无人机二三维协同飞行仿真关键技术研究

发布时间：2018-01-26 17:50

本文关键词： 无人机飞行仿真二三维协同 OSG Earth　出处：《南昌航空大学》2017年硕士论文　论文类型：学位论文

【摘要】：无人机作为现在和未来战场上夺取制空权的主角,其重要性不言而喻,然而它本身的研制生产和后期事物花费都是相当巨大的。计算机仿真技术拥有相对造价低、仿真度高、可重复利用等特点,为解决实际生产和生活问题提供了较好的解决方案。通过仿真可大大减少实际生产、应用成本,特别在军事领域内对相关人员技术培训方面应用较为广泛。本文对无人机的模拟飞行问题做了一定研究,发现仿真软件中地图数据平台不完整的问题和不同环境下软件适应力弱等问题。平台中地图质量的优劣是关键因素。地图能实时显示无人机在空中的实际位置,二维地图能从总体规划无人机未来的飞行方向和路线。三维地图能从细节方面掌握当前飞机的飞行参数和所在位置的基本地貌情况等,为飞机实时控制和处理突发事件起到关键性作用。然而大部分的仿真平台只有二维地图或只有三维地图,以及少部分虽有二维和三维但不能实现协同操作功能。结合本人参与导师项目经历和学习经验,本文主要研究和工作内容如下:(1)利用Qt框架构建二三维平台。二维地图部分采用导师自主研制的软件平台,本人在此基础上添加了部分功能。三维平台部分采用国外OSG Earth构建,下载矢量数据、地形纹理数据、高程数据等并加载到三维地图上,完善地图信息。(2)研究进程间的通信并设计实现方案。针对单机单进程、单机多进程、多机单进程等场景设计对应的通信方式。(3)仿真应用的设计和实现。选取无人机飞行航迹作为切入点,利用(2)中通信方式实现了二三维协同飞行仿真,成功解决了二三维地图数据的联动和多场景下通信困难的问题。(4)通过整个软件的设计、测试与修改,基本达到了设计要求,实现了二三维协同仿真的目的。
[Abstract]:The importance of unmanned aerial vehicles (UAVs) as the protagonists of air control in the present and future battlefields is self-evident. However, its own research and production and the later cost of things are quite huge. Computer simulation technology has the characteristics of relatively low cost, high fidelity, reusable and so on. It provides a better solution to the practical production and life problems, and can greatly reduce the actual production and application cost through simulation. Especially in the military field of related personnel technical training is more widely used. This paper has done some research on the simulated flight of UAV. The problems of incomplete map data platform in simulation software and weak adaptability of software in different environments are found. The quality of map in the platform is the key factor. The map can display the actual position of UAV in the air in real time. 2D map can plan the future flight direction and route of UAV, 3D map can master the flight parameters and the basic geomorphology of the position of the aircraft in detail. It plays a key role in aircraft real-time control and handling of emergencies. However, most simulation platforms only have two-dimensional maps or only three-dimensional maps. As well as a small part of the two-dimensional and three-dimensional but can not achieve the function of collaborative operation. Combined with my participation in the tutorial project experience and learning experience. The main research and work of this paper are as follows: (1) using QT framework to construct the two-dimensional and three-dimensional platform. The two-dimensional map is based on the software platform developed by the tutor. On this basis, I add some functions. The 3D platform is built with foreign OSG Earth, download vector data, terrain texture data, elevation data and so on, and load into 3D map. Perfect map information. 2) study the communication between processes and design the implementation scheme. For single machine single process, single machine multi process. The design and implementation of the simulation application of the corresponding communication mode. The UAV flight track is selected as the starting point and the communication mode of the two dimensional cooperative flight simulation is realized by using the communication mode in the 2 / 2). Successfully solve the linkage of 2D map data and the difficult communication problem in multi-scene. 4) through the design, testing and modification of the whole software, the basic design requirements have been achieved. The purpose of 2-3 D collaborative simulation is realized.
【学位授予单位】：南昌航空大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V211;V279;TP391.9

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