CN107563011B - Design method of simulation system for reliability of data link of unmanned aerial vehicle - Google Patents
Design method of simulation system for reliability of data link of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a design method of a simulation system for reliability of an unmanned aerial vehicle data chain, which relates to the field of data chain simulation, and realizes rapid configuration of attributes of elements of an unmanned aerial vehicle, a ground station and an interference source and establishes a dynamic complex electromagnetic environment simulation process by establishing each element model base and utilizing an interactive interface window of an MFC (micro-fuel cell), the system improves the simