射手虚拟现实训练系统研究
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摘要
随着虚拟现实技术和现代化建设的不断发展,迫切需要对原有的射击训练系统进行技术更新。设计安全可靠符合实际训练要求的射手虚拟训练系统可降低训练成本,满足多样化射击训练要求,并可实时记录数据,进行分析处理。
为实现射手训练系统的交互性,软件部分选择合适的建模和场景驱动软件模拟飞碟运动,硬件部分需跟踪枪支姿态和弹着点。在枪上安装激光器,当射手射击时发出激光束来模拟子弹运动轨迹,得到激光束上的两点便可确定激光束所在直线,用于计算枪支姿态和弹着点。
论文首先介绍了虚拟现实技术的软硬件现状,根据射手训练要求提出了系统总体设计方案。然后使用3D Studio MAX和MATLAB虚拟现实工具箱建模生成了虚拟飞行目标,按模型建立步骤介绍了各步操作设置,演示了效果图。接着在枪支定位光学系统设计中介绍了数学模型、成像系统组成和实验方案,采集到了激光透过半透半反膜形成两个光斑的图像,并进行了实验结果分析。最后详细介绍了光路算法、图像处理算法和MATLAB计算实现,处理图像计算得到枪支姿态和弹着点,实验结果符合实际情况。
本文提出了使用单CMOS(Charge Coupled Device)相机跟踪枪支三维姿态的方案并完成了实验框架和算法设计,通过实验证明这种光电检测方法可以进行位置跟踪,为实现射手虚拟现实训练系统进行了准备和可行性验证工作。希望本文的研究对从事空间三维测量技术及虚拟现实技术研究的人们有一定的参考价值。
Along with unceasing development of virtual reality technology and modernization, we cry for technical renovate to the quondam shooting training system. It can reduce the training cost, satisfies the diversification shooting training request, record the real-time data, and carry on the analysis and processing to design shooter virtual reality training system which is safety and conforms to the practical training request.
In order to realize interaction of shooter training system, in software we choose appropriate modeling and scene driver software to simulate flying saucer movement, and the hardware must track the gun’s attitude and strike. Installing a laser on the gun which can emit laser bean to simulate bullet movement trail when shooter fires, we can ascertain the straight-line of the laser bean if we obtain two points of the laser bean,to calculate gun’s posture and strike.
The virtual reality technology software and hardware actuality is firstly introduced, and we propose a system design plan according to the shooter training requirement. Afterwards we make modeling and get virtual flying target using 3D Studio MAX and the MATLAB virtual reality toolbox, introducing operation and setting according to the model building step, and demonstrate the effect pictures. Then the mathematical model, the imaging system composition and the experimental scheme is introduced in the gun localization optical system design. We have obtained image which has two laser faculas formed by laser through thin-film, and carried on the experimental result analysis. Finally the algorithm of ray path, the image processing algorithm and the realization of MATLAB computation are introduced in detail, getting gun’s attitude and strike by processing image. The experimental result tallies with the actual situation.
We have proposed the scheme of using one CMOS camera to track gun’s three-dimensional attitude and completed the experiment frame and the algorithm design. Through the experiment it has proved that the photoelectric detection method can realizes the position track, which is carrying on the preparation and the feasibility confirmation work to realize the shooter virtual reality training system. I hope there is some reference value in the thesis to the people who is carrying on the research of spatial three-dimensional measuring technique and the virtual reality technology.
为实现射手训练系统的交互性,软件部分选择合适的建模和场景驱动软件模拟飞碟运动,硬件部分需跟踪枪支姿态和弹着点。在枪上安装激光器,当射手射击时发出激光束来模拟子弹运动轨迹,得到激光束上的两点便可确定激光束所在直线,用于计算枪支姿态和弹着点。
论文首先介绍了虚拟现实技术的软硬件现状,根据射手训练要求提出了系统总体设计方案。然后使用3D Studio MAX和MATLAB虚拟现实工具箱建模生成了虚拟飞行目标,按模型建立步骤介绍了各步操作设置,演示了效果图。接着在枪支定位光学系统设计中介绍了数学模型、成像系统组成和实验方案,采集到了激光透过半透半反膜形成两个光斑的图像,并进行了实验结果分析。最后详细介绍了光路算法、图像处理算法和MATLAB计算实现,处理图像计算得到枪支姿态和弹着点,实验结果符合实际情况。
本文提出了使用单CMOS(Charge Coupled Device)相机跟踪枪支三维姿态的方案并完成了实验框架和算法设计,通过实验证明这种光电检测方法可以进行位置跟踪,为实现射手虚拟现实训练系统进行了准备和可行性验证工作。希望本文的研究对从事空间三维测量技术及虚拟现实技术研究的人们有一定的参考价值。
Along with unceasing development of virtual reality technology and modernization, we cry for technical renovate to the quondam shooting training system. It can reduce the training cost, satisfies the diversification shooting training request, record the real-time data, and carry on the analysis and processing to design shooter virtual reality training system which is safety and conforms to the practical training request.
In order to realize interaction of shooter training system, in software we choose appropriate modeling and scene driver software to simulate flying saucer movement, and the hardware must track the gun’s attitude and strike. Installing a laser on the gun which can emit laser bean to simulate bullet movement trail when shooter fires, we can ascertain the straight-line of the laser bean if we obtain two points of the laser bean,to calculate gun’s posture and strike.
The virtual reality technology software and hardware actuality is firstly introduced, and we propose a system design plan according to the shooter training requirement. Afterwards we make modeling and get virtual flying target using 3D Studio MAX and the MATLAB virtual reality toolbox, introducing operation and setting according to the model building step, and demonstrate the effect pictures. Then the mathematical model, the imaging system composition and the experimental scheme is introduced in the gun localization optical system design. We have obtained image which has two laser faculas formed by laser through thin-film, and carried on the experimental result analysis. Finally the algorithm of ray path, the image processing algorithm and the realization of MATLAB computation are introduced in detail, getting gun’s attitude and strike by processing image. The experimental result tallies with the actual situation.
We have proposed the scheme of using one CMOS camera to track gun’s three-dimensional attitude and completed the experiment frame and the algorithm design. Through the experiment it has proved that the photoelectric detection method can realizes the position track, which is carrying on the preparation and the feasibility confirmation work to realize the shooter virtual reality training system. I hope there is some reference value in the thesis to the people who is carrying on the research of spatial three-dimensional measuring technique and the virtual reality technology.
引文
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[36] 姚俊,马松辉. Simulink建模与仿真[M].西安:西安电子科技出版社,2002.
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[2] 黄建军,余建华.自动步枪激光模拟射击系统.应用激光.2001,21(1):41～42.
[3] http://news.xinhuanet.com/sports/2007-12/05/content_7203755.htm.
[4] Burdea G.Virtual Reality System and Applications[C].Electro’93 International Conference,1993.
[5] Art Baker,Jerry Lonazo.VR设计指南[M].第二版.北京:机械工业出版社,2001.
[6] 王惠刚.计算机仿真原理及应用[M].第二版.北京:国防科技大学出版社,2000.
[7] 冈萨雷斯.数字图像处理.MATLAB版[M].北京:电子工业出版社,2005.
[8] N. Mizuguchi, Y.Tamura, S.Imagawa,A.Sagara. Development of reactor design aid tool using virtual reality technology[J].Fusion Engineering and Design,2006,81(23-24):2755～2759.
[9] Pimental,K .and Teixeira,K.Virtual Reality.2nd Edition. Intel Windcrest:Mc Graw-Hill, 1994.
[10] Maria Andréia F. Rodrigues,Wendel B. Silva,Milton E. Barbosa Neto,Duncan F. Gillies,Isabel M.M.P. Ribeiro.An interactive simulation system for training and treatment planning in orthodontics[J].Computers & Graphics,2007,31(5):688～697.
[11] Milana Huang,David Levine,Larry Turner,Lauri Kettunen,Michael Papka. Virtual Reality Visualization of 3-D Electromagnetic Fields[J].Academic Radiology,2002,9(11): 1255～1263.
[12] 刘越,王涌天,胡晓明.用于人机交互的交流电磁跟踪系统的研究[J].系统仿真学报,2002,14(9):1154～1160.
[13] 黄天智 , 刘越 , 王涌天等 . 增强现实技术的军事应用与前景展望 [J]. 兵工学报,2006,27(6):1043～1046.
[14] 申凯,戴青,费晓飞等.户外增强虚拟现实系统的关键技术研究[J].微计算机信息,2006,22(9-3):6～10.
[15] 陈鹏,王培俊,龙时丹.网络环境下基于立体视觉和数据手套的模具虚拟装配[J].计算机应用,2007,27:83～86.
[16] 王颖 , 廖可兵 , 郭阳等 . 集成人机交互仿真系统研制与应用 [J]. 系统仿真学报,2007,19(11):2492～2495.
[17] 刘涛,李学军,谢剑薇.基于PC支持大屏立体显示的分布式系统[J].计算机仿真,2007,24(5):206～209.
[18] 李利军,管涛,段利亚等.基于增强现实的声音仿真关键技术研究[J].微电子学与计算机,2006,23(7):109～111.
[19] 蒋毅,周宏,陈晓等.单兵装备效能评估系统中虚拟现实平台的设计[J].计算机与现代化,2006,4:117～119.
[20] Wang Wei-chen,Jiang Xiaohong. Optimizing Real-Time Performance of 3D Virtual Mining Environment with MultiGen Creator. CADDM. 2004, 14(1):61～69.
[21] 金宁.油轮提油作业视景仿真系统的研究与开发.大连海事大学[D].2005,3:13～17.
[22] 王兰美,赵继成,秦华东.OpenGL及其在VC++下的开发应用[J].武汉大学学报(工学版),2006,39(4):62～65.
[23] 童军.基于VR的三维人体坐标跟踪系统研究.大连海事大学[D].2005.3:19～22.
[24] 江萍.http://218.22.36.140/media file /2002 03 27 /virtualreality7. ppt#261,2,幻灯片2.
[25] A. Gunasekaran,E. Tirtiroglu,V. Wolstencroft.An investigation into the application of agile manufacturing in an aerospace company[J]. Technovation,2002,22(7):405～415.
[26] Jose Martinez-Llario,Eloina Coll,Jose Herraez.Three-diemensional scanner software using a video camera[J].Advances in Engineering Software,2006, 37(7):484～489.
[27] 黄心渊等.3D Studio MAX技术精粹[M].清华大学出版社,1998.
[28] Kelly L Murduck.3D Studio MAX宝典[M].电子工业出版社,2000.
[29] 黄心渊. 3DS MAX 5标准教程[M]. 人民邮电出版社,2003.
[30] http://www.examda.com/shinei/fudao/20070405/085934251.html.
[31] M. Callieri,P. Debevec,J. Pair,R. Scopigno.A realtime immersive application with realistic lighting: The Parthenon[J].Computers & Graphics,2006,30(3):368～376.
[32] Andrea H. Mason.An experimental study on the role of graphical information about hand movement when interacting with objects in virtual reality environments[J].Interacting with Computers,2007,19(3),370～381.
[33] 张家祥,罗雪山,方凌江,毛全胜.用MATLAB的虚拟现实工具箱进行飞机起飞模拟[J].计算机仿真,2003,4.
[34] 左宗义.虚拟现实建模语言(VRML)在图形学教育中的应用[J].电化教育研究,2000,6.
[35] 张家祥,方凌江,毛全胜.基于MATLAB 6.x的系统分析与设计—虚拟现实[M].西安:西安电子科技出版社,2002.
[36] 姚俊,马松辉. Simulink建模与仿真[M].西安:西安电子科技出版社,2002.
[37] 黄永安,马路,刘慧敏.MATLAB7.0/Simulink 6.0建模仿真开发与高级工程应用[M]. 北京:清华大学出版社,2005.
[38] 王建中,胡光艳,田会方.基于Simulink和虚拟现实工具箱的机器人行驶控制系统计算机仿真[J].国外建材科技,2003,24(1):46～49.
[39] F.A. Smit,A. van Rhijn,R. van Liere. Graphtracker: A topology projection invariant optical tracker[J].Computers & Graphics,2007, 31(1):26～38.
[40] 张玉双,于湜,王子茹等.摄影测量的发展与应用[J].包钢科技,2000,4:94～96.
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