基于OGRE的无人机全轨迹实时视景仿真系统  

A Real Time Visual Simulation System for Unmanned Aerial Vehicle

作　　者：宗群[1] 徐锐[1] 李庆鑫[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072

出　　处：《控制工程》2015年第1期1-7,共7页Control Engineering of China

基　　金：国家自然科学基金重大研究计划培育项目(91016018);天津市应用基础及前沿技术研究计划(11JCZDJC25100)

摘　　要：通过构建无人机全轨迹实时视景仿真系统,用于无人机全轨迹实时视景显示和运动模拟。该系统以开源的OGRE图形引擎作为基础,并结合建模软件3ds max,开源场景编辑器Ogre SE,及导入工具Ogremax,构建了全轨迹视景仿真所需要的三维机体模型,以及起飞阶段,巡航阶段和降落阶段的三维场景模型。通过编写解析函数库在OGRE图形引擎中解析和渲染场景。运用基于轴对齐包围盒(Axis-Aligned Bounding Box-AABB)的射线碰撞检测算法进行无人机投弹和击中目标爆炸效果模拟。通过开源的CEGUI图形界面库进行系统的人机界面的设计与构建,用于飞行数据的显示和人机交互。同时运用基于UDP的通信方式与d SAPCE实时运算主控机进行通信,使得视景系统能够实时地展示无人机飞行状态。最后通过联合实验验证视景系统的各项功能。A real-time whole trajectory visual simulation system for UVA is designed in this paper, which is used to present the whole trajectory flight of UVA in real-time mode. The system is based on OGRE rendering engine. All the 3D models are constructed in 3ds max. The Ogremax is used to transform max files into mesh files so that these models could be rendered in OGRE. The 3D scenes are edited in OgreSE. There are three main scenes： The taking off scene, the cruise phase scene, the landing period scene. A collision detection algorithm based on Axis-Aligned Bounding Box and ray cast is used in the simulation that a missile hit a target. User interface of this system is built on CEGUI libraries. UDP communication is used to get real-time flight data and commands from another computer which controls the running of dSPACE. An experiment with all the components of the system is done to validate all its functions.

关 键 词：OGRE 三维建模 无人机 视景仿真 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]