality of maps stored in the map storage unit 300 is selected and displayed on the path display unit of the scenario creation screen SC Path Tracking Display: PTD). When the object setting command is selected, an object model to be set in response to the object setting command may be created, or the object model stored in the object model storage unit 400 may be selected and displayed on the map. At this time, the path setting unit 200 may edit and store the object attributes such as the initial position and the moving speed of the object according to the object setting of the user applied through the interface unit 100.

The route setting unit 200 also sets a movement route of the object model displayed on the map when the route setting command on the scenario creation screen SC is selected. The path setting unit 200 can create, add, modify, and delete a movement path of the object model. A detailed description of the movement path setting of the object model will be given later.

After the setting of the map, the object model, and the movement path is performed, the path setting unit 200 sets the object model, the setting information about the map, and the movement path to the path time calculation unit 500 And displays the path time on the scenario creation screen after receiving the elapsed time and position of the object model calculated by the path time calculation unit 500 via the movement path on the map.

When the scenario storage command is given through the interface unit 100, the path setting unit 200 stores the path set as the at least one path point in the path scenario storage unit 600 as a path path scenario of the time-based object model And stores it in the state information of the object model.

The map storage unit 300 stores a plurality of maps and transmits a corresponding map to the path setting unit 200 in response to a request from the path setting unit 200. [

The object model storage unit 400 may store a plurality of object models previously generated, and may receive and store the object model generated in the path setting unit 200. In response to a request from the path setting unit 200, the object model is selected and transmitted. Here, each of the object models may include state information indicating the characteristics of the object. The state information of the object may include the initial position of the object, the moving speed, the moving direction, the posture, and the like, and may include setting other attributes of the object to be considered when performing the defense simulation. And the path scenario may be stored together with the object state information.

The path time calculation unit 500 receives the state information of the object model and the setting information about the map and the movement route from the route setting unit 200 and calculates the elapsed time for moving the movement route of the object model in a predetermined manner To the path setting unit (200). A method by which the path time calculation unit 500 calculates the elapsed time will be described later.

The path scenario storage unit 600 stores the movement path of the object model set by the path setting unit 200 as a movement path scenario by matching with the object model. In FIG. 1, the path scenario storage unit 600 is separately shown for the convenience of description. However, as described above, the path scenario of each object may be included as state information in the object model. Therefore, when the path scenario is stored together with the object model, the path scenario storage unit 600 may be omitted.

FIG. 3 shows a movement path setting method of the object model.

In the present invention, the movement path of the object model can be set through path creation, path addition, path modification, and path deletion as shown in FIGS. 3A to 3D. (a) can be executed by issuing a path creation command, which is a detailed command of the path setting command, by generating a path point to which an object moves, and after the path creation command is applied, a scenario creation screen (SC) An arbitrary position on the map displayed on the path display unit PTD can be designated as a route point or by directly inputting the position coordinates (latitude and longitude) of the route.

In some cases, an arbitrary position on the map is firstly selected as a route point, and then a route generation command is inputted, whereby a route can be generated.

The path addition shown in (b) additionally inserts a path point to be passed, so that a new path is added in a state in which the path of the already created object model is maintained as it is, The difference is that the path of the object is changed because the path point to be passed by the object is inserted in the generated path.

The route addition can also be executed with the route addition command which is a detailed command of the route setting command. When an arbitrary position on the map displayed on the path display part (PTD) is specified as an additional route point after the route addition command is applied, Coordinates (latitude and longitude) can be generated by direct input.

The path modification may be performed by dragging and dropping at least one path point already generated and displayed on the map, as shown in (c), by changing the position of the already created path point, or moving along with the path modification command You can also set the location coordinates of the route point directly.

The path deletion can be set by deleting the path point already created and displayed on the map as shown in (d), selecting the path point to be deleted, and then inputting the path deletion command.

The path setting unit 200 can set the status information for each of the path points when setting the travel path. The additional information can be received through the interface unit 100, and the position, posture, moving speed, etc. of the object passing through each path point can be set. Especially, when the object is an airplane or underwater navigation, altitude, penetration and depth can be set together.

As a result, the apparatus for generating a moving path scenario of the time-based object model of the present invention can not only select an object for which a user wants to create a scenario, freely set attributes at a route point and a route point at which the selected object must move, The elapsed time during the movement through the point is displayed on the map so that the movement scenario of the object can be easily created and modified.

4 is a detailed view of the path time calculation unit of FIG. 1, FIG. 5 is a view for explaining a method of updating the state of the object model by the path time calculation unit, FIG. 6 is a flowchart And FIG.

Referring to FIG. 4, the path time calculation unit 500 includes a dynamic modeling unit 510, an integrator 520, and a TTG (Time To Go) calculation unit 530 in the present invention.

The dynamic modeling unit 510 analyzes the state change rate that occurs during the movement of the object model along the movement path according to the unit time? T to obtain the state change rate as a differential state value. The integration unit 520 includes a dynamic modeling unit 510, And obtains the updated state and transmits the updated state to the dynamic modeling unit 510 and the TTG calculator 530. [ On the other hand, the TTG calculation unit 530 receives the updated state from the integrator 520 and calculates the remaining time to move from the updated state to the path point.

In the present invention, the state of the object model can be divided into an initial state (I), a current state (C), an updated state (U), and a target state (A). The initial state (I) indicates the state of the object specified in the state information of the object model, and the current state (C) indicates the state of the object model moving at the specific time in the moving route. The update state U represents a state after the object model moves along the movement path for a predetermined unit time? T in the current state C, and the target state A represents state information designated to the movement path point .

Each state includes a state variable indicating the position and velocity and posture of the object model. The state variable for the position may be set to latitude (lambda), longitude l and altitude h or depth and the state variable for the velocity may be set to North East Down ) Velocity (V _N , V _E , V _D ) in the coordinate system. The state variables for the posture of the object can be set to heading (ψ), roll (φ), and pitch (θ).

4, the dynamic modeling unit 510 first receives and analyzes the state information of the object model from the path setting unit 200 and sets the initial state I of the object model to the current state C of the object do. As described above, the initial state (I) of the object model is specified as the initial position of the object model, the state of the movement speed and the posture.

Also, the dynamic modeling unit 510 receives the setting information about the movement route and confirms the position of at least one route point and the state at the route point, that is, the target state (A). When the initial state I of the object model is set to the current state C and the current position is confirmed and the position of the path point is determined, the dynamic modeling unit 510 extracts the object from the current position to the path point, The change of each state variable that occurs during the movement is divided by the predetermined unit time (t) and is calculated and obtained as the rate of change of state.

5, the dynamic modeling unit 510 divides the state change of the object model from the initial state I to the target state A in units of unit time? T, The integrator 520 accumulates the state change rate after the unit time? _T in the current state ( _Ct ) and updates the state change rate after the unit time? _T by calculating the state change rate after the unit time? _T from the current state And outputs the state (U _{t + 1} ) to the dynamic modeling unit 510 and the TTG calculation unit 530. Then, the updated state (U _{t + 1} ) is transmitted to the dynamic modeling unit 510 again and set to the current state (C _{t + 1} ). Meanwhile, the TTG calculation unit 530 receives the update state (U _{t + 1} ) and calculates the time required to reach the target state in the update state (U _{t + 1} ).

The dynamic modeling unit 510 may calculate the state change rate for each state variable in the form of a first-order linear differential equation as shown in Equation (1). Here, the dynamic modeling unit 510 can calculate the state change rate from the current state to the path point by using proportional navigation guidance (PNG) technique. The PNG technique is one of the techniques to derive an acceleration command to maintain the line of sight (LOS) at the path point. The dynamic modeling unit 510 uses the proportional navigation induction method in order to model the movement of the object model in the most reasonable state from the waypoint to the specified state, from which the object model should move in the current state.

(Where MR denotes the meridian radius, PVR denotes the Prime Vertical Radius, A _N , A _E and A _D denote the north, east and down accelerations of the NED coordinate system, respectively. And ACC _cmd is the acceleration command according to the PNG technique.)

The acceleration command (ACC _cmd ) according to the PNG scheme in Equation 1 is a value induced by the object to move from the current state C to the target state A and is calculated according to Equation 2 .

는 현재 상태에서 객체 모델의 이동 속력이며,

는 현재 상태(C)에서 객체 모델이 목표 상태(A)를 바라보는 시선각 변화율을 나타낸다.)(Where N is a navigation constant,

Is the moving speed of the object model in the current state,

Represents the rate of change of the line of sight in which the object model looks at the target state (A) in the current state (C).

The dynamic modeling unit 510 calculates the state change rate according to the type of the object model in a different manner. The dynamic modeling unit 510 calculates the state change rate according to the type of the object model, .

The integration unit 520 integrates the elapsed time calculated as the rate of change of state in the dynamic modeling unit 510, generates an updated state, and transmits the updated state to the dynamic modeling unit. The integrating unit 520 as an example fourth-order Runge-Kutta method (4 ^th order RK method: RK-4 ^th), the use of the updated after the current state (C _t) per unit time (Δt) from the state (U _{t + 1} ) can be calculated. RK-4 ^th is a well-known numerical integration technique and is not described in detail here.

Meanwhile, the TTG calculation unit 530 calculates the travel time required until the object model reaches the target state A in the updated current state ( _{Ct + 1} ) according to Equation (3) Lt; / RTI >

(Where the relative distance represents the relative distance from the current state to the target state, and the current speed represents the speed of the object model in its current state).

The TTG calculation unit 530 outputs the time (TTG) required for reaching the target state from the current state. (Tt) increase signal to the dynamic modeling unit 510 until the calculated TTG reaches within a predetermined threshold (for example, 0.5 sec) by the user, and transmits the unit time increase signal to the dynamic modeling unit 510 through the integrating unit 520 And updates the current state (C _t ) to the next update state (U _{t + 1} ). When the TTG calculated again based on the updated information reaches the threshold value, the total time required to travel to the current state is calculated as an elapsed time and transmitted to the path setting unit 200.

The path setting unit 200 receives the elapsed time from the path time calculation unit 500 and displays it on the screen.

FIG. 7 illustrates a method of generating a movement path scenario of a time-based object model according to an embodiment of the present invention.

First, referring to FIGS. 1 to 6, a method of generating a movement path scenario of the time-based object model of FIG. 7 will be described. First, the path setting unit 200 determines whether a map selection command is applied through the interface unit 100 ). In response to the map selection command, if a map selection command is input, one of the plurality of maps based on the map stored in the map storage unit 300 is selected and output through the interface unit 100 in operation S120. At this time, the interface unit 100 outputs the scenario creation screen SC shown in FIG. 2 and can display the map on the path display unit PTD of the scenario creation screen SC.

The path setting unit 200 determines whether the object setting command is applied through the interface unit 100 (S130). When the object setting command is received, the path setting unit 200 generates an object model for setting the movement path in response to the object setting command, or selects an object model previously stored in the object model storage unit 400, (S140). The generated or selected object model may be displayed on the map displayed on the path display unit (PTD). Each of the object models includes object state information including the position, attitude, and movement speed of the object.

Thereafter, the path setting unit 200 determines whether a path setting command is applied through the interface unit 100 (S150). The path setting unit 200 sets the path of the object in response to the path setting command when the path setting command is applied (S160). Here, the object moving path is set to include at least one path point to be passed by the object, and each of the at least one path point includes path point state information including the position of the path point, the attitude of the object at the path point, Are set together.

