CN103577656B - Submarine launched missile exiting water process three dimension dynamic simulation method - Google Patents
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Abstract
Submarine launched missile exiting water process three dimension dynamic simulation method, relates to a kind of three dimension dynamic simulation method. The method is to solve the required testing equipment complexity of ground simulation l-G simulation test, high, the repeatable poor problem of experimentation cost. Submarine launched missile exiting water process three dimension dynamic simulation method is that the multithreading development environment based on CPU-GPU isomery is realized, and described method comprises following content: one, build man-machine interactive platform; Two, latent base guided missile exiting water process three-dimensional modeling and demonstration; Three, the latent base guided missile water outlet visual modeling based on particIe system; Four, the latent base guided missile based on shading language goes out a cavity visual modeling; Five, ocean depth scale dynamically shows; Six, the various visual angles interactive three-dimensional of latent base guided missile exiting water process roaming; Seven, the key parameter of latent base guided missile exiting water process is visual. That the present invention has is safe, economical, controlled, without the advantage such as destructive, to allow repeatedly to repeat. Can be applicable to computer simulation method and technology field.
Description
Technical field
The present invention relates to a kind of three dimension dynamic simulation method, belong to computer simulation method and technology field.
Background technology
The precision strike to enemy and the stealthy protection to one's own side are more and more paid attention in modern war. Submarine launched missile combine submarine and guided missile the twoFeature, has far firing range, power is large, accuracy at target is high, survival ability and the advantage such as penetration ability is strong, not only makes submarine possess long-range essenceReally striking capabilities, and can play effective strategic deterrence effect and Secondary Strike Capacity.
The development work of submarine launched missile starts from the 1950's, but because the underwater emission technical difficulty of submarine launched missile is large, has at presentOnly there are a few countries such as Russia, the U.S., France in the country of ripe submarine launched missile lift-off technology. China from 20th century the seventies afterPhase starts to develop submarine launched missile, has obtained at present significant progress.
In guided missile Vertical Launch technology, mainly contain cold launch technique and heat emission technology. Because heat emission mode is higher to the performance requirement of guided missile,The transmitting of most Underwater Missile all adopts pop-up mode. Herein design its exiting water process for the submarine launched missile that adopts pop-up modeThree dimension dynamic simulation method.
The application of three-dimensional computer emulation relates to the various aspects such as product introduction, machine-building, national defense industry, Aero-Space, simplation visualizingBecome the important supplementary means that scientific research personnel develops analogue system, carries out Virtual Simulative Experiment. Submarine launched missile underwater emission will experience under waterLaunch out art skating, water outlet, engine ignition and 5 stages of guided flight in cylinder, water, wherein underwater ejection goes out in cylinder section, water freeCoasting-flight phase and water exit end are the exclusive processes of submarine launched missile transmitting, are also the key points of submarine launched missile transmitting success or failure. General ground simulationThe required testing equipment complexity of l-G simulation test, experimentation cost is high, and repeatable poor. Visualization technique becomes image data transaction, will imitateWhat true real process was lively displays, and has many advantages such as safe, economic, controlled, nothing is destructive, allow repeatedly to repeat. By divingThe base water outlet Three-Dimensional Dynamic whole process simulation method of launching a guided missile can provide reference for ground simulation l-G simulation test, helps analytical test result, fromAnd shorten test and lead time, save test and research fund.
Summary of the invention
The object of the invention is in order to solve the required testing equipment complexity of ground simulation l-G simulation test, high, repeatable poor the asking of experimentation costTopic, provides a kind of submarine launched missile exiting water process three dimension dynamic simulation method.
Submarine launched missile exiting water process three dimension dynamic simulation method of the present invention, described method is the multithreading exploitation ring based on CPU-GPU isomeryRealize in border, it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize MultigenCreator and 3DSMAX to set up submarine, guided missileAnd the threedimensional model of surface ship, and set up the virtual emulation scene of ocean, sky, island and sea-floor relief;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up ship wave, Missile Plume,Uncap bubble, guided missile of magazine goes out a steam, guided missile water outlet water vapor particle special efficacy, the simulation phenomenon in base MISSILE LAUNCHING exiting water process of diving;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shape, comprehensively leadBullet goes out the mutual and Fluent emulated data of the water-gas in a stage under water to be set up the base guided missile of diving and goes out a cavity Visualization Model, and simulated missile goes out a cavityChanging Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up ocean depth corresponding with change colorFunction, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not in the same time guided missile and submarine position, attitude data wherein,X, y, z represents position coordinates, and θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, and scene motion body is carried out to Real Time Drive,Design is used the latent situation of change of penetrating submarine in process, guided missile, ocean of all-round display observation;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the position of diving in base guided missile exiting water process, attitude, speed aspectParameter information, and draw the change curve of the position of not diving in the same time in base guided missile exiting water process, attitude, speed.
The present invention comprises following beneficial effect:
The present invention taking dive base guided missile water outlet modeling technique, visualization technique, virtual reality technology and numerical simulation technology etc. as core, with VC++With OSG 3 d rendering engine storehouse be implementation tool, complete the interactive virtual emulation of base guided missile exiting water process of diving. Visualization technique turns dataChange image into, by true simulation process lively displaying, have safe, economical, controlled, without destructiveness, allow repeatedly to repeat etc. perhapsMany advantages. Can provide reference for ground simulation l-G simulation test by the base water outlet Three-Dimensional Dynamic whole process simulation method of launching a guided missile of diving, help pointAnalyse result of the test, greatly shortened test and lead time, test and research fund reduce over half.
Technical characterstic of the present invention and effect are as follows:
Can complete a series of environment scene three-dimensional visualizations such as comprising ocean, sky, landform;
Can complete the three-dimensional visualization of guided missile, submarine, naval vessels waterborne;
Can complete and comprise ship wave, Missile Plume, go out a series of particIe system three-dimensional visualizations such as cylinder, water outlet;
Can complete the three-dimensional visualization of the motion processes such as navigation of submarine, trajectory pose, cavity shape;
Can show ocean depth scale, and dynamically show the submerged depth of submarine with the form of buoy;
Can import guided missile data and cavity data and carry out visual simulating;
Can draw the various status datas in task process, and can carry out intuitively curve demonstration;
Can store and inquire about various telemetries and adjust tactful command information.
Brief description of the drawings
Fig. 1 is the functional diagram that the inventive method can realize.
Detailed description of the invention
Technical solution of the present invention is not limited to following cited detailed description of the invention, also comprises any combination between each detailed description of the invention.
Detailed description of the invention one: the submarine launched missile exiting water process three dimension dynamic simulation method of present embodiment, described method is based on CPU-GPUThe multithreading development environment of isomery is realized, and it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize MultigenCreator and 3DSMAX to set up submarine, guided missileAnd the threedimensional model of surface ship, and set up the virtual emulation scene of ocean, sky, island and sea-floor relief;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up ship wave, Missile Plume,Uncap bubble, guided missile of magazine goes out a steam, guided missile water outlet water vapor particle special efficacy, the simulation phenomenon in base MISSILE LAUNCHING exiting water process of diving;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shape, comprehensively leadBullet goes out the mutual and Fluent emulated data of the water-gas in a stage under water to be set up the base guided missile of diving and goes out a cavity Visualization Model, and simulated missile goes out a cavityChanging Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up ocean depth corresponding with change colorFunction, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not in the same time guided missile and submarine position, attitude data wherein,X, y, z represents position coordinates, and θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, and scene motion body is carried out to Real Time Drive,Design is used the latent situation of change of penetrating submarine in process, guided missile, ocean of all-round display observation;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the position of diving in base guided missile exiting water process, attitude, speed aspectParameter information, and draw the change curve of the position of not diving in the same time in base guided missile exiting water process, attitude, speed.
Detailed description of the invention two: what what present embodiment was different from detailed description of the invention one was described in step 1 build man-machine interactive platform isUnder VC++ and OSG 3 d rendering engine environment, built, VC++, for constructing system platform and interface, utilizes the skill of MFC platformArt feature, adopts single document multi-view diagram technology, FluentUI technology, GDI Technology design Man Machine Interface interface, and OSG three-dimensional rendering drawsHold up and provide virtual reality technology for realizing the three-dimensional emulation of the base guided missile exiting water process of diving. Other is identical with detailed description of the invention one.
Detailed description of the invention three: what present embodiment was different from detailed description of the invention one or two is that the threedimensional model described in step 2 is with IVE latticeThe binary file mode of formula is stored. Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: what present embodiment was different from one of detailed description of the invention one to three is the latent base guided missile water outlet described in step 2The concrete grammar of process three-dimensional modeling is as follows: according to real submarine, guided missile size, utilize three-dimensional animation to play up and make software 3DSMAXReconstruct corresponding virtual three-dimensional object entity, use texturing, boolean operation method to process and configuration, and with FLT formatted fileDerive, utilize three-dimensional simulation modeling software MultigenCreator to set up free degree DOF joint to submarine magazine hatchcover and tail undercarriagePoint, uses OSG access above-mentioned node and call, and realizes screw rotation and magazine hatchcover opening and closing function, draws submarine and naval vessels mouldWhen type, adopt detail LOD technology, realize playing up of same model by the many groups of drafting schemes that go from the simple to the complex, and settingLOD while drawing near switches action, reaches and alleviates the multipurpose of playing up burden and ensureing to play up quality, finally by FLT formatted fileBe converted to IVE formatted file. Other is identical with one of detailed description of the invention one to three.
Detailed description of the invention five: what present embodiment was different from one of detailed description of the invention one to four is the Ocean Scenes emulation described in step 2Be to carry out secondary development based on the ocean simulation scheme osgOcean that increases income, attainable function has the reflection of wave animation, sea inverted image, lightWith refraction, Fresnel effect, Underwater Optical according to, floating curtain particle, the oceanic purpose such as distortion distortion under water under water; Described Sky Scene emulation isUtilize texture mapping method, sky picture is mapped to the inner side of day sylphon, and realize the sky effect of scene in conjunction with illumination system; Island andSea-floor relief scene simulation is to use GlobalMapper to download altitude data DEM, uses GoogleEarth to download data texturing, lastAdopt MultigenCreator to synthesize processing to described data, realize island and sea-floor relief model. Other and detailed description of the invention one toOne of four identical.
Detailed description of the invention six: what present embodiment was different from one of detailed description of the invention one to five is described in step 3 based on particIe systemLatent base guided missile water outlet visual modeling comprise following content:
Ship wave model construction ship wave particIe system based on Kelvin network: ship is a desirable some disturbance, and the tail of generation comprises two kindsSignificantly waveform: difference ripple and cross-section ripple. Owing to being subject to hull to cover the impact of water, the shear wave in Kelvin network embodies in actual ship wave flight pathMust be also not obvious, and the V-arrangement flight path of dilatation wave and both sides, naval vessel is very identical, therefore designs the particle outwards spraying from peak line, eachParticle in the life cycle of oneself according to the diffusion of certain rule until disappear, as long as the life long enough of particle just can keep whole piece flight pathForm.
Missile Plume simulation: for the afterbody smog of guided missile, the life cycle that extends particle and transmitter launch time, make wake flame formation very longPath, adjust particle per second and generate number, control smog dense; For the wake flame of guided missile, the color of particle in life cycle is set and becomesChange scope, realizes the fade effect of blue wake flame, adjusts generation particle number per second, controls wake flame dense, and particle life cycle is set, controlWake flame length processed.
Uncap bubble simulation of magazine: magazine has a large amount of bubbles after uncapping gushes out, and guided missile also can produce agglomerate air mass after going out cylinder, and annulus transmitter is set,And shorten the time of transmitter emitted particle and the life cycle of particle, and add water resistance effect, control particIe system, while making it to produce one sectionBetween after automatically disappear, reach a kind of effect of gradual change.
The particle effect simulation of guided missile water outlet smog: the annulus transmitter of large radius is set, and the particle emission quantity that every frame is abundant, increases and send outEmitter emitted particle speed, adds low gravitational effects, moderate particle life cycle.
Other is identical with one of detailed description of the invention one to five.
Detailed description of the invention seven: what present embodiment was different from one of detailed description of the invention one to six is the state ginseng of the cavity described in step 4Number can draw by fluid analysis software Fluent analogue simulation, and described parameter comprises the cavity rate of change V of upstream face and back side1、V2，The rate of change V of cavity radius R and cavity radiusr. Other is identical with one of detailed description of the invention one to six.
Detailed description of the invention eight: what present embodiment was different from one of detailed description of the invention one to seven is specifically painting of the cavity described in step 4Method processed is: model ellipsoid, as matrix, by vertex index, judges the coordinate of upstream face and back side, utilizes vertex shaderControl vertex Z coordinate changes with cavity rate of change; In order to ensure the round and smooth type of transition between upstream face and back side, also need to add bentFace fitting function; The variation of cavity radius R is by apex coordinate X, Y and cavity change in radius speed VrSet up functional relation, whereinR2＝X2+Y2, and R and VrProportional routine relation; Cavity adopts Alpha passage transparent processing, the color of sheet unit tinter control cavity andTransparency. Other is identical with one of detailed description of the invention one to seven.
Detailed description of the invention nine: what present embodiment was different from one of detailed description of the invention one to eight is the all-round display bag described in step 6Draw together four viewpoints, i.e. viewpoint, water surface viewpoint, local viewpoint and overall viewpoint under water, is changed and to be realized viewpoint by the matrix to camera nodeConversion, viewpoint change matrix is responsible for the object under world coordinate system to transform in camera coordinates system, and transformation for mula is:
Vvcs＝Vwcs·Mview
Wherein, VvcsFor camera coordinates system, VwcsFor world coordinate system, MviewFor viewpoint change matrix. Other and detailed description of the invention one toOne of eight identical.
