基于虚拟现实的无人机三维可视化技术与实现
摘要
鉴于无人机不载人以及可以长时间进出各种危险空域的特性,使得其在军事和民用等诸多领域中正在发挥着越来越重要的作用。在无人机研制过程中,需要进行大量的飞行控制系统半物理实时仿真和科研试飞试验,而飞行数据的观测、分析和处理是一个非常重要的环节。当前数据处理的主要手段是文本显示和二维曲线显示,然而随着飞行数据量的增大,这种简单的方法越来越不能满足新要求。此外,伴随计算机的高速发展,PC机对图像的处理能力越来越强,所以对大数据量的观测和分析越来越倾向于使用三维虚拟现实技术来综合处理。
本文在论述虚拟现实和无人机技术的基础上,详细介绍了利用Visual C++和OpenGL实现基于虚拟现实的无人机三维可视化仿真的设计方案和实现方法。
论文首先对虚拟现实的理论与背景进行了介绍,并在此基础上分析和比较了五种常见的虚拟现实的实现方法;结合该五种方法的优缺点,确定了课题的技术路线和总体设计方案。然后依据总体设计路线中的各个功能模块和设计需求,完成了虚拟场景中的环境建模、无人机本体建模、三维场景仿真环境实现、飞行信息显示环境开发等工作,并针对无人机虚拟现实实现过程中的若干关键技术进行了重点的论述,如飞机本体的建模、飞机尾焰、场景、天空、地形、碰撞检测、平显、数据交换等。最后,对实现后的三维仿真系统进行了试验验证,完成整个系统的调试工作,并且展示了系统的实现效果。
本文实现的无人机虚拟仿真系统能够将无人机飞行数据以更自然、更易理解的图像形式展示,达到了很好的显示效果,证明了本文所采用的技术路线和实现方案是可行且有效的。该方法具有通用性强、灵活性好、成本低等特点,在无人机地面检测、遥控遥测和仿真系统中有着较高的工程应用价值。
Because of UAV’s (Unmanned Aerial Vehicle) promising characteristic, it plays a more important role in many fields such as military and civil, and has drawn considerable attention recently. The observation, analysis and processing of the flight data are very important steps to simulate flight control system during the development of UAV. However, the general display method which be demonstrated in the mode of text or the two dimensional curve can’t meet the need of the new increasing performances. At the same time, the technique of VR provides a good means to realize 3D simulation with the high-speed development of computer techniques.
At the basis of virtual reality and UAV’s control system, the thesis is engaged in researching on 3D simulation and VR realization of UAV. The designed scheme and realized methods which employ the Visual C++ and OpenGL are discussed in detail.
Firstly, the theory and background of virtual reality are introduced summarily, and its five realized methods are analyzed and compared respectively. Then, the technical route and general designed scheme are determined. Secondly, according to each function modules and their design requirements of the designed scheme, the paper realizes many developments, such as environment model, UAV’s body model, three dimensional scene simulation environment design, flight information display environment , etc. Furthermore, some kernel techniques, which be comprised of the plane modeling, tail flame, fly scene, the sky, the terrain, collision test, the HUD(Head-up Display), data exchange and so on, are emphasized specially. Finally, the whole system of 3D simulation for a certain UAV is completed triumphantly, and its performances are perfectly.
According to the running results of 3D simulation system, it proves that the adopted technical route and designed scheme are feasible and effective. This technique has the characteristic of universality, flexibility, low cost, and so on. The achievement has an important values in UAV’s engineering applications, such as the ground-testing system, remote-sensing/remote-control system and simulation system.
本文在论述虚拟现实和无人机技术的基础上,详细介绍了利用Visual C++和OpenGL实现基于虚拟现实的无人机三维可视化仿真的设计方案和实现方法。
论文首先对虚拟现实的理论与背景进行了介绍,并在此基础上分析和比较了五种常见的虚拟现实的实现方法;结合该五种方法的优缺点,确定了课题的技术路线和总体设计方案。然后依据总体设计路线中的各个功能模块和设计需求,完成了虚拟场景中的环境建模、无人机本体建模、三维场景仿真环境实现、飞行信息显示环境开发等工作,并针对无人机虚拟现实实现过程中的若干关键技术进行了重点的论述,如飞机本体的建模、飞机尾焰、场景、天空、地形、碰撞检测、平显、数据交换等。最后,对实现后的三维仿真系统进行了试验验证,完成整个系统的调试工作,并且展示了系统的实现效果。
本文实现的无人机虚拟仿真系统能够将无人机飞行数据以更自然、更易理解的图像形式展示,达到了很好的显示效果,证明了本文所采用的技术路线和实现方案是可行且有效的。该方法具有通用性强、灵活性好、成本低等特点,在无人机地面检测、遥控遥测和仿真系统中有着较高的工程应用价值。
Because of UAV’s (Unmanned Aerial Vehicle) promising characteristic, it plays a more important role in many fields such as military and civil, and has drawn considerable attention recently. The observation, analysis and processing of the flight data are very important steps to simulate flight control system during the development of UAV. However, the general display method which be demonstrated in the mode of text or the two dimensional curve can’t meet the need of the new increasing performances. At the same time, the technique of VR provides a good means to realize 3D simulation with the high-speed development of computer techniques.
