战斗机飞行模拟器视景系统仿真研究
摘要
飞行模拟器是地面模拟飞行器空中飞行和地面运动的设备,是典型的虚拟现实的应用实例,目前飞行模拟技术已成为研究飞行和实现飞行训练目的的最佳途径。作为实验室"虚拟现实技术在舰载机飞行仿真方面的应用"课题的子课题,本文以VisualC++6.0为开发平台,结合3D图形开发包,在PC机上独立完成了“战斗机飞行模拟器视景系统仿真”的软件的开发和实验仿真工作,为以后进一步研究战斗机综合操纵特性和飞行品质作了一个预先仿真研究。
本文主要对战斗机飞行模拟器视景仿真系统进行设计和研究。为了模拟战斗机驾驶员在的典型飞机工况下的真实感觉,本文采用当前流行的三维视景建模工具Multigen Creator建立起逼真的飞行场景,详细推导六自由度战斗机动力学模型,并利用视景仿真开发工具包OpenGVS,完成了Windows平台下的飞行仿真程序的开发。
本文的内容包括三大部分:(1)建立六自由度战斗机动力学模型,研究将耦合的复杂动力学方程组线性化的一般方法,在保证飞行不失真的前提下,研究有效减小动力学仿真计算量的仿真算法,在此基础上讨论保持战斗机飞行稳定的基本条件。(2)建立三维飞行场景。从提高图形显示速度和飞行视景渲染效率的实际需要出发,研究如何在不影响可视化效果的前提下,有效地减小复杂地形场景的复杂度问题,并研究相应的优化建模方法。(3)战斗机模拟器视景仿真软件的开发工作,研究在基于TCP/IP网络传输协议的视景仿真网络中数据同步传输的技术,实现由仿真主计算机、运动平台控制计算机、视景计算机组成的视景仿真系统的网络连接和数据通讯工作,最后在实验室六自由度运动仿真模拟平台上完成飞行驾驶模拟实验,通过实验验证,取得较好的飞行仿真效果,为今后飞行运动仿真模拟系统的进一步设计打下良好基础。
Flight Simulator is a simulation of aircraft ground equipment flight and ground movement,which is a typical example of the application of virtual reality, the great importance of the fighter, the decisive factor of modern warfare, is self-evident in the national defense .Fighter simulators can effectively enhance the fighter's development level, effectively raising the level of actual combat pilots, and the related research of flight simulator has become the best way .for the research and training of modern fighter.
This subject is a sub-subject of " the application of virtual reality technology in flight simulation " in the laboratory, Based on Visual C++ 6.0 development platform,a software named fighter simulator visual system simulation,which is combine with 3D graphics development kits, was developed independently, and it can be seen as an in advance research for the future reserach on the control characteristics and flying qualities of the fighter.
This paper includes the contents as below:
1. Introduction
On the base of referring to a great deal of external and internal technique information, the various contents were summarized as below:(1) Flight Simulator features;(2) the principle and classify of flight simulator;(3) the current research in the external and internal on this basis, The main researching contents of the dissertation were outlined.
2. The method of modeling the Visual Flight System
Flight Simulation Modeling and traditional view of the significance of 3D modeling,3D Modeling Software Multigen Creator through established fighters, the airport runway Visual Flight Instrument other model Scene focuses on complex terrain and virtual instrument display system modeling and optimization of the key technologies. From graphics to enhance the speed and efficiency of flight exaggerated view of the actual needs. On the precondition of not affecting the visual effects,the study of decrease the complexity of complex terrain scenes was set forth.
3. The illation of Fighter motion equations
Its specific contents include the following parts:1 The 6-DOF flight equation of flighter was established in the aircraft coordinate system. The equation include six degree of freedom,which includes the forward/backward,up/down,left/right speed and the pitch angle,yaw angle,roll angle. 2On the precondition of high veracity, pay attention to the easy solve method of the coupling method for the study of the relationship between the pilot’s operation and the movement parameter.and the rule in the flighter flying.
4. Introduction of Flight Simulator platform
The composion of the flight simulator platform was introduced, the key point of contrary solve method of the 6-DOF simulator platform, and the transfer fuction betwwn the transmission servo valve and the displacement of the hydraulic pressure crock were established. At last the circuit diagram of the control was introduced.