Detailed description of the invention ten: what present embodiment was different from one of detailed description of the invention one to nine is that the difference functions described in step 5 is255:30＝i:a，
Wherein, difference functions is to carrying out difference between chromatic zones, to 255 deciles between two chromatic zoneses, and scale label 30 deciles, a is for divingThe degree of depth of ship, i is the position at place between chromatic zones. Other is identical with one of detailed description of the invention one to nine.
Detailed description of the invention 11: what present embodiment was different from one of detailed description of the invention one to ten is that the driving described in step 7 is dynamically imitativeGenuine method is as follows: position and the attitude data in the frame circulation in VC++ worker thread, realized movable body dynamically update, based onThese data are carried out Real Time Drive by OSG thread to scene motion body, in the render process of each frame, will upgrade movable bodyX, y, z, α, β, θ value, utilizes these values that the pose of entity is set, and draws the what comes into a driver's environment of new position, realizes the relative motion of what comes into a driver's with this.Other is identical with one of detailed description of the invention one to ten.
Detailed description of the invention 12: it is described different based on CPU-GPU that what present embodiment was different from one of detailed description of the invention one to 11 isThe multithreading development approach of structure is as follows: carry out multithreading exploitation based on OO cross-platform thread library OpenThreads, and bonding apparatusThe texture storage device of end is realized writing of shading language, comprises writing vertex shader and sheet unit's tinter. In render process, adoptThe threading model of polyphaser is each graphics device GraphicsContext and each camera establishment thread. This pattern by the renewal of scene,Cutting and drawing are separated, and before the drafting thread of former frame finishes, carry out the renewal work of next frame, if system has footCPU and the GPU of enough performances, will bring into play the scene rendering ability of multitask, multiple graphs equipment, multi-CPU system so to greatest extent.Other is identical with one of detailed description of the invention one to 11.
The present invention can complete a series of environment scene three-dimensional visualizations such as ocean, sky, landform; Can complete guided missile, submarine, naval vesselsThree-dimensional visualization; Can complete and comprise ship wave, Missile Plume, go out a series of particIe system three-dimensional visualizations such as cylinder, water outlet; Can completeThe three-dimensional visualization of the motion processes such as navigation of submarine, trajectory pose, cavity shape; Can show ocean depth scale, and with the form of buoyDynamically show the submerged depth of submarine; Can import guided missile data and cavity data and carry out visual simulating; Can be in task process eachPlant status data and draw, and can carry out intuitively curve demonstration; Can store and inquire about various telemetries and adjust tactful instruction letterBreath. The function that the inventive method can realize as shown in Figure 1.
Claims (10)
1. submarine launched missile exiting water process three dimension dynamic simulation method, described method is the multithreading exploitation based on CPU-GPU isomeryEnvironment is realized, and it is characterized in that described method comprises following content:
One, build man-machine interactive platform;
Two, latent base guided missile exiting water process three-dimensional modeling and demonstration: utilize MultigenCreator and 3DSMAX to set upThe threedimensional model of submarine, guided missile and surface ship, and set up the virtual emulation scene of ocean, sky, island and sea-floor relief;
Three, the latent base guided missile water outlet visual modeling based on particIe system: adopt particIe system modeling method, set up ship wave,Uncap bubble, guided missile of Missile Plume, magazine goes out a steam, guided missile water outlet water vapor particle special efficacy, and the simulation base MISSILE LAUNCHING of diving goes outPhenomenon in water process;
Four, the latent base guided missile based on shading language goes out a cavity visual modeling: adopt GLSL shading language to write cavity shapeShape, comprehensive Underwater Missile goes out the mutual and Fluent emulated data of the water-gas in a stage and sets up the base guided missile of diving and go out the visual mould of a cavityType, simulated missile goes out a cavity Changing Pattern;
Five, ocean depth scale dynamically shows: use projection node to build ocean depth scale, set up ocean depth and colorChange corresponding function, and add slip buoy, dynamically show submerged depth and the position of submarine;
Six, the dive various visual angles interactive three-dimensional roaming of base guided missile exiting water process: read in not guided missile and submarine position, appearance in the same timeWherein, x, y, z represents position coordinates to state data, and θ, ψ represent respectively rolling, pitching, three attitude angle of driftage, to fieldScape movable body carries out Real Time Drive, and design is used the latent variation feelings of penetrating submarine in process, guided missile, ocean of all-round display observationCondition;
Seven, the dive key parameter of base guided missile exiting water process is visual: show the position of diving in base guided missile exiting water process, attitude,The parameter information of speed aspect, and draw the variation song of the position of not diving in the same time in base guided missile exiting water process, attitude, speedLine.
2. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 1, it is characterized in that step 1Described in the man-machine interactive platform of building under VC++ and OSG 3 d rendering engine environment, built, VC++ useIn constructing system platform and interface, OSG 3 d rendering engine provides virtual reality technology for realizing the base guided missile exiting water process of divingThree-dimensional emulation.
3. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 2, it is characterized in that step 2Described in threedimensional model store in the binary file mode of IVE form.
4. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 3, it is characterized in that step 2Described in the concrete grammar of latent base guided missile exiting water process three-dimensional modeling as follows: according to real submarine, guided missile size,Utilize three-dimensional animation to play up making software 3DSMAX and reconstruct corresponding virtual three-dimensional object entity, utilization texturing,Boolean operation method is processed and configuration, and derives with FLT formatted file, utilizes three-dimensional simulation modeling softwareMultigenCreator sets up free degree DOF node to submarine magazine hatchcover and tail undercarriage, uses OSG access above-mentionedNode also calls, and realizes screw rotation and magazine hatchcover opening and closing function, while drawing submarine and naval vessel model, adoptsDetail LOD technology, realizes playing up of same model by the many groups of drafting schemes that go from the simple to the complex, and arrange byLOD when far away and near switches action, finally FLT formatted file is converted to IVE formatted file.
5. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 4, it is characterized in that step 2Described in Ocean Scenes emulation be to carry out secondary development based on the ocean simulation scheme osgOcean that increases income, attainable function hasThe reflection of wave animation, sea inverted image, light and refraction, Fresnel effect, Underwater Optical are according to, floating curtain particle, under water under waterDistortion distortion oceanic purpose; Described Sky Scene emulation is to utilize texture mapping method, and sky picture is mapped to a day sylphonInner side, and realize the sky effect of scene in conjunction with illumination system; Island and sea-floor relief scene simulation are to useGlobalMapper downloads altitude data DEM, uses GoogleEarth to download data texturing, finally adoptsMultigenCreator synthesizes processing to described data, realizes island and sea-floor relief model.
6. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 5, it is characterized in that step 4Described in the state parameter of cavity can draw by fluid analysis software Fluent analogue simulation, described parameter comprises upstream faceCavity rate of change V with back side1、V2, the rate of change V of cavity radius R and cavity radiusr。
7. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 6, it is characterized in that step 4Described in the concrete method for drafting of cavity be: model ellipsoid, as matrix, by vertex index, judges upstream faceWith the coordinate of back side, utilize vertex shader control vertex Z coordinate to change with cavity rate of change; In order to ensure to meet waterThe round and smooth type of transition between face and back side, also needs to add surface fitting function; The variation of cavity radius R is to pass through summitCoordinate X, Y and cavity change in radius speed VrSet up functional relation, wherein R2＝X2+Y2, and R and VrProportional example is closedSystem; Cavity adopts Alpha passage transparent processing, color and the transparency of sheet unit tinter control cavity.
8. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 7, it is characterized in that step 6Described in all-round display comprise four viewpoints, i.e. viewpoint, water surface viewpoint, local viewpoint and overall viewpoint under water, passes throughThe matrix of camera node is changed to the conversion that realizes viewpoint, viewpoint change matrix is for transforming to the object under world coordinate systemIn camera coordinates system, transformation for mula is:
Vvcs＝Vwcs·Mview
Wherein, VvcsFor camera coordinates system, VwcsFor world coordinate system, MviewFor viewpoint change matrix.
9. the submarine launched missile exiting water process three dimension dynamic simulation method described according to Claim 8, is characterized in that step 5Described in function be 255:30=i:a,
Wherein, difference functions is to carrying out difference between chromatic zones, to 255 deciles between two chromatic zoneses, scale label 30 etc.Point, the degree of depth that a is submarine, i is the position at place between chromatic zones.
10. according to the submarine launched missile exiting water process three dimension dynamic simulation method described in claim 9, it is characterized in that step 8Described in the method for driving dynamic simulation as follows: in the frame circulation in VC++ worker thread, realize the position to movable bodyDynamically update with attitude data, by OSG thread, scene motion body is carried out to Real Time Drive based on these data,In the render process of each frame, will upgrade movable body x, y, z, θ, ψ value, utilizes these values that the pose of entity is set, and draws newThe what comes into a driver's environment of position, realizes the relative motion of what comes into a driver's with this.
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