CN104615010B - FlightGear and VC hybrid system development approaches based on network service - Google Patents

Abstract

The present invention relates to a development method of a visual co-simulation system for multi-machine formation flight, and the purpose is to provide a development method of a mixed and visual co-simulation system based on network communication FlightGear, VC and Matlab (Simulink), so as to realize multi-machine formation flight A series of algorithm research, simulation and virtual reality demonstrations such as control, task coordination allocation, and air combat provide an effective verification platform for key technology research and actual combat rehearsals to be solved by multi-aircraft formation collaborative control. The system uses the open source software FlightGear to realize virtual reality and scene demonstration, uses VC to develop system formation management, data management, task management and communication software, and uses Simulink to run the aircraft model and control algorithm. These three parts are exchanged through UDP communication based on Ethernet information to form a complete whole.

Description

Development Method of FlightGear and VC Mixed System Based on Network Communication

Technical field: The present invention relates to a development method of a multi-aircraft formation flight simulation system, especially a development method based on network communication-based FlightGear and VC mixed multi-aircraft formation visual joint flight simulation, which belongs to algorithm research, engineering verification and A technical field that combines visual simulation technology.

Background technology: At present, many scientific research institutions at home and abroad have used FlightGear (flight simulation software) for flight simulation research projects. For example, in the flight control system simulation of the University of Wales, the FlightGear engine was used to realize the visual environment simulation; the flight management and ground equipment company ARINC changed the part of the position information sent by the FlightGear software in NMEA format to GPS information, and sent it to the flight management through the ARINC429 data format Computer to test its flight management computer; researchers at National University of Defense Technology use FlightGear as a simulation visualization engine, use the AeroSim module set to build a simulation module, and transmit flight data to any computer running FlightGear in the LAN for dynamic display of flight simulation The Beijing Institute of Meteorology uses Matlab/Simulink simulation tools to establish a flight trajectory/attitude simulation module. On this basis, FlightGear is used as a visualization engine to realize the three-dimensional visualization display of weather conditions, flight attitude and geographical environment in flight simulation.

The visual display of FlightGear flight simulator is realistic and can truly reflect the flight environment such as weather and geography. Its internal dynamic model can obtain aircraft parameters through XML format configuration files, and can configure the operating environment of the software for real-time simulation. The invention makes full use of the powerful visual display of FlightGear and configuration files in XML format to realize the visual flight display of multi-aircraft formation.

Summary of the invention: the technical problem to be solved by the present invention is to provide a development method based on network communication-based FlightGear, VC and Simulink visual co-simulation, to realize a series of simulations such as multi-aircraft formation flight control, task coordination assignment, air combat demonstration, etc. Provide an effective verification platform for the key technologies to be solved in the collaborative control of aircraft formations.

In order to achieve the above object, the technical solution adopted by the present invention is: a flightgear and VC hybrid system development method based on network communication, the realization system of this method adopts open source software FlightGear to realize virtual reality and scene demonstration, and adopts VC development system formation management and data management , mission management and communication software, using Simulink to run the aircraft model and control algorithm, these three parts exchange information through UDP communication based on Ethernet to form a complete whole. The whole system is mainly composed of formation aircraft terminal, scene situation display, integrated management terminal, FlightGear server and Ethernet switch. The formation aircraft terminal runs the aircraft FlightGear, the stand-alone control module and the aircraft model of the aircraft Simulink at the same time. The system adopts the combination of centralized management and decentralized coordination control, implements centralized management with the integrated management terminal, and realizes coordinated control with the stand-alone control module on each aircraft computer as a node, and realizes the interconnection of three heterogeneous environments through UDP data and information exchange intercommunication. The system supports the development of multi-aircraft mixed formation system of any number and any type of aircraft. It not only supports mixed formation and joint simulation of manned aircraft, unmanned aerial vehicles, and even land and sea carriers. The specific steps are as follows:

Step (1): set up the FlightGear server under the Linux operating system, add configuration modules on the basis of the FlightGear software, set up a series of documents in XML format to replace the shape of an existing aircraft, and shield its autopilot;

Step (2): Design the integrated management terminal and stand-alone control module on the VC6.0 platform, and implement centralized coordination management with the integrated management terminal and stand-alone module;

Step (3): run the aircraft model and control algorithm on the Simulink software;

Step (4): each aircraft operates three independent software modules of the aircraft model of FlightGear module, stand-alone control module and Simulink by a high-performance computer;

Step (5): Design and communicate the module on the VC6.0 platform, use the UDP protocol to communicate, realize the network communication between the comprehensive management module and the stand-alone control module, the FlightGear module and the stand-alone control module by calling the SocketAPI function, and use the embedded S function The UDP communication program realizes the interaction between the Simulink aircraft model operating data and the stand-alone control module, and distributes the data to each aircraft through the integrated management terminal;

Step (6): Use FlightGear to present the aircraft's operating attitude, the environment, and the relationship with other aircraft in the formation in a three-dimensional virtual reality and visualization manner, and display the three-dimensional situation of the scene to realize a series of multi-aircraft formation flight control, task coordination assignment, and air combat. Algorithm research, simulation and virtual reality demonstrations.

The FlightGear server uses the Linux operating system, and the modules can process a large amount of data to meet the requirements of high processing speed and high reliability. Each control terminal is connected to the server through a stacked high-speed Ethernet switch, and the server performs key tasks of data storage, forwarding, and publishing. The FlightGear module is based on the original system, by adding a configuration module to replace the shape of an existing aircraft and shielding its autopilot, so as to realize fast and seamless transformation, and greatly utilize the advantages of the open source FlightGear environment and rendering. The configuration module creates a series of documents in XML format, adds corresponding labels to the required data items, and corresponds to the cooperative combat control instruction set in the integrated management terminal, when the program is running, the configuration module will manage the information and information according to the XML documents. The control information data is written into the corresponding data variable interface inside the FlightGear software module, and the flight data is also transmitted from the internal data of FlightGear.

The system avoids the common problem of using FlightGear for secondary development. At the same time, it takes into account the current situation that aircraft models are generally developed using Simulink, and uses the most popular VC 6.0 development management and algorithm software to achieve the perfect integration of engineering and algorithm research. or compatible.

The comprehensive management terminal, stand-alone control module, and UDP protocol communication are all designed on the VC6.0 platform. The integrated management terminal realizes the number management, formation management, algorithm management, data management and centralized communication control of formation aircraft; the stand-alone control module realizes local algorithm management, local aircraft attitude, weapon, threat, track, formation, data display and UDP communication ; UDP communication adopts SOCKET and datagram mode to realize non-connection-oriented high-frequency data communication.

The comprehensive management control terminal is designed on the VC6.0 platform as a system initialization module, a formation management module, a formation process control module and a display module. The formation flight simulation is not affected by the last data; the formation management module is divided into multiple setting blocks, including airport theater settings, flight environment settings, combat target settings, formation aircraft settings, aircraft performance settings, aircraft weapon settings, and formation formations Setting, formation track setting, formation modification setting and stand-alone failure setting, etc.; the formation process control module mainly realizes the process management control from formation takeoff to landing, that is, when to take off, return, and land; the display module is divided into map display and data Display, the map display is based on the longitude and latitude of the aircraft to draw the entire formation's track on the two-dimensional map, and the data display intuitively shows the position, altitude, speed, heading, etc. of each aircraft.

The communication module completes the communication between the FlightGear module and the stand-alone control module, the Simulink aircraft model, the three-dimensional situation display of the scene and the comprehensive management terminal to realize data interaction. The integrated management control terminal transmits the management information to the server through the communication module, the server transmits the management information to the aircraft control terminal, and the aircraft control terminal transmits the respective management information and control information to the corresponding FlightGear software module through the communication module, and the FlightGear software The module transmits the flight data to the aircraft control terminal and the integrated management control terminal for calculation and display.

UDP protocol is used for communication, and network communication is realized by calling Socket API functions. The data types include weather management, time management, formation management, control information, fault and threat management, and flight data. Meteorology and time management realize the setting and flight of environmental information in the scene Time management; formation management includes the management settings of the number, type, performance, and weapons of aircraft in the formation; threat management is used to set threat settings such as radar and air defense positions in the flight interval; fault management is used for artificial fault injection; flight data refers to FlightGear The flight simulator sends real-time data to the respective control modules through the output interface, and the control modules display the flight data on the interface and calculate the corresponding control information at the same time. The management information is transmitted to each aircraft computer through the communication module of the integrated management terminal, and then the data is analyzed by the stand-alone control module of the aircraft computer to obtain respective management information, and then transmitted to the FlightGear module.

The model of the formation aircraft can use the existing dynamics model and autopilot of FlightGear, or the dynamics and autopilot model based on Simulink.

If an aircraft in the formation is an existing aircraft in FlightGear, the system will directly adopt the shape and autopilot of the aircraft. If there is an aircraft in the formation that FlightGear does not have, the system uses its Simulink model to realize co-simulation. Of course, it also supports Matlab model, or any other type of model that VC can directly call.

The three-dimensional situation display of the scene displays the three-dimensional visual scene on the large screen through the split-screen function of the FlightGear server of a certain formation aircraft, forming a visual effect of the scene.

Compared with the prior art, the present invention makes full use of FlightGear's powerful visual display and XML format configuration files, and designs a comprehensive management control terminal, stand-alone control module, UDP communication, etc. on the VC6.0 platform to realize multi-machine formation A series of process control and flight formation control such as management, setting, modification, etc., each part is connected through an Ethernet server to form a large multi-aircraft formation flight simulation system, which is presented in a large viewing window, so that the observer can intuitively Feel the simulation and simulation of the entire formation to realize mission planning, takeoff, cruise, completion of attack, return and landing. In addition, the present invention provides an algorithm verification platform for researchers studying multi-aircraft formation control in the control module, enabling researchers to spend more energy on flight control algorithm research.

The innovation of the present invention mainly lies in two points: the one, three kinds of development environments are respectively responsible for self-advantageous contents, and the development period is short, and effect is good; The other is, Simulink runs all simulation aircraft models and algorithms such as relevant control, formation, combat, model debugging, The algorithm debugging is convenient, and there is no secondary development problem.

Description of drawings

Fig. 1 is a system structure block diagram of the present invention.

Fig. 2 is a block diagram of the transmission structure from the integrated management control terminal to the formation aircraft terminal of the present invention.

Figure 3 is a block diagram of the formation control system.

Detailed ways:

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Fig. 1, for implementing the FlightGear of the present invention based on network communication and the VC hybrid system development method, this FlightGear and VC hybrid system based on network communication are roughly divided into integrated management control terminal, formation aircraft terminal, FlightGear server, large viewing window and communication module. The formation aircraft terminal runs the aircraft FlightGear, the single aircraft control module and the aircraft model of the aircraft Simulink at the same time.

The FlightGear server module uses the Linux operating system. The module can handle a large amount of data and meet the requirements of high processing speed and high reliability. Each control terminal is connected to the server through a stacked high-speed Ethernet switch. The server performs key tasks such as data storage, forwarding, and publishing.

The large viewing window is mainly responsible for the display of the three-dimensional battlefield situation (including the environment, terrain, formation aircraft, combat process, etc.). The 3D scene is displayed on the large screen through the split-screen function of the FlightGear server as the leader, forming a visual effect of the scene.

Referring to Figure 2, we can see the function of the control terminal of the entire system, and at the same time, we can also see the direction of the data of the entire system. The integrated management control terminal transmits the management information to the server through the communication module, and the server transmits the management information to the formation aircraft control terminal. The aircraft control terminal transmits the respective management information and control information to the corresponding FlightGear software module through the communication module, and the FlightGear software module transmits the flight data to the formation aircraft control terminal and the integrated management control terminal for calculation and display.

Finally, the communication module is explained. The communication module mainly completes the communication between the FlightGear software module and the management control module, between each control terminal and the internal sub-modules of each control module, and realizes data interaction. The communication adopts UDP protocol, and the network communication is realized by calling the Socket API function. The data types include management information, control information and flight data. See Figure 3. The management information includes the settings of the flight environment system and the number of aircraft in the multi-aircraft formation, performance, weapons, The management settings of faults, etc., the management information is transmitted to each aircraft control terminal through the communication module of the integrated management terminal, and then the data is analyzed by the aircraft control terminal to obtain the respective management information, and then transmitted to the FlightGear software module; the control information is to control the formation The self-pilot of each FlightGear aircraft in the aircraft is forced to decouple during formation control, so that there is no coupling relationship between speed, heading, and altitude, and the speed, heading, and altitude are passed through the communication sub-module The transmitted FlightGear flight simulator autopilot’s speed, heading, and height receiving ports; flight data means that the FlightGear flight simulator sends real-time data to the respective control modules through the output interface, and the control modules display the flight data on the interface and store them. , and at the same time, the formation control system of the control module calculates the corresponding control information and sends it to the autopilot again.

Claims (9)

1. The flightgear and VC hybrid system development method based on network communication, is characterized in that: the realization system of this method adopts open source software FlightGear software to realize virtual reality, scene demonstration, adopts VC development system formation management, data management, task management and communication software , using Simulink to run the aircraft model and control algorithm. These three parts exchange information through Ethernet-based UDP communication to form a complete whole. The whole system consists of formation aircraft terminal, scene situation display, integrated management terminal, FlightGear server and Ethernet switch Composition, the formation aircraft terminal runs aircraft FlightGear, single aircraft control module and aircraft Simulink model at the same time. It realizes coordinated control for nodes, and realizes the interconnection and intercommunication of three heterogeneous environments through UDP data and information exchange. The mixed formation and co-simulation of maritime vehicles, the specific steps are as follows: Step (1): set up the FlightGear server under the Linux operating system, add configuration modules on the basis of the FlightGear software, and set up a series of documents in XML format to replace the aircraft shape and shield the autopilot; Step (2): Design the integrated management terminal and stand-alone control module on the VC6.0 platform, and implement centralized coordination management with the integrated management terminal and stand-alone module; Step (3): run the aircraft model and control algorithm on the Simulink software; Step (4): each aircraft runs three independent software modules of FlightGear module, stand-alone control module and Simulink aircraft model by a computer; Step (5): Design the communication module on the VC6.0 platform, use the UDP protocol to communicate, realize the network communication between the integrated management terminal and the stand-alone control module, and the FlightGear module and the stand-alone control module by calling the Socket API function. The UDP communication program realizes the interaction between the Simulink aircraft model operating data and the stand-alone control module, and distributes the data to each aircraft through the integrated management terminal; Step (6): Use FlightGear software to present the aircraft's operating attitude, environment, and relationship with other aircraft in the formation in a three-dimensional virtual reality and visualization manner, and display the three-dimensional situation of the scene to realize multi-aircraft formation flight control, task coordination assignment, and air combat. A series of algorithm research, simulation and virtual reality demonstration. 2. the flightgear based on network communication as claimed in claim 1 and VC mixed system development method, it is characterized in that: described flightgear server adopts Linux operating system, each control end links to each other with flightgear server by stacking type high-speed ethernet switch, and flightgear The server performs key tasks of data storage, forwarding and publishing. 3. FlightGear based on network communication as claimed in claim 1 and VC hybrid system development method, it is characterized in that: described FlightGear server is on the basis of FlightGear software, increases configuration module to replace aircraft profile and shields autopilot, configuration module By establishing a series of documents in XML format, adding corresponding tags to the required data items, and corresponding to the cooperative combat control instruction set in the integrated management terminal, when the program is running, the configuration module will manage information and control information according to the XML documents The data is written into the corresponding data variable interface inside the FlightGear module, and the flight data is also transmitted from the internal data of the FlightGear software. 4. the flightgear based on network communication as claimed in claim 1 and VC hybrid system development method, it is characterized in that: described comprehensive management terminal, stand-alone control module, UDP agreement communication all finish design on VC6.0 platform The integrated management terminal realizes the number management, formation management, algorithm management, data management and centralized communication control of formation aircraft; the stand-alone control module realizes local algorithm management, local aircraft attitude, weapons, threats, track, formation, data display and UDP Communication; UDP communication adopts SOCKET and datagram mode to realize non-connection-oriented data communication. 5. the FlightGear based on network communication as claimed in claim 4 and VC mixed system development method, it is characterized in that: integrated management terminal is designed on VC6.0 platform as FlightGear software and VC mixed system initialization module, formation management module, The formation process control module and display module, the system initialization module complete the initialization of the entire system, and clear the data left over from the last time to ensure that the formation flight simulation is not affected by the last data; the formation management module is divided into multiple setting blocks, Including airport theater settings, flight environment settings, combat target settings, formation aircraft settings, aircraft performance settings, aircraft weapon settings, formation formation settings, formation track settings, formation modification settings and single aircraft failure settings; formation process control module to realize formation Management and control of the process from takeoff to landing, that is, when to take off, return, and land; the display module is divided into map display and data display. The map display is based on the longitude and latitude of the aircraft to depict the trajectory of the entire formation on a two-dimensional map, and the data display is intuitive. Display the position, altitude, speed, and heading of each aircraft. 6. the FlightGear based on network communication as claimed in claim 1 and VC hybrid system development method, it is characterized in that: described communication module finishes FlightGear server and stand-alone control module, Simulink aircraft model and scene three-dimensional situation display and comprehensive management terminal communication to achieve data interaction; the integrated management terminal transmits the management information to the FlightGear server through the communication module, and the FlightGear server transmits the management information to the aircraft control terminal, and the aircraft control terminal transmits its respective management information and control information to the corresponding FlightGear server, at the same time, the FlightGear server transmits the flight data to the aircraft control terminal and the integrated management terminal for calculation and display. 7. FlightGear and VC mixed system development method based on network communication as claimed in claim 6, is characterized in that: communication adopts UDP agreement, realizes network communication by calling Socket API function, and data type comprises meteorological management, time management, formation management , control information, fault and threat management and flight data, weather and time management realize the setting of environmental information in the scene and the management of flight time; formation management includes the management settings of the number, type, performance and weapons of aircraft in the formation; threat management is used for Set the radar and air defense position threat settings in the flight interval; fault management is used for artificial fault injection; flight data means that the FlightGear flight simulator sends real-time data to the respective control modules through the output interface, and the control module displays the flight data on the interface. At the same time, it is resolved into corresponding control information, and the management information is transmitted to each aircraft computer through the communication module of the integrated management terminal, and then the data is analyzed by the stand-alone control module of the aircraft computer to obtain respective management information, and then transmitted to the FlightGear module. 8. FlightGear and VC mixed system development method based on network communication as claimed in claim 1, it is characterized in that: the model of formation aircraft adopts existing dynamics model and autopilot of FlightGear software or adopts dynamics model and autopilot based on Simulink If an aircraft in formation is an existing aircraft in FlightGear software, FlightGear software and VC hybrid system will directly adopt the shape and autopilot of the existing aircraft; if an aircraft in formation does not have aircraft in FlightGear software, then FlightGear software and VC hybrid system will use Its Simulink model realizes co-simulation, and of course also supports Matlab model, or any other type of model that VC can call directly. 9. the FlightGear based on network communication as claimed in claim 1 and VC hybrid system development method, it is characterized in that: the scene three-dimensional state display described in the step (6), by the split-screen of the FlightGear server as certain formation aircraft The function displays the three-dimensional scene on the screen to form the visual effect of the scene.