5. The development of the fighter simulator software
OpenGVS,a powerful 3D graphics engine, was used in developing the software.According to the viewpoint of modern software engineering, a software frame was built with the support of Visual C + + 6.0, and the code of key modules has been finished. At last, the network transmission based on TCP protocol and Windows Socket technology was established, the entire net connection and data communication were finished, and achieve good results.
6. Visual Flight simulation system
This chapter demonstrates the fighter simulator system, the technology of data synchronization transmission based on the TCP/IP protocol in the scene simulation network.The communication of the master computer, the platform control computer and the scene computer were established.The flight simulation experiment was finished on the 6-DOF movement simulator in the lab, and a good result of flying simulate was finished.All of these conclusions lay a good foundation for future research.
7. Conclusions and Outlook
The study productions in this paper were set forth,and the problems which will be futher reserached were put forward.
本文主要对战斗机飞行模拟器视景仿真系统进行设计和研究。为了模拟战斗机驾驶员在的典型飞机工况下的真实感觉,本文采用当前流行的三维视景建模工具Multigen Creator建立起逼真的飞行场景,详细推导六自由度战斗机动力学模型,并利用视景仿真开发工具包OpenGVS,完成了Windows平台下的飞行仿真程序的开发。
本文的内容包括三大部分:(1)建立六自由度战斗机动力学模型,研究将耦合的复杂动力学方程组线性化的一般方法,在保证飞行不失真的前提下,研究有效减小动力学仿真计算量的仿真算法,在此基础上讨论保持战斗机飞行稳定的基本条件。(2)建立三维飞行场景。从提高图形显示速度和飞行视景渲染效率的实际需要出发,研究如何在不影响可视化效果的前提下,有效地减小复杂地形场景的复杂度问题,并研究相应的优化建模方法。(3)战斗机模拟器视景仿真软件的开发工作,研究在基于TCP/IP网络传输协议的视景仿真网络中数据同步传输的技术,实现由仿真主计算机、运动平台控制计算机、视景计算机组成的视景仿真系统的网络连接和数据通讯工作,最后在实验室六自由度运动仿真模拟平台上完成飞行驾驶模拟实验,通过实验验证,取得较好的飞行仿真效果,为今后飞行运动仿真模拟系统的进一步设计打下良好基础。
Flight Simulator is a simulation of aircraft ground equipment flight and ground movement,which is a typical example of the application of virtual reality, the great importance of the fighter, the decisive factor of modern warfare, is self-evident in the national defense .Fighter simulators can effectively enhance the fighter's development level, effectively raising the level of actual combat pilots, and the related research of flight simulator has become the best way .for the research and training of modern fighter.
This subject is a sub-subject of " the application of virtual reality technology in flight simulation " in the laboratory, Based on Visual C++ 6.0 development platform,a software named fighter simulator visual system simulation,which is combine with 3D graphics development kits, was developed independently, and it can be seen as an in advance research for the future reserach on the control characteristics and flying qualities of the fighter.
This paper includes the contents as below:
1. Introduction
On the base of referring to a great deal of external and internal technique information, the various contents were summarized as below:(1) Flight Simulator features;(2) the principle and classify of flight simulator;(3) the current research in the external and internal on this basis, The main researching contents of the dissertation were outlined.
2. The method of modeling the Visual Flight System
Flight Simulation Modeling and traditional view of the significance of 3D modeling,3D Modeling Software Multigen Creator through established fighters, the airport runway Visual Flight Instrument other model Scene focuses on complex terrain and virtual instrument display system modeling and optimization of the key technologies. From graphics to enhance the speed and efficiency of flight exaggerated view of the actual needs. On the precondition of not affecting the visual effects,the study of decrease the complexity of complex terrain scenes was set forth.
3. The illation of Fighter motion equations
Its specific contents include the following parts:1 The 6-DOF flight equation of flighter was established in the aircraft coordinate system. The equation include six degree of freedom,which includes the forward/backward,up/down,left/right speed and the pitch angle,yaw angle,roll angle. 2On the precondition of high veracity, pay attention to the easy solve method of the coupling method for the study of the relationship between the pilot’s operation and the movement parameter.and the rule in the flighter flying.
4. Introduction of Flight Simulator platform
The composion of the flight simulator platform was introduced, the key point of contrary solve method of the 6-DOF simulator platform, and the transfer fuction betwwn the transmission servo valve and the displacement of the hydraulic pressure crock were established. At last the circuit diagram of the control was introduced.
5. The development of the fighter simulator software
OpenGVS,a powerful 3D graphics engine, was used in developing the software.According to the viewpoint of modern software engineering, a software frame was built with the support of Visual C + + 6.0, and the code of key modules has been finished. At last, the network transmission based on TCP protocol and Windows Socket technology was established, the entire net connection and data communication were finished, and achieve good results.
6. Visual Flight simulation system
This chapter demonstrates the fighter simulator system, the technology of data synchronization transmission based on the TCP/IP protocol in the scene simulation network.The communication of the master computer, the platform control computer and the scene computer were established.The flight simulation experiment was finished on the 6-DOF movement simulator in the lab, and a good result of flying simulate was finished.All of these conclusions lay a good foundation for future research.
7. Conclusions and Outlook
The study productions in this paper were set forth,and the problems which will be futher reserached were put forward.
引文
[1] 李丽荣、陆宇平、王彦民.虚拟现实技术在军事上的应用.飞机设计,2005,3:49-53
[2] 黄安祥、刘长华等.现代军机飞行仿真系统的研究.系统仿真学报,2001,13(2):259-262
[3] 熊端琴、刘宝善、郭西.现代飞行模拟的进展.人类工效学,2004,10(3):69-72
[4] 李庆勋、王立文.飞行模拟器视景软件开发.中国民航学院学报,2003,21(2):8-12
[5] 谢广辉、邱淑范.基于虚拟现实技术的飞行训练模拟器探讨.中国航天,2001,10:26-28
[6] 姜世发.飞行模拟器的回顾及其发展.电光与控制,1998,26(7):8-12
[7] 李京伟、张利萍.基于虚拟现实技术的飞行视景仿真.计算机工程与设计,2005,26(7):1935-1938
[8] 谢广辉、魏少宁.飞行模拟器视景系统发展现状和趋势.航天医学与医学工程,2003,16(3):223-226
[9] 童中翔、王晓东.飞行仿真技术的发展与展望.飞行力学,2002,20(3):5-8
[10] 金钰、兰新章.飞行模拟器视景系统的设计与总调.北京理工大学学报,2000,20(1):90-93
[11] 刘浩翰、贺怀清、杨国庆.视景仿真中快速渲染方法研究概述.计算机工程,2005,31(增刊):228-230
[12] 王乘、周均清、李利军.Creator可视化仿真建模技术.华中科技大学出版社,2005.3
[13] 程文俊、陆宇平.基于Multigen平台的飞机飞行可视化研究.计算机与数字工程,2005, 33(8): 15-18
[14] MultiGen Creator User’s Guide. MultiGen-Paradigm Inc. 2004
[15] 邓军、杨学良.飞行模拟器视景系统模型.计算机工程与应用,2000,9:163-165
[16] 曾庆华、管于球等.多机空战仿真的飞机简化模型研究.航空计算技术.2000,30(2):9-11
[17] 邹仕军、胡孟权、李嘉林.某型战斗机六自由度动力学建模与仿真.空军工程大学学报(自然科学版),2005,6(6):10-12
[18] 和青芳.计算机图形学原理及算法教程(VisualC++版).清华大学出版社.2005
[19] 刘同仁、肖业伦编著.空气动力学与飞行力学.北京航空学院出版社,1987
[20] 吴森堂、费玉华编著.飞行控制系统.北京航空航天大学出版社 2005
[21] 隋成城、杨永田、贾荣珍.某型歼击机飞行仿真建模与验模研究.飞行力学,2003,21(3):59-62
[22] 曹金涛、许瑞杰编著.飞行器飞行与控制.国防工业出版社,1988
[23] 方振平、陈万春、张曙光编著.航空飞行器飞行动力学.北京航空航天大学出版社,2005
[24] 李文亮编著.四元数矩阵.国防科技大学出版社,2002
[25] Fletcher Dunntan Parberry.3D Math Primer for Graphics and Game Development.Wordware Publishing Inc, 2002
[26] 方振平编著.飞机飞行动力学.北京航空航天大学出版社.2005
[27] 徐涛编著.数值计算方法.吉林科学技术出版社.1998
[28] 李立康、於崇华等编著.微分方程数值解法.复旦大学出版社.1999
[29] OpenGVS Programming Guide Quantum3D,Inc.2002
[30] Sjirk Holger Koekebaker.Model based control of flight simulator motion system.Delft University Press.2001
[31] Jim Beveridge & Robert Wiener.Multithreading Applications in Win32. Addsion Wesley Longman, Inc, 2002
[32] 乔林、费广正等编著.OpenGL Optimizer程序员编程指南.清华大学出版社,2000
[33] 黄超等编著.Windows网络编程,人民邮电出版社,2003
[34] 张镭.飞行模拟器飞行系统仿真.哈尔滨工业大学硕士学位论文,2005
[35] 刘浩.现代战斗机仿真架构与建模研究.西北工业大学硕士论文,2001
[36] 陈卡.DirectX9 3D图形程序设计.上海科学技术出版社,2003
[37] 王江、付泱、夏拥军.音响仿真技术在飞行仿真器中的应用研究
[38] 翟正军,胡飞.李宗明虚拟座舱飞行过程中碰撞检测的实现,测控技术200120(3):62-63
[39] Jefrey Maddalon:A Study of Workstation Computational Performance for Real-Time Flight Simulation, NASA-95, 1995
[40] Marshall Smith .Victorial Chung,Debbie Martinez:Transport Delays Associated with the NASA Langley Flight Simulation Facility,NASA-95
[41] Joseph Kaplan, Patrick Kenney:Development of a Flight Simulation Data Visualization Workstation, NASA-96, 1996
[42] Bruce Jackson:Results of a Flight Simulation Software Methods Survey,AIAA95-3414,1995
[43] Douglas Research,Hiranaka:An Integrated Modular Simulation System for Education,1998
[44] Kaneda Kato:Three dimensional terrain modeling and display for environmental assessment.Computer Graphics, 1999, 23(4):207-214.
[45] Freeman Computer processing of line drawing image.Computing Surveys, 1994, 6(1):57-91.
[46] Debevec Taylor. Modeling and Rendering Architecture from photograghs. Computer Graphics, 1996, 4-9:11-20
[47] Tom Defanti, Dan Sandin.The Coming Defenestration: immersive Environments without Windows.IEEE Multimedia, winter 1996
[48] Levoy Hanrahan. LightField Rendering. Computer Graphics, 1996, 8:31-42.
[49] Peackey, Solid Texturing of Complex Surfaces. Computer Graphics, 1985, 19(2)
[50] Bao Peng. A Shading Model for Area Light Sources.Progressive in Natural Science, 1994, 4(2)
[2] 黄安祥、刘长华等.现代军机飞行仿真系统的研究.系统仿真学报,2001,13(2):259-262
[3] 熊端琴、刘宝善、郭西.现代飞行模拟的进展.人类工效学,2004,10(3):69-72
[4] 李庆勋、王立文.飞行模拟器视景软件开发.中国民航学院学报,2003,21(2):8-12
[5] 谢广辉、邱淑范.基于虚拟现实技术的飞行训练模拟器探讨.中国航天,2001,10:26-28
[6] 姜世发.飞行模拟器的回顾及其发展.电光与控制,1998,26(7):8-12
[7] 李京伟、张利萍.基于虚拟现实技术的飞行视景仿真.计算机工程与设计,2005,26(7):1935-1938
[8] 谢广辉、魏少宁.飞行模拟器视景系统发展现状和趋势.航天医学与医学工程,2003,16(3):223-226
[9] 童中翔、王晓东.飞行仿真技术的发展与展望.飞行力学,2002,20(3):5-8
[10] 金钰、兰新章.飞行模拟器视景系统的设计与总调.北京理工大学学报,2000,20(1):90-93
[11] 刘浩翰、贺怀清、杨国庆.视景仿真中快速渲染方法研究概述.计算机工程,2005,31(增刊):228-230
[12] 王乘、周均清、李利军.Creator可视化仿真建模技术.华中科技大学出版社,2005.3
[13] 程文俊、陆宇平.基于Multigen平台的飞机飞行可视化研究.计算机与数字工程,2005, 33(8): 15-18
[14] MultiGen Creator User’s Guide. MultiGen-Paradigm Inc. 2004
[15] 邓军、杨学良.飞行模拟器视景系统模型.计算机工程与应用,2000,9:163-165
[16] 曾庆华、管于球等.多机空战仿真的飞机简化模型研究.航空计算技术.2000,30(2):9-11
[17] 邹仕军、胡孟权、李嘉林.某型战斗机六自由度动力学建模与仿真.空军工程大学学报(自然科学版),2005,6(6):10-12
[18] 和青芳.计算机图形学原理及算法教程(VisualC++版).清华大学出版社.2005
[19] 刘同仁、肖业伦编著.空气动力学与飞行力学.北京航空学院出版社,1987
[20] 吴森堂、费玉华编著.飞行控制系统.北京航空航天大学出版社 2005
[21] 隋成城、杨永田、贾荣珍.某型歼击机飞行仿真建模与验模研究.飞行力学,2003,21(3):59-62
[22] 曹金涛、许瑞杰编著.飞行器飞行与控制.国防工业出版社,1988
[23] 方振平、陈万春、张曙光编著.航空飞行器飞行动力学.北京航空航天大学出版社,2005
[24] 李文亮编著.四元数矩阵.国防科技大学出版社,2002
[25] Fletcher Dunntan Parberry.3D Math Primer for Graphics and Game Development.Wordware Publishing Inc, 2002
[26] 方振平编著.飞机飞行动力学.北京航空航天大学出版社.2005
[27] 徐涛编著.数值计算方法.吉林科学技术出版社.1998
[28] 李立康、於崇华等编著.微分方程数值解法.复旦大学出版社.1999
[29] OpenGVS Programming Guide Quantum3D,Inc.2002
[30] Sjirk Holger Koekebaker.Model based control of flight simulator motion system.Delft University Press.2001
[31] Jim Beveridge & Robert Wiener.Multithreading Applications in Win32. Addsion Wesley Longman, Inc, 2002
[32] 乔林、费广正等编著.OpenGL Optimizer程序员编程指南.清华大学出版社,2000
[33] 黄超等编著.Windows网络编程,人民邮电出版社,2003
[34] 张镭.飞行模拟器飞行系统仿真.哈尔滨工业大学硕士学位论文,2005
[35] 刘浩.现代战斗机仿真架构与建模研究.西北工业大学硕士论文,2001
[36] 陈卡.DirectX9 3D图形程序设计.上海科学技术出版社,2003
[37] 王江、付泱、夏拥军.音响仿真技术在飞行仿真器中的应用研究
[38] 翟正军,胡飞.李宗明虚拟座舱飞行过程中碰撞检测的实现,测控技术200120(3):62-63
[39] Jefrey Maddalon:A Study of Workstation Computational Performance for Real-Time Flight Simulation, NASA-95, 1995
[40] Marshall Smith .Victorial Chung,Debbie Martinez:Transport Delays Associated with the NASA Langley Flight Simulation Facility,NASA-95
[41] Joseph Kaplan, Patrick Kenney:Development of a Flight Simulation Data Visualization Workstation, NASA-96, 1996
[42] Bruce Jackson:Results of a Flight Simulation Software Methods Survey,AIAA95-3414,1995
[43] Douglas Research,Hiranaka:An Integrated Modular Simulation System for Education,1998
[44] Kaneda Kato:Three dimensional terrain modeling and display for environmental assessment.Computer Graphics, 1999, 23(4):207-214.
[45] Freeman Computer processing of line drawing image.Computing Surveys, 1994, 6(1):57-91.
[46] Debevec Taylor. Modeling and Rendering Architecture from photograghs. Computer Graphics, 1996, 4-9:11-20
[47] Tom Defanti, Dan Sandin.The Coming Defenestration: immersive Environments without Windows.IEEE Multimedia, winter 1996
[48] Levoy Hanrahan. LightField Rendering. Computer Graphics, 1996, 8:31-42.
[49] Peackey, Solid Texturing of Complex Surfaces. Computer Graphics, 1985, 19(2)
[50] Bao Peng. A Shading Model for Area Light Sources.Progressive in Natural Science, 1994, 4(2)