Then, it is determined whether the time path calculation command is applied (S170). When the time path calculation command is applied, the path setting unit 200 transmits the object model state information and the path point state information to the path time calculation unit 500, and the path time calculation unit 500 calculates the path model The initial state and the target state of the object are analyzed from the point state information, and the elapsed time during which the object moves from the initial state to the target state is calculated (S180). The path time calculation unit 500 not only calculates the elapsed time for which the object moves to the target state but divides the initial state I to the target state A in units of a predetermined unit time t, The state change rate is continuously calculated in the segmented unit time? T during the movement of the object, and the integration state is obtained by integrating the state change rate to acquire the update state U. The update state U and the elapsed time are transmitted to the path setting unit 200, Lt; / RTI > The path setting unit 200 outputs the elapsed time and the updated state (U) through the interface unit 100 (S190).

In operation S200, the path setting unit 200 determines whether the scenario storage command is issued through the interface unit 100 by the user who has confirmed the elapsed time that the object moves along the movement path. If it is determined that the scenario save command is authorized, the path setting unit 200 stores the set path of the set object model in the path scenario storage unit 600 as a scenario. In some cases, the scenario may be stored in the object model storage unit 400 as state information of the object model.

FIG. 8 is a detailed view of the routing step of FIG. 7. FIG.

The path setting command can be applied by path creation, path addition, path modification, and path deletion commands as shown in Figs. 3A to 3D. The path setting unit 200 first determines whether the path setting command is applied to the path setting command (S161). If it is determined that the path generation command is authorized, a path point to which the object should move in accordance with the position selected in the map or the input position coordinates is generated (S162).

Then, it is determined whether a path addition command is applied (S163). When the route addition command is input, the route setting unit 200 adds a route point in accordance with the position selected on the map or the input position coordinates, similarly to the route creation command (S164). Here, as described above, the path addition means a path point in which a new path point is added between existing path points to change an object path.

When the route point is created or added, the route setting unit 200 receives the route attribute value through the interface unit 100 and sets the route attribute of each route point (S165).

Meanwhile, the path setting unit 200 determines whether a path correcting command is applied (S166). When the path correcting command is applied, the path setting unit 200 moves the selected path point among the previously generated path points to the dragged and dropped position or moves to the position corresponding to the input position coordinates (S167).

The path setting unit 200 determines whether a path delete command is applied (S168). The route setting unit 200 deletes the selected route point when one of the route points to which the route delete command is applied and the previously generated route point is selected and transmits the route point of the route step before the deleted route point The moving path of the object model is modified so that the object moves (S169).

FIG. 9 is a detailed view of the elapsed time calculation step of FIG.

In the elapsed time calculation step S180, the path time calculation unit 500 receives the object model state information from the priority path setting unit 200 and analyzes the initial state of the object model in step S181. In step S182, the state information of each path point set in the path setting step S160 is received and the object path is analyzed.

When the initial state and the object movement path are analyzed, the dynamic modeling unit 510 of the path time calculation unit 500 initially sets the initial state to the current state, and the state information of the path point to be passed first in the current state And set the target state to dynamically model the movement path of the object (S183). The dynamic modeling unit time from the current state (C _t) a target state (A) identify the state change of an object model as a unit per unit time (Δt), and from the current state (C _t) as shown in Figure 5 (? T), and outputs the state change rate. Here, the state change rate represents a rate of change of state variables, and the state variable may include latitude (lambda), longitude (l) and altitude (h) or depth as state variables for position, (V _N , V _E , V _D ) in the coordinate system of the ground surface (NED) and may include headings (ψ), rolls (φ), and pitch .

The path time calculation unit 500 may calculate the state change rate by constructing a first-order simultaneous equation as shown in Equation (1) for the state variables. The state variable V _N , V _E , V _D ) is preferably obtained using the PNG technique.

When the state change rate is obtained, the integrating unit 520 accumulates the state change rate obtained in the current state (C _t ) to obtain the updated state (U _{t + 1} ) (S 184). The TTG calculation unit 530 calculates the travel time required until the target state A is reached from the update state (U _{t + 1} ) according to Equation (3) (S185).

The path time calculation unit 500 determines the calculated TTG based on a threshold value (for example, 0.5 sec) predetermined by the user (S186). If it exceeds the threshold value, by sending an update state (U _{t + 1)} to the dynamic model unit 510 and to be set to update the state (U _{t + 1)} is (C _{t + 1)} current state, the current state (C _{t + 1} ), the state change rate after unit time? t is calculated (S188). However, if TTG is less than the threshold value, the total time required to travel to the current state is calculated as an elapsed time and transmitted to the path setting unit 200 (S187).

The method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer-readable recording medium may also be distributed over a networked computer system and stored and executed in a computer readable code in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (16)

An interface unit for receiving a user command and displaying a scenario creation screen;
A map storage unit for storing at least one map;
An object model storage unit for storing at least one object model;
A path scenario storage unit for storing at least one movement path scenario;
Wherein the at least one object model includes at least one route point designating a route to be traveled on the map displayed on the scenario creation screen, Path state information, and when the time path calculation command is given, transmits the object state information and the path point state information for the at least one object model, and the at least one object model moves the path A path setting unit for receiving the time and the position and displaying the received scenario on the scenario creation screen through the interface unit; And
A path state setting unit that determines a state of the object based on the object state information and the path point state information applied by the path setting unit to determine a current state and a target state of the object, Calculating a TTG that arrives at the target state by obtaining an update state by integrating the change rate according to a predetermined unit time, integrating it, determining whether the TTG is within a preset threshold value, and transmitting the elapsed time to the path setting unit Calculating section; Based object model. 2. The apparatus of claim 1, wherein the path setting unit
In response to a map selection command applied through the interface unit, selects one of the at least one map stored in the map storage unit and transmits the selected map to the interface unit so that the selected map is displayed on the path display screen of the scenario creation screen Based object model of the moving route scenario. 3. The apparatus of claim 2, wherein the path setting unit
Wherein the object model generation unit generates an object model to set a movement path in response to an object setting command applied through the interface unit, selects the at least one object model previously stored in the object model storage unit, And displays the object model on the map in accordance with state information of the object model. 4. The apparatus of claim 3, wherein the path setting unit
In response to a path creation command in the path setting command, creates the path point to which the object model is to be moved in the selected position or inputted position coordinates on the map, and in response to the path addition command, A path point to be passed by the object model is added before the path point previously created in the position coordinates, and in response to the path modification command, the position of the selected path point among the previously created path points is dragged and dropped, And deletes the selected route point among the previously generated route points in response to the route delete command. 2. The apparatus of claim 1, wherein the path setting unit
Wherein the path management unit stores the path of the object model set as the at least one path point in the path scenario storage unit as the path path scenario of the time based object model when the scenario save command is applied through the interface unit, Based on the state information of the object model stored in the storage unit. The apparatus of claim 1, wherein the path time calculation unit
Analyzing an initial state of the object from the object state information applied from the object state information, setting the current state, setting a target state of the object from the path point state information, A dynamic modeling unit for differentiating the state change rate occurring during the movement from the target state to the target state according to the unit time and analyzing the state change rate into a differential state;
A TTG calculation unit for calculating a movement time required until the object model reaches the target state in the update state in which the object model moves along the movement path, and transmitting the calculated movement time to the path setting unit; And
An integration unit for integrating the state change rate analyzed in the differential modeling unit in the dynamic modeling unit to acquire the state of the object that is variable in the unit time unit as the update state and transmit it to the dynamic modeling unit and the TTG calculation unit; Based object model of the moving path scenario. 7. The apparatus of claim 6, wherein the dynamic modeling unit
Wherein the update state is set to the current state when the update state is applied from the integrating unit, and the state change rate at the time increased by the unit time is acquired again and transmitted to the integrating unit. A model of a moving path scenario generator. 7. The method of claim 6, wherein the initial state, the current state, the updated state,
A state variable for the position includes at least one of a latitude (?), A longitude (l) and an altitude (h), or a depth Wherein the state variable for the velocity includes a velocity (V _N , V _E , V _D ) in a North East Down (NED) coordinate system, and the state variable for the attitude includes a heading ψ ), A roll (?), And a pitch (?). The apparatus of claim 8, wherein the dynamic modeling unit
The state change rate for each of the plurality of state variables is calculated and obtained in the form of a first-order differential equation, and a proportional navigation guidance (PNG) technique is applied to the state variable for the speed A device for generating a moving path scenario of a time - based object model. A method for generating a movement path scenario of a time-based object model using a time-based object model moving path scenario generation apparatus including an interface unit, a map storage unit, an object model storage unit, a path setting unit,
At least one route point designating a route to be traveled on a map displayed on a scenario creation screen in which at least one object model is output through the interface unit in response to a route setting command to which the route setting unit is applied through the interface unit; Setting path point state information for each of the path points of the path point;
The path time calculation unit receives the object state information and the path point state information for the at least one object model from the path setting unit and analyzes the current state and the current state of the object, Setting a target state;
Wherein the path time calculation unit differentiates a state change rate occurring while the object model moves from the current state to the target state according to a predetermined unit time;
Integrating the state change rate to obtain an update state; And
Displaying the updated state of the object model on the map displayed on the scenario creation screen through the interface unit; Based object model to generate a moving path scenario. 11. The method of claim 10, wherein the step of setting the path point state information
Generating the path point to which the object model is to be moved in the selected position or input position coordinates on the map when the path creation command is given by the path setting command;
Adding a path point to be passed through the object model before the path point previously created in the selected position or the inputted position coordinates on the map when the path addition command is given by the path setting command;
And dragging and dropping the position of the selected path point among the previously created path points when the path modification command is applied to the path setting command or changing the input path coordinates to the inputted position coordinates; And
Deleting a path point selected from among the previously created path points when the path deleting command is applied to the path setting command; Based object model to generate a moving path scenario. 12. The method of claim 11, wherein setting the target state comprises:
Analyzing an initial state of the object model from the object state information and setting the initial state to the current state;
Setting a target state of the object model from the path point state information; And
Modifying the update state to the current state when the update state is obtained in the step of acquiring the update state; Lt; / RTI >
Wherein the initial state, the current state, the target state, and the updated state each include a plurality of state variables indicating a position, a velocity, and an attitude of the object model. 13. The method of claim 12,
Calculating a state change rate for each of the plurality of state variables occurring while the object model moves from the current state to the target state according to the unit time in a form of a first-order differential equation, Wherein a proportional navigation guidance (PNG) technique is applied to the state variable. 14. The method of claim 13, wherein displaying the update status comprises:
Calculating the travel time required until the object model reaches the target state from the update state in which the object model moves along the travel route to the route setting unit; And
Displaying the required travel time along with the update status on a map displayed on the scenario creation screen; Based object model, wherein the method comprises: 11. The method of claim 10, wherein the movement path scenario generation method of the time-
Selecting at least one map previously stored in the map storage unit in response to a map selection command to which the path setting unit is applied through the interface unit and displaying the selected map on the scenario creation screen through the interface unit;
Wherein the path setting unit generates the object model to set the movement path in response to the object setting command or selects at least one object model previously stored in the object model storage unit, Displaying the object model on the map according to state information of the object model; Based object model of the time-based object model. 11. The method of claim 10, wherein the movement path scenario generation method of the time-
Wherein the path setting unit is configured to set the path of the object model set as the at least one path point as a path path scenario of the object model when a scenario saving command is applied through the interface unit, Storing in the scenario storage unit or in the state information of the object model stored in the object model storage unit; Based object model of the time-based object model.

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