基于OpenGL的飞行环境虚拟仿真技术研究
|
摘要
飞行环境仿真在无人机(UAV)系统中是重要组成部分。它通过计算机图形学技术实时模拟出与飞行器地理位置和姿态相对应的连续的座舱外景象，为地控人员提供一个逼真的飞行情景；也可应用于飞行训练模拟器和工程飞行模拟器系统中。
本文的选题来自国家“973”(—先期预研性质)任务中“无人机遥操作人机可视化界面”课题，主要研究飞行器高空飞行视景显示的关键技术，完成飞行环境显示系统原型设计和技术实现。本文内容具体可分为以下四部分：
第一部分：阐述了有关理论知识，包括虚拟仿真技术和无人机系统的一些基本概念。随后论述了本文的研究目的、意义和所完成的主要工作。
第二部分：分析了本文使用的开发工具—OpenGL。着重论述了其中的几项关键应用技术。
第三部分：详细研究了飞行环境仿真系统中的两个关键问题：三维物体建模和视点的切换控制。在前者中，针对于各种景物的特点提炼出了相应的建模方法，并提出了将显示列表、地形分割和顶点删除法相结合的地形简化绘制方法，实现了较大规模地形的实时显示；在后者中，作者从数学角度推导出了视景体和飞行姿态角的定量对应关系，解决了飞行姿态显示的问题，通过仿真，获得了较好的视觉效果。以上两点，体现了作者的创造性劳动。
第四部分：论述了全三维飞行环境虚拟仿真系统的完整设计过程，提出了软件实现的方法和具体规划流图，并对系统的各种优化措施做了技术上的总结。同时，根据当视点方向与地面垂直时，三维地景变成为二维俯视图的原理，又设计了一个快速简单的飞行环境仿真系统—基于二维地形的飞行环境仿真。
本文是以Visual C++6.0为开发平台、以OpenGL图形库为支撑软件来完成的。在具体实现时采用了多种优化措施来提高系统性能，使得系统的绘制帧速率在同等条件下提高为优化前的5倍多，可达到每秒60帧左右，又一次体现出本论文成果具有一定的先进性。
Aircraft-environment simulation is an important part of UAV system. It simulates the outside landscape and pose of UAV, which uses graphics technology and provides vivid picture for ground controller. It also could be applied to training simulators or engineering simulators.
This paper is one part of the "973" project-"human-machine interface and real-time visualization of UAV", which mainly studies the key technologies of displaying aircraft in high altitude. The design and implementation of the software system model for the aircraft-environment simulation are fulfilled. Overall, four important parts of the paper are as follows:
Firstly, some fundamental theory is described, including the virtual simulation technology and some concept of UAV system. In addition, the purpose and the task of this research are mentioned.
Secondly, the development tool, OpenGL, is introduced, focusing on some of its key technologies.
Thirdly, two important problems, 3D modeling and the relation of aircraft pose with visual angle, are specifically anglicized. As for the 3D modeling, the respondent modeling method is anglicized according to the characteristics of various sceneries. The simplicity of drawing method is proposed by combine the method of displaying list, terrain segmentation and vertex removing, which fulfilled the real-time display of a great scale terrain. As to the second problem, the quantitative relationship of view body and visual angle is deducted based on the theory of mathematics, which resolves the problem of aircraft pose display with better visual effect in simulation.These display the author's creative works.
Finally, the integrated procedure of designing the 3D aircraft-environment virtual simulation system is introduced. The realization of software and the concrete flow
diagram are provided. And conclusions about various optimized measurements are drawn. Meanwhile, a kind of fast simple aircraft-environment simulation system, an aircraft-environment simulation system based on 2D terrain, is put forward, considering the condition that the direction of viewpoint is vertical to the ground.
The study is done based on the platform of Visual C++ 6.0 and the usage of OpenGL library. In order to improve the performance of the system, diverse measures are taken when it is put into realization, which increases frame rate by more than 4 times under the same condition, and it ultimately could reach to 60 fps. The results of the study shows tha this thesis is somewhat advanced.
本文的选题来自国家“973”(—先期预研性质)任务中“无人机遥操作人机可视化界面”课题，主要研究飞行器高空飞行视景显示的关键技术，完成飞行环境显示系统原型设计和技术实现。本文内容具体可分为以下四部分：
第一部分：阐述了有关理论知识，包括虚拟仿真技术和无人机系统的一些基本概念。随后论述了本文的研究目的、意义和所完成的主要工作。
第二部分：分析了本文使用的开发工具—OpenGL。着重论述了其中的几项关键应用技术。
第三部分：详细研究了飞行环境仿真系统中的两个关键问题：三维物体建模和视点的切换控制。在前者中，针对于各种景物的特点提炼出了相应的建模方法，并提出了将显示列表、地形分割和顶点删除法相结合的地形简化绘制方法，实现了较大规模地形的实时显示；在后者中，作者从数学角度推导出了视景体和飞行姿态角的定量对应关系，解决了飞行姿态显示的问题，通过仿真，获得了较好的视觉效果。以上两点，体现了作者的创造性劳动。
第四部分：论述了全三维飞行环境虚拟仿真系统的完整设计过程，提出了软件实现的方法和具体规划流图，并对系统的各种优化措施做了技术上的总结。同时，根据当视点方向与地面垂直时，三维地景变成为二维俯视图的原理，又设计了一个快速简单的飞行环境仿真系统—基于二维地形的飞行环境仿真。
本文是以Visual C++6.0为开发平台、以OpenGL图形库为支撑软件来完成的。在具体实现时采用了多种优化措施来提高系统性能，使得系统的绘制帧速率在同等条件下提高为优化前的5倍多，可达到每秒60帧左右，又一次体现出本论文成果具有一定的先进性。
Aircraft-environment simulation is an important part of UAV system. It simulates the outside landscape and pose of UAV, which uses graphics technology and provides vivid picture for ground controller. It also could be applied to training simulators or engineering simulators.
This paper is one part of the "973" project-"human-machine interface and real-time visualization of UAV", which mainly studies the key technologies of displaying aircraft in high altitude. The design and implementation of the software system model for the aircraft-environment simulation are fulfilled. Overall, four important parts of the paper are as follows:
Firstly, some fundamental theory is described, including the virtual simulation technology and some concept of UAV system. In addition, the purpose and the task of this research are mentioned.
Secondly, the development tool, OpenGL, is introduced, focusing on some of its key technologies.
Thirdly, two important problems, 3D modeling and the relation of aircraft pose with visual angle, are specifically anglicized. As for the 3D modeling, the respondent modeling method is anglicized according to the characteristics of various sceneries. The simplicity of drawing method is proposed by combine the method of displaying list, terrain segmentation and vertex removing, which fulfilled the real-time display of a great scale terrain. As to the second problem, the quantitative relationship of view body and visual angle is deducted based on the theory of mathematics, which resolves the problem of aircraft pose display with better visual effect in simulation.These display the author's creative works.
Finally, the integrated procedure of designing the 3D aircraft-environment virtual simulation system is introduced. The realization of software and the concrete flow
diagram are provided. And conclusions about various optimized measurements are drawn. Meanwhile, a kind of fast simple aircraft-environment simulation system, an aircraft-environment simulation system based on 2D terrain, is put forward, considering the condition that the direction of viewpoint is vertical to the ground.
The study is done based on the platform of Visual C++ 6.0 and the usage of OpenGL library. In order to improve the performance of the system, diverse measures are taken when it is put into realization, which increases frame rate by more than 4 times under the same condition, and it ultimately could reach to 60 fps. The results of the study shows tha this thesis is somewhat advanced.
引文
[1]唐泽圣，周嘉玉，李新友．计算机图形学基础．北京：清华大学出版社．1995．
[2]石教英．虚拟现实基础及实用算法．北京：科学出版社．2002．
[3]汪成文、高文、王行仁．灵镜(虚拟现实)技术的理论、实现及应用．清华大学出版社，广西科学技术出版社．1996．
[4]蒋定华，谭兵．VR技术中地形场景地实时显示．测绘学院学报(增刊)．2001，18：52-54．
[5]王行仁．飞行仿真技术(第一讲 飞行仿真技术综述)．测绘技术．1994，13(2)：47-50．
[6]晁祥林，陈琪．无人作战飞机系统的技术发展．现代军事．2001，19(3)：1-6．
[7]陈兵，朱纪洪，孙增圻．基于PC机的无人机仿真系统．系统仿真学报．2002，14(5)：613-616．
[8]仵大伟，林焰，纪卓尚．三维地型数字仿真系统的设计与实现．工程图学学报．2001年第2期：77-82．
[9]王永明．地形可视化．中国图象图形学报(A版)．2000，5(6)：449-456．
[10](美)Richard S．Wright．Jr．Michael Sweet著OpenGL超级宝典(第二版)．北京：人民邮电出版社．2000．
[11]向世明．OpenGL编程与实例．北京：电子工业出版社．1999．
[12](美)．Julio Sanchez，Maria Canton著，韩传钊 尹岩青等译．DirectX 3D图象编程宝典．北京：电子工业出版社．2000
[13]马登武，吴国良．虚拟现实技术在飞行仿真中的应用．现代防御技术．2000，28(6)：58-60．
[14]费广正，乔林编著．Visual c++6.0高级编程技术—OpenGL篇．北京：中国铁道出版社．2000．
[15]尹小菡，蔡继红，虞红等．大规模虚拟战场环境三维生成技术研究．系统仿真学报，2000，12(5)：514-516
[16]肖金城，李英成．大规模地形场景三维实时漫游显示技术研究．遥感信息．2002年第6期：11-14．
[17]张继贤，柳健．地形数字模型建立的新方法．信号处理．1997，13(4)：369-373．
[18]齐敏，郝重阳，佟明安．三维地形生成及实时显示技术研究进展．中国图象图形学报(A版)．2000，5(4)：270-274．
[19]高力．利用数字高程模型生成地形三维仿真图．西安工程学院学报．2000，22(3)：59-62．
[20] 姚丽，陈杰，窦丽华．一种基于DEM数据的可视化数字地形绘制．北京理工大学学报．2002，22(3)：339-342．
[21] 徐鸿，舒广．虚拟地形环境中三维地形模型简化技术的研究．计算进应用(增刊)．2000，20：261-264．
[22] 淮永建，郝重阳．基于LOD实时图形绘制和加速技术．中国图象图形学报(A版)．2002，7(1)：97-101．
[23] 罗炳海．飞行技术仿真(第五讲视景仿真)．测绘技术．1994，13(6)：43-46．
[24] 张华军．视景地形仿真及其应用．解放军测绘学院学报．1994，11(3)：188-191．
[25] 宋友厉，李辉，王丹霞，张建伟，游志胜，张波．大地形三维可视化系统设计与关键技术方案．四川大学学报．2002，39(3)：439-442．
[26] 樊书芳．塔台管制模拟系统中场景生成技术的研究．南京航空航天大学硕士研究生论文．2001年3月．
[27] 张淑美，张志忠．海洋视景环境的实时图形生成．作战模拟与仿真技术学术研讨会论文集．2000：565-568
[28] 何江华．计算机仿真导论．科学出版社．2001．
[29] 戴晨光，朱述龙．利用OpenGL实现三维地形的快速动态显示．测绘通报．1998年6月：8-12．
[30] 齐敏．虚拟动态场景生成技术研究．西北工业大学博士学位论文。2000年6月．
[31] 齐敏，郝重阳．一个VR战场仿真系统．作战模拟与仿真技术学术研讨会论文集．2000：629-632
[32] Yuan, Ping. Green, Mark Lau, Rynson W.H. Framework for performance evaluation of real-time rendering algorithms in virtual reality. ACM Symposium on Virtual Reality Software and Technology, Proceedings. VRST Sep 15-17 1997, p51-58.
[33] Wiesemann, T. Schiefele, J. Bader, J. Multi-resolution terrain depiction and airport navigation function on an embedded SVS Proceedings of SPIE-The International Society for Optical Engineering. v4713 Apr 1-2 2002, p106-117.
[34] El-Sana, Jihad. Bathmat, Eitan Optimized view-dependent rendering for large polygonal datasets. Proceedings of the IEEE Visualization Conference. Oct 27-Nov 1 2002, p77-84.
[35] Tecchia, Franco. Loscos, Celine Chrysanthou, Yiorgos Image-based crowd rendering IEEE Computer Graphics and Applications. v22 n2 March/April 2002 Institute of Electrical and Electronics Engineers Computer Society p36+38-43.
[36] Wu, Yadong. Liu, Yushu Zhan, Shouyi Gao, Xiaochun Eftieient view-dependent rendering of terrains Proceedings-Graphics Interface Jun 7-9 2001, p217-222.
[37] Balossino, N. Bresciani, F. Lucenteforte, M. Siracusa, S. A low cost system for real-time integration of virtual and real distributed environments Proceedings of SPIE-The International Society for Optical Engineering v 4311 Jan 24-26 2001． p268-278．
[38] Schiavone, Guy A. Dai, Ying Yu, Qingyi Gu, Jianping Two surface simplification algorithms for polygonal terrain with integrated road features Proceedings of SPIE-The International Society for Optical Engineering 4026 Apr 25-Apr 27 2000． p221-229．
[39] Yuan, Xiaobu . Yang, Simon X. Real-time rendering of artificial guidance Proceedings of the IEEE International Conference on Systems, Man and Cybernetics 2 Oct 8-Oct 11 2000． p775-780．
[40] www. mays.soage.com
[41] www.terrainengine.com
[42] www.libsdl.org
[2]石教英．虚拟现实基础及实用算法．北京：科学出版社．2002．
[3]汪成文、高文、王行仁．灵镜(虚拟现实)技术的理论、实现及应用．清华大学出版社，广西科学技术出版社．1996．
[4]蒋定华，谭兵．VR技术中地形场景地实时显示．测绘学院学报(增刊)．2001，18：52-54．
[5]王行仁．飞行仿真技术(第一讲 飞行仿真技术综述)．测绘技术．1994，13(2)：47-50．
[6]晁祥林，陈琪．无人作战飞机系统的技术发展．现代军事．2001，19(3)：1-6．
[7]陈兵，朱纪洪，孙增圻．基于PC机的无人机仿真系统．系统仿真学报．2002，14(5)：613-616．
[8]仵大伟，林焰，纪卓尚．三维地型数字仿真系统的设计与实现．工程图学学报．2001年第2期：77-82．
[9]王永明．地形可视化．中国图象图形学报(A版)．2000，5(6)：449-456．
[10](美)Richard S．Wright．Jr．Michael Sweet著OpenGL超级宝典(第二版)．北京：人民邮电出版社．2000．
[11]向世明．OpenGL编程与实例．北京：电子工业出版社．1999．
[12](美)．Julio Sanchez，Maria Canton著，韩传钊 尹岩青等译．DirectX 3D图象编程宝典．北京：电子工业出版社．2000
[13]马登武，吴国良．虚拟现实技术在飞行仿真中的应用．现代防御技术．2000，28(6)：58-60．
[14]费广正，乔林编著．Visual c++6.0高级编程技术—OpenGL篇．北京：中国铁道出版社．2000．
[15]尹小菡，蔡继红，虞红等．大规模虚拟战场环境三维生成技术研究．系统仿真学报，2000，12(5)：514-516
[16]肖金城，李英成．大规模地形场景三维实时漫游显示技术研究．遥感信息．2002年第6期：11-14．
[17]张继贤，柳健．地形数字模型建立的新方法．信号处理．1997，13(4)：369-373．
[18]齐敏，郝重阳，佟明安．三维地形生成及实时显示技术研究进展．中国图象图形学报(A版)．2000，5(4)：270-274．
[19]高力．利用数字高程模型生成地形三维仿真图．西安工程学院学报．2000，22(3)：59-62．
[20] 姚丽，陈杰，窦丽华．一种基于DEM数据的可视化数字地形绘制．北京理工大学学报．2002，22(3)：339-342．
[21] 徐鸿，舒广．虚拟地形环境中三维地形模型简化技术的研究．计算进应用(增刊)．2000，20：261-264．
[22] 淮永建，郝重阳．基于LOD实时图形绘制和加速技术．中国图象图形学报(A版)．2002，7(1)：97-101．
[23] 罗炳海．飞行技术仿真(第五讲视景仿真)．测绘技术．1994，13(6)：43-46．
[24] 张华军．视景地形仿真及其应用．解放军测绘学院学报．1994，11(3)：188-191．
[25] 宋友厉，李辉，王丹霞，张建伟，游志胜，张波．大地形三维可视化系统设计与关键技术方案．四川大学学报．2002，39(3)：439-442．
[26] 樊书芳．塔台管制模拟系统中场景生成技术的研究．南京航空航天大学硕士研究生论文．2001年3月．
[27] 张淑美，张志忠．海洋视景环境的实时图形生成．作战模拟与仿真技术学术研讨会论文集．2000：565-568
[28] 何江华．计算机仿真导论．科学出版社．2001．
[29] 戴晨光，朱述龙．利用OpenGL实现三维地形的快速动态显示．测绘通报．1998年6月：8-12．
[30] 齐敏．虚拟动态场景生成技术研究．西北工业大学博士学位论文。2000年6月．
[31] 齐敏，郝重阳．一个VR战场仿真系统．作战模拟与仿真技术学术研讨会论文集．2000：629-632
[32] Yuan, Ping. Green, Mark Lau, Rynson W.H. Framework for performance evaluation of real-time rendering algorithms in virtual reality. ACM Symposium on Virtual Reality Software and Technology, Proceedings. VRST Sep 15-17 1997, p51-58.
[33] Wiesemann, T. Schiefele, J. Bader, J. Multi-resolution terrain depiction and airport navigation function on an embedded SVS Proceedings of SPIE-The International Society for Optical Engineering. v4713 Apr 1-2 2002, p106-117.
[34] El-Sana, Jihad. Bathmat, Eitan Optimized view-dependent rendering for large polygonal datasets. Proceedings of the IEEE Visualization Conference. Oct 27-Nov 1 2002, p77-84.
[35] Tecchia, Franco. Loscos, Celine Chrysanthou, Yiorgos Image-based crowd rendering IEEE Computer Graphics and Applications. v22 n2 March/April 2002 Institute of Electrical and Electronics Engineers Computer Society p36+38-43.
[36] Wu, Yadong. Liu, Yushu Zhan, Shouyi Gao, Xiaochun Eftieient view-dependent rendering of terrains Proceedings-Graphics Interface Jun 7-9 2001, p217-222.
[37] Balossino, N. Bresciani, F. Lucenteforte, M. Siracusa, S. A low cost system for real-time integration of virtual and real distributed environments Proceedings of SPIE-The International Society for Optical Engineering v 4311 Jan 24-26 2001． p268-278．
[38] Schiavone, Guy A. Dai, Ying Yu, Qingyi Gu, Jianping Two surface simplification algorithms for polygonal terrain with integrated road features Proceedings of SPIE-The International Society for Optical Engineering 4026 Apr 25-Apr 27 2000． p221-229．
[39] Yuan, Xiaobu . Yang, Simon X. Real-time rendering of artificial guidance Proceedings of the IEEE International Conference on Systems, Man and Cybernetics 2 Oct 8-Oct 11 2000． p775-780．
[40] www. mays.soage.com
[41] www.terrainengine.com
[42] www.libsdl.org
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |