CN105095586B - A kind of multi-joint conjunction Real-Time Scene Simulation method based on STK - Google Patents
A kind of multi-joint conjunction Real-Time Scene Simulation method based on STK Download PDFInfo
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Abstract
The invention belongs to radar vision simulation field more particularly to a kind of multi-joint conjunction Real-Time Scene Simulation methods based on STK.A kind of multi-joint conjunction Real-Time Scene Simulation method based on STK, vision simulation module is separated from radar simulator system first, it is three parts by systems organization, it is each responsible for object module emulation, simulation of Radar System, vision simulation, three modules are connected with optical fiber again, then the target information that radar simulation machine is sent according to object module replicating machine, search target simultaneously tracks the position for calculating target, calculated result is every to be sent to vision simulation machine at regular intervals, target position of the vision simulation machine according to calculating, the three-dimensional result of real-time display emulation.This invention ensures that the real-time of STK vision simulation, meanwhile, vision simulation seems more true.
Description
Technical field
The invention belongs to radar vision simulation field more particularly to a kind of multi-joint conjunction Real-Time Scene Simulation sides based on STK
Method.
Background technique
Vision simulation (Visual Simulation) is a kind of based on the immersion interactive environment that can calculate information, specifically
Ground is said, is exactly used and is generated the integrated specific model of vision, hearing, touch feel true to nature as the modern high technology of core using computer technology
The virtual environment enclosed, user interacts with the object in virtual environment in a natural manner by necessary equipment, phase
It mutually influences, to generate " immersing " in the impression and experience of equivalent true environment.It is as forward position the most in computer technology
One of application field, it has been widely used for virtual reality, drive simulating, scene reproduction, urban planning and other application neck
Domain.
Satellite kit (Satellite Tool Kit, STK) is by U.S. Analytical Graphics (AGI) public affairs
Take charge of exploitation the geometry engines software based on physical principle, it can in true or simulation time accurately display and
Analyze the task in land, ocean, sky and cosmic space.The advanced 2D and 3D visualization technique of STK and analysis data
Output function can help user's enhancing to the understanding and cognition of vision simulation situation.As a business analysis software, STK
Leading position it is unquestionable in space industry, support include design, test, transmitting, run and task application including boat
The overall process of its task.STK originally be applied to satellite orbit analyze, be gradually extended to analysis and execute land, sea, air,
It, the professional emulation platform of electromagnetism task, be a kind of advanced stock analysis and visualization tool, support space flight, defence and feelings
Report task.
But in actual vision simulation, we often do not need so multi-functional, and STK software itself is imitative for what comes into a driver's
Just excessively too fat to move for true, function is excessively complicated, operation lose points it is cumbersome, use grasp it is difficult.And STK software itself and other
Software carries out that data interaction is unsatisfactory, while also inconvenient controlling the same of 2D/3D scene and current data in analogue system
Step display.MFC program is developed using Visual Studio, STK X technology is integrated, just can effectively solve this problem.
Real time operating system (RTOS) refers to when extraneous event or data generation, can receive and with sufficiently fast speed
It is handled, the result of processing can control production process again within the defined time or make quick sound to processing system
It answers, dispatches all available resources and complete real-time task, and control the operating system of the harmonious operation of all real-time tasks.
Offer timely responds to be its main feature with high reliability.
RedHawk linux system is the Linux real time operating system of parallel computer company of U.S. exploitation, system master
To be applied to multi-processor environment, and can ensure the reliability of application program under multiprocessing or multi-core environment.In RedHawk
Control can be handed to high priority process by low priority process by core.Ensuring that in this way is waiting external event to send out
Raw high priority process can event occur when be made an immediate response, even if CPU just occupied it is unaffected.This behaviour
Making the current main support target of system is US military, counter-airraid, the anti-surface ship of the Aegis grade cruiser of USN,
What antisubmarine weapon system was all made of is this operating system.
Application No. is 201410322798.1, entitled " more Real-time data drive object General Situations based on STK
Display system and method " patent, give STK software more Real-time data drive objects Simulation Application side in empty world system
Case breaches STK few limitation of simulation object in real-time driving simulation, and it is imitative to complete more STK by using time division multiplexing strategy
The transmission distribution management of data is driven in outside needed for true object, realizes the real-time external data-driven of multipair elephant in STK scene
Display and control.But its shortcoming is that the geography information of simulating area is not bound with, also without proposing that one is completely imitated in real time
True system architecture.
Application No. is 201410258901.0, a kind of entitled " extraterrestrial target visibility analysis based on STK model
Method ", it is entitled " a kind of Space-based Space imaging simulation method and device " application No. is 201410423444.6
Deng both for the proposition of the targets such as the satellite of space industry.The extraterrestrial targets such as satellite often have a fixed running track, and one
After denier is emitted to planned orbit, track will not generally change, even if changing, track is also computable.And fighter plane, guided missile
Etc. the flight paths of targets there is randomness, destination number is not known yet, need to be measured in real time it, track,
Simultaneously as the limitation of flying height, geographical environment will be also taken into account, these all increase difficulty to vision simulation and answer
Polygamy.
Summary of the invention
The present invention provides a kind of multi-joint conjunction Real-Time Scene Simulation method based on STK, mainly for mesh such as fighter plane, guided missiles
Target emulation.
Thinking of the invention: separating vision simulation module from radar simulator system first, is three by systems organization
Part is each responsible for object module emulation, simulation of Radar System, vision simulation, then three modules is connected with optical fiber, then thunder
The target information sent up to replicating machine according to object module replicating machine searches for target and tracks the position for calculating target, calculates knot
Fruit per being sent to vision simulation machine at regular intervals, vision simulation machine according to the target position of calculating, real-time display emulation
Three-dimensional result.
A kind of multi-joint conjunction Real-Time Scene Simulation method based on STK, includes the following steps:
S1, object module replicating machine is built, establishes corresponding target model module, grasped in real time using RedHawk Linux
Make system, sends a target echo data to simulation of Radar System machine every 10ms；
S2, simulation of Radar System machine is built, establishes corresponding radar mockup module, the simulation of Radar System machine uses
RedHawk Linux real time operating system sends a target position data to vision simulation machine every 10ms and establishes accordingly
Vision simulation scene；
S3, vision simulation machine is built, establishes corresponding simulating scenes module, detect a data receiver every 1ms, often
When the target data for receiving the transmission of simulation of Radar System machine described in a S2, control STK response is primary, and the simulating scenes are
Landform two dimension, threedimensional model, target three-dimensional；
S4, by simulating scenes module optical fiber described in radar mockup module described in target model module, S2 described in S1 and S3
Connection reflects card exchange data using memory；
Object module replicating machine described in S5, operation S1, imitating on simulation of Radar System machine and S3 vision simulation machine described in S2
Proper program, the track of the target and target following that detect real-time display on vision simulation machine.
Further, vision simulation machine is built described in S3, establishes corresponding simulating scenes module, the specific steps are as follows:
S31, Google Maps API is accessed using the method for JQuery+PHP, grabs the Raster Data Model of satellite map, will grabs
To Raster Data Model be divided into 20 grades, including precision 71km~0.27m；
S32, the DEM terrain data for obtaining simulating area make terrain texture using the satellite map of crawl, by landform line
Reason is mapped to relief model and generates three-dimensional terrain model；
S33, MFC engineering is established, Global Control and Map Control two is added in the Dialog of resource
ActiveX control, for showing three-dimensional/two-dimentional real-time simulation scene and target respectively；
S34, newly-built thread receive the data that simulation of Radar System machine described in S2 is sent, according to the content received, selection
Response " addition fresh target " event or " moving target position " event.
The beneficial effects of the present invention are:
The real-time that ensure that emulation using the real-time calculating of RedHawk Linux, uses true map terrain data
It allows vision simulation to seem more true with fighter plane target three-dimensional, while vision simulation is driven using simulation of Radar System machine
The mode of machine ensure that the real-time of STK vision simulation.
Detailed description of the invention
Fig. 1 is the structural block diagram of the more combined simulation systems of the present invention.
Fig. 2 is vision simulation machine system construction drawing.
Fig. 3 is the texture topographic map mapped.
Fig. 4 is vision simulation operational effect figure.
Specific embodiment
Below with reference to embodiment and attached drawing, the technical solution that the present invention will be described in detail.
Below with reference to embodiment and attached drawing, the technical solution that the present invention will be described in detail.
As shown in Figure 1, building more combined simulation systems such as graph structure.
S1, object module replicating machine is built, establishes corresponding target model module；
The key component of object module is target RCS product (RCS) model, be can be formulated as:
Target radar scattering body section product
Wherein, EiIndicate vector electric field intensity (V/m) of the incident electromagnetic wave at target, HiIndicate incident electromagnetic wave in mesh
Vector Magnetic Field intensity (A/m) at mark, EsIndicate vector electric field intensity (V/m) of the target scattering wave at observation point, HsIndicate mesh
Mark Vector Magnetic Field intensity (A/m) of the scattered wave at observation point, R be target between radar at a distance from；
The target simulator machine uses RedHawk Linux real time operating system, sends out every 10ms to simulation of Radar System machine
Send a target echo data.
S2, simulation of Radar System machine is built, establishes corresponding radar mockup；
The key component of the simulation of Radar System is analogue echoes, mainly includes point target echo, clutter and noise.
Target echo model is as follows:
In antenna array direction cosines coordinate system, point target is in the n-th submatrix of radar, the echo model of k-th of pulse
Formula expression can be used are as follows:
Wherein, θ,The respectively azimuth of target and pitch angle, PtIt is peak transmitted power, L is propagation and system loss
The factor, Gt、The respectively power gain and directional diagram of transmitting antenna, Gr,n、For the reception of the n-th way battle array
The power gain and directional diagram of antenna.Φs,nFor the spatial phase shift of the n-th way battle array, Φt,kTime domain phase shift when echo secondary for kth.
Clutter Model is as follows:
The generation of Typical Clutter usually utilizes grid image method, according to radar resolution cell size and EFFECTIVE RANGE,
Sea (, empty) surface is divided into latticed clutter unit by distance, orientation, each clutter unit is considered as a point scattering
Body.The echo of the clutter unit kth in n-th of submatrix time sampling, which is adopted, to be formulated:
Wherein, PtIt is peak transmitted power, DuFor compression ratio, LcFor the clutter fissipation factor of system, σcFor radar scattering body
Sectional area, RLFor l cell distance, Gt、The respectively power gain and directional diagram of transmitting antenna, Gr,n、For the power gain and directional diagram of the receiving antenna of the n-th way battle array.Φs,nFor the n-th way battle array spatial phase shift,
Φt,kFor the time domain phase shift of kth time echo.To meet the multiple random of clutter amplitude distributed model and Power Spectrum Model
Sequence.
Noise model is as follows:
The noise of radar system includes the noise of the noise and receiver itself that enter from antenna.Receiver noise model is logical
It is 0 frequently with an obedience mean value, variance isNormal distribution random process simulate, mathematical notation form is as follows:
nr(t)=nR(t)-j*nI(t),
Wherein, nR(t), nI(t) it is independent that mean value is 0, variance isGaussian random process.
The simulation of Radar System machine uses RedHawk Linux real time operating system, and hardware uses NVIDIA K20GPU,
Target information is calculated in real time, while carrying out target detection, target following, and target current location information is sent to vision simulation
Machine sends a target position data to vision simulation machine every 10ms.
S3, vision simulation machine is built, establishes corresponding vision simulation scene, including landform two dimension, threedimensional model, target three
Dimension module etc.；
The vision simulation machine uses 7 operating system of Windows, establishes corresponding simulating scenes, often receives primary radar
The target data that system emulation machine is sent, control STK response are primary.Process is as shown in Fig. 2, specific as follows:
S31, Google Maps API is accessed using the method for JQuery+PHP, grabs the Raster Data Model (tile of its satellite map
Model), the grade of crawl respectively represents precision 71km~0.27m from 1~20, specific as shown in table 1.
The scale bar at different levels of table 1 and spatial resolution example table
| Rank | Actual range | Pixel | Map range | Image resolution ratio | Scale bar | Spatial resolution |
| 1st grade | 5000 kilometers | 55 | 1.94 centimetre | 72dpi | 400000000: 1 | 143 kilometers |
| 2nd grade | 5000 kilometers | 70 | 2.47 centimetre | 72dpi | 200000000: 1 | 71 kilometers |
| 3rd level | 2000 kilometers | 55 | 1.94 centimetre | 72dpi | 100000000: 1 | 36 kilometers |
| 4th grade | 2000 kilometers | 115 | 4.06 centimetre | 72dpi | 5000 ten thousand: 1 | 17 kilometers |
| 5th grade | 1000 kilometers | 115 | 4.06 centimetre | 72dpi | 2.5 thousand ten thousand: 1 | 9 kilometers |
| 6th grade | 500 kilometers | 115 | 4.06 centimetre | 72dpi | 1.2 thousand ten thousand: 1 | 4 kilometers |
| 7th grade | 200 kilometers | 91 | 3.21 centimetre | 72dpi | 6000000: 1 | 2 kilometers |
| 8th grade | 100 kilometers | 176 | 6.21 centimetre | 72dpi | 1600000: 1 | 568 meters |
| 9th grade | 50 kilometers | 91 | 3.21 centimetre | 72dpi | 1550000: 1 | 549 meters |
| 10th grade | 20 kilometers | 72 | 2.54 centimetre | 72dpi | 800000: 1 | 278 meters |
| 11st grade | 10 kilometers | 72 | 2.54 centimetre | 72dpi | 400000: 1 | 139 meters |
| 12nd grade | 5 kilometers | 72 | 2.54 centimetre | 72dpi | 200000: 1 | 69 meters |
| 13rd grade | 2 kilometers | 57 | 2.01 centimetre | 72dpi | 100000: 1 | 35 meters |
| 14th grade | 2 kilometers | 118 | 4.16 centimetre | 72dpi | 50000: 1 | 17 meters |
| 15th grade | 1 kilometer | 118 | 4.16 centimetre | 72dpi | 2.5 ten thousand: 1 | 8 meters |
| 16th grade | 500 meters | 118 | 4.16 centimetre | 72dpi | 1.2 ten thousand: 1 | 4 meters |
| 17th grade | 200 meters | 93 | 3.28 centimetre | 72dpi | 2300:1 | 2.15 rice |
| 18th grade | 100 meters | 93 | 3.28 centimetre | 72dpi | 3000:1 | 1.07 rice |
| 19th grade | 50 meters | 93 | 3.28 centimetre | 72dpi | 1500:1 | 0.54 meter |
| 20th grade | 20 meters | 74 | 2.61 centimetre | 72dpi | 800:1 | 0.27 meter |
S32, the DEM terrain data for downloading institute's simulating area make terrain texture, base area using the satellite map of crawl
It manages correlation data and terrain texture map to relief model is ultimately generated into three-dimensional terrain model, such as Fig. 3, while also to choose
The fighter plane target three-dimensional that can be used；
S33, MFC engineering is established, Global Control and Map Control two is added in the Dialog of resource
ActiveX control for showing three-dimensional/two-dimentional real-time simulation scene and target respectively, while adding other control buttons；
S34, respectively loading scenario configuration, terrain data, map maps, object module are into vision emulation system.Wherein,
Scene configuration include again scene initialization, scene start time, observer position, observer's behavior (the fixed position of fixed viewpoint,
Fixed viewpoint tracks target)；
S35, newly-built thread receive the data that simulation of Radar System machine is sent, and according to the content received, real-time response " adds
Add fresh target " or " moving target position " movement；
S4, three modules for building S1, S2, S3 are connected with optical fiber, exchange data, reflective memory using reflective memory card
The transmission of interrupt requests is by process control, i.e., after transmitting terminal writes data into reflective memory, saves node to data and send interruption
Request signal, while a RFM2GEVENTINFO data structure is sent, wherein containing extension information, interrupt type, waiting
The information such as time limit, node number and the specified data of driving；
Simulated program on S5, three machines of operation, the target and target following detected real-time display on vision simulation machine
Track.
Operational effect figure such as Fig. 4, upper left window are 2D map, show radar and target position and target with
Track track；The table of lower left be tracking target fighter plane trace information, including longitude, latitude, height, speed, acceleration,
Time；The window in upper right side is target 3D model, the variation of real-time monitoring targeted attitude and direction, and model used in figure is
B52 bomber；Lower right is observer view, can observe the spatial positional information of emulation.
Claims (1)
1. a kind of multi-joint conjunction Real-Time Scene Simulation method based on STK, which comprises the following steps:
S1, object module replicating machine is built, establishes corresponding target model module, using RedHawk Linux real-time oss
System sends a target echo data to simulation of Radar System machine every 10ms；
S2, simulation of Radar System machine is built, establishes corresponding radar mockup module, the simulation of Radar System machine uses
RedHawk Linux real time operating system sends a target position data to vision simulation machine every 10ms and establishes accordingly
Vision simulation scene；
S3, vision simulation machine is built, establishes corresponding simulating scenes module, detect a data receiver, Mei Dangjie every 1ms
The target data of the transmission of simulation of Radar System machine described in a S2 is received, control STK response is primary, and the simulating scenes are landform
Two dimension, threedimensional model, target three-dimensional, wherein it is described to build vision simulation machine, corresponding simulating scenes module is established, is had
Steps are as follows for body:
S31, Google Maps API is accessed using the method for JQuery+PHP, the Raster Data Model of satellite map is grabbed, by what is grabbed
Raster Data Model is divided into 20 grades, including precision 71km~0.27m；
S32, the DEM terrain data for obtaining simulating area make terrain texture using the satellite map of crawl, terrain texture are reflected
It is mapped to relief model and generates three-dimensional terrain model；
S33, MFC engineering is established, Global Control and Map Control two is added in the Dialog of resource
ActiveX control, for showing three-dimensional/two-dimentional real-time simulation scene and target respectively；
S34, newly-built thread receive the data that simulation of Radar System machine described in S2 is sent, according to the content received, Response to selection
" addition fresh target " event or " moving target position " event；
S4, radar mockup module described in target model module, S2 described in S1 is connected with simulating scenes module described in S3 with optical fiber,
Card exchange data are reflected using memory；
Object module replicating machine described in S5, operation S1, the emulation journey on simulation of Radar System machine and S3 vision simulation machine described in S2
Sequence, the track of the target and target following that detect real-time display on vision simulation machine.
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| CN107390545B (en) * | 2017-07-31 | 2021-08-10 | 彩虹无人机科技有限公司 | Unmanned aerial vehicle and simulation training system of load thereof |
| CN116092072B (en) * | 2022-12-12 | 2024-01-30 | 平湖空间感知实验室科技有限公司 | Spacecraft target detection method, spacecraft target detection system, storage medium and electronic equipment |
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| CN104091017A (en) * | 2014-07-08 | 2014-10-08 | 中国航空无线电电子研究所 | Multi-object real-time data driving general situation display system and method based on STK |
| CN104217070A (en) * | 2014-08-26 | 2014-12-17 | 上海微小卫星工程中心 | Imaging simulation method and device for space-based space target |
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| CN104091017A (en) * | 2014-07-08 | 2014-10-08 | 中国航空无线电电子研究所 | Multi-object real-time data driving general situation display system and method based on STK |
| CN104217070A (en) * | 2014-08-26 | 2014-12-17 | 上海微小卫星工程中心 | Imaging simulation method and device for space-based space target |
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