At the basis of virtual reality and UAV’s control system, the thesis is engaged in researching on 3D simulation and VR realization of UAV. The designed scheme and realized methods which employ the Visual C++ and OpenGL are discussed in detail.
Firstly, the theory and background of virtual reality are introduced summarily, and its five realized methods are analyzed and compared respectively. Then, the technical route and general designed scheme are determined. Secondly, according to each function modules and their design requirements of the designed scheme, the paper realizes many developments, such as environment model, UAV’s body model, three dimensional scene simulation environment design, flight information display environment , etc. Furthermore, some kernel techniques, which be comprised of the plane modeling, tail flame, fly scene, the sky, the terrain, collision test, the HUD(Head-up Display), data exchange and so on, are emphasized specially. Finally, the whole system of 3D simulation for a certain UAV is completed triumphantly, and its performances are perfectly.
According to the running results of 3D simulation system, it proves that the adopted technical route and designed scheme are feasible and effective. This technique has the characteristic of universality, flexibility, low cost, and so on. The achievement has an important values in UAV’s engineering applications, such as the ground-testing system, remote-sensing/remote-control system and simulation system.
引文
[1]秦博,王蕾,无人机发展综述,飞航导弹,2002,(8):4~9
[2]李爱军,高空长航时无人机的关键技术及其发展趋势,飞机工程,2001,(9):45～48
[3]韦有双,王飞,冯允成,虚拟现实与系统仿真,计算机仿真,1999,16(2):63~66
[4]邹湘军,孙健,虚拟现实技术的演变发展与展望,系统仿真学报,2004,16(9): 1905~1909
[5]陈雁飞,马建民,高丽,虚拟现实技术综述,机械制造与自动化,2004,10:5~10
[6]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,1995:47~50
[7]和平鸽工作室,OpenGL高级编程与可视化系统开发(高级编程篇),北京,中国水利水电出版社,2005:133~136
[8]李纳莹,基于OpenGL编程实现三维虚拟现实,电脑编程技巧与维护,2004,12:68~75
[9]徐娟,许小荣,3ds max 7中文版应用教程,北京,电子工业出版社,2006,20~30
[10] Richard S.Wright,Jr.Benjamin Lipchak,OpenGL超级宝典(第三版)(徐波译),北京,人民邮电出版社,2005:12~20
[11] Yuan,Ping.Green,Mark Lau,Framework for Performance evaluation of real-time rendering algorithms in virtual reality,ACM SymPosium on Virtual Reality software and Technology Proceedings,1997:51~58
[12] WU Yadong,Liu YushuZhan,Shouyi Gao,Efficient view-dependent rendering of terrains Proceedings-Graphics Interface,2001:217~222
[13]和平鸽工作室,OpenGL三维图形系统开发与实用技术(实用技术篇),重庆,重庆大学出版社,2003:116~117
[14] Eric N.Johnson,Sebastien,USE OF FLIGHT SIMULATION TO COMPLEMENT FLIGHT TESTING OF LOW-COST UAVS ,AIAA Modeling and Simulation Technology Conference,Canada,AIAA,2001-4059
[15]王行风,徐寿成,三维地形飞行浏览的研究及实现,计算机应用研究,2002,12:54~57
[16]黎华,肖伟,三维真实感地形生成的关键技术研究,测绘科学,2006,31(4):57~59
[17]贾瑞生,姜岩,三维地形建模与可视化研究,系统仿真学报,2006,8(18):330~332
[18] M. Hesse,M. L. Gavrilova,An Efficient Algorithm for Real-Time 3D Terrain Walkthrough,ICCSA,2003:751~761
[19] Kelly L,Murdock,3ds max 7宝典,北京,电子工业出版社,2006:51~60
[20]薛安,马蔼乃,李天宏,基于OpenGL实现真实感地形表现的研究,中国图象图形学报,2001,6(8):800~805
[21] Woodrow Barfield,Virtual Environment and Advanced Interface Design,Oxford ,Oxford University Press,1995:30~50
[22]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
[23]件大伟,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,2001,2:77~82
[24] John L Volakis,Michael Carr,Visualization with OpenGL:3D Made Easy,IEEE Antennas and Propagation Magazine,1997,39(4):116~120
[25] AkiyoshiT,MiwaS,UcdaT,A Learning Environment for Maintenance of Power Equipment Using Virtual Reality,IEE Conference Publication,1995,20:441~446
[26] Balossino.N,Bresciani.F,Lucenteforte.M,A low cost system for real-time integration of virtual and real distributed environments,The Intemational Society for Optical Engineering,2001:268~278
[27]董敏,基于OpenGL的飞行环境虚拟仿真技术研究,[硕士学位论文],西安,西北工业大学,2003
[28]佟璟,余德义,基于虚拟现实的无人机地面监控仿真系统,工业控制计算机,2005,18(2):45~46
[29]焦淑红,邵宇,刘锋,基于OpenGL的导弹尾焰仿真算法,弹箭与制导学报,2007,27(4):71~74
[30]张芹,吴慧中,谢隽毅等,基于粒子系统的火焰模型及其生成方法研究,计算机辅助设计与图形学学报,2001,13(1):78~82
[31] Jos Stam,Eugene Fiume,Depicting fire and other gaseous phenomena using diffusion processes,ACM Computer Graphics,1995,29(4):129~135
[32] Zhang Qin,Overview of methods of modeling for irregular objects,Journal of Image and Graphics,2000,5(3):186~190
[33]赵颖,基于六维控制器飞行仿真虚拟现实系统的研究与开发,[硕士学位论文],河北,河北工业大学,2004
[34]李晓强,微型UAV飞行监控平台的可视化技术研究,[硕士学位论文],杭州,浙江大学,2005
[35]励映群,王润杰,李松维,OpenGL中实现飞行仿真观察变换的几种方法,计算机仿真,2003,5:71~75
[36]黄葵,朱兴动,应用OpenGL实现飞行过程的实时回放,电脑开发与应用,2003,16(12):33~34
[37] ErieN.Johnson,and Sumit Mishra,FLIGHT SIMULATION FOR THE DEVELOPMENT OF AN EXPERIMENTAL UAV,AIAA Modeling and SimulationTechnologies Conefrence and Exhibit,AIAA,2002-4975
[38] Fairchild K M,Poston T,Bricken W,Efficient Virtual Collision Detection for Multiple Users in Large Virtual Spaces,Virtual Reality Software and Technology,1994:271~285
[39] Gottschalk S,Collision Queries Using Oriented Bounding Boxes,[PHD thesis],Carolina,University of North Carolina,2000
[40]钟涛,基于PC机的实时交互视景仿真系统的实现与研究,[硕士学位论文],武汉,武汉理工大学,2004
[41]周杨,徐青,肖勇辉,基于Z_buffer值的碰撞检测算法研究,计算机工程,2007,33(12):214~216
[42]刘惠义,邱云,张春红,虚拟视景交互漫游系统的实时碰撞检测方法研究,河海大学学报(自然科学版),2005,33(3):339~342
[43] MOORE M,WILHELMS J,Collision detection and response for computer animaiton,Computer Graphics,1988,22(4):289~298
[2]李爱军,高空长航时无人机的关键技术及其发展趋势,飞机工程,2001,(9):45～48
[3]韦有双,王飞,冯允成,虚拟现实与系统仿真,计算机仿真,1999,16(2):63~66
[4]邹湘军,孙健,虚拟现实技术的演变发展与展望,系统仿真学报,2004,16(9): 1905~1909
[5]陈雁飞,马建民,高丽,虚拟现实技术综述,机械制造与自动化,2004,10:5~10
[6]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,1995:47~50
[7]和平鸽工作室,OpenGL高级编程与可视化系统开发(高级编程篇),北京,中国水利水电出版社,2005:133~136
[8]李纳莹,基于OpenGL编程实现三维虚拟现实,电脑编程技巧与维护,2004,12:68~75
[9]徐娟,许小荣,3ds max 7中文版应用教程,北京,电子工业出版社,2006,20~30
[10] Richard S.Wright,Jr.Benjamin Lipchak,OpenGL超级宝典(第三版)(徐波译),北京,人民邮电出版社,2005:12~20
[11] Yuan,Ping.Green,Mark Lau,Framework for Performance evaluation of real-time rendering algorithms in virtual reality,ACM SymPosium on Virtual Reality software and Technology Proceedings,1997:51~58
[12] WU Yadong,Liu YushuZhan,Shouyi Gao,Efficient view-dependent rendering of terrains Proceedings-Graphics Interface,2001:217~222
[13]和平鸽工作室,OpenGL三维图形系统开发与实用技术(实用技术篇),重庆,重庆大学出版社,2003:116~117
[14] Eric N.Johnson,Sebastien,USE OF FLIGHT SIMULATION TO COMPLEMENT FLIGHT TESTING OF LOW-COST UAVS ,AIAA Modeling and Simulation Technology Conference,Canada,AIAA,2001-4059
[15]王行风,徐寿成,三维地形飞行浏览的研究及实现,计算机应用研究,2002,12:54~57
[16]黎华,肖伟,三维真实感地形生成的关键技术研究,测绘科学,2006,31(4):57~59
[17]贾瑞生,姜岩,三维地形建模与可视化研究,系统仿真学报,2006,8(18):330~332
[18] M. Hesse,M. L. Gavrilova,An Efficient Algorithm for Real-Time 3D Terrain Walkthrough,ICCSA,2003:751~761
[19] Kelly L,Murdock,3ds max 7宝典,北京,电子工业出版社,2006:51~60
[20]薛安,马蔼乃,李天宏,基于OpenGL实现真实感地形表现的研究,中国图象图形学报,2001,6(8):800~805
[21] Woodrow Barfield,Virtual Environment and Advanced Interface Design,Oxford ,Oxford University Press,1995:30~50
[22]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
[23]件大伟,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,2001,2:77~82
[24] John L Volakis,Michael Carr,Visualization with OpenGL:3D Made Easy,IEEE Antennas and Propagation Magazine,1997,39(4):116~120
[25] AkiyoshiT,MiwaS,UcdaT,A Learning Environment for Maintenance of Power Equipment Using Virtual Reality,IEE Conference Publication,1995,20:441~446
[26] Balossino.N,Bresciani.F,Lucenteforte.M,A low cost system for real-time integration of virtual and real distributed environments,The Intemational Society for Optical Engineering,2001:268~278
[27]董敏,基于OpenGL的飞行环境虚拟仿真技术研究,[硕士学位论文],西安,西北工业大学,2003
[28]佟璟,余德义,基于虚拟现实的无人机地面监控仿真系统,工业控制计算机,2005,18(2):45~46
[29]焦淑红,邵宇,刘锋,基于OpenGL的导弹尾焰仿真算法,弹箭与制导学报,2007,27(4):71~74
[30]张芹,吴慧中,谢隽毅等,基于粒子系统的火焰模型及其生成方法研究,计算机辅助设计与图形学学报,2001,13(1):78~82
[31] Jos Stam,Eugene Fiume,Depicting fire and other gaseous phenomena using diffusion processes,ACM Computer Graphics,1995,29(4):129~135
[32] Zhang Qin,Overview of methods of modeling for irregular objects,Journal of Image and Graphics,2000,5(3):186~190
[33]赵颖,基于六维控制器飞行仿真虚拟现实系统的研究与开发,[硕士学位论文],河北,河北工业大学,2004
[34]李晓强,微型UAV飞行监控平台的可视化技术研究,[硕士学位论文],杭州,浙江大学,2005
[35]励映群,王润杰,李松维,OpenGL中实现飞行仿真观察变换的几种方法,计算机仿真,2003,5:71~75
[36]黄葵,朱兴动,应用OpenGL实现飞行过程的实时回放,电脑开发与应用,2003,16(12):33~34
[37] ErieN.Johnson,and Sumit Mishra,FLIGHT SIMULATION FOR THE DEVELOPMENT OF AN EXPERIMENTAL UAV,AIAA Modeling and SimulationTechnologies Conefrence and Exhibit,AIAA,2002-4975
[38] Fairchild K M,Poston T,Bricken W,Efficient Virtual Collision Detection for Multiple Users in Large Virtual Spaces,Virtual Reality Software and Technology,1994:271~285
[39] Gottschalk S,Collision Queries Using Oriented Bounding Boxes,[PHD thesis],Carolina,University of North Carolina,2000
[40]钟涛,基于PC机的实时交互视景仿真系统的实现与研究,[硕士学位论文],武汉,武汉理工大学,2004
[41]周杨,徐青,肖勇辉,基于Z_buffer值的碰撞检测算法研究,计算机工程,2007,33(12):214~216
[42]刘惠义,邱云,张春红,虚拟视景交互漫游系统的实时碰撞检测方法研究,河海大学学报(自然科学版),2005,33(3):339~342
[43] MOORE M,WILHELMS J,Collision detection and response for computer animaiton,Computer Graphics,1988,22(4):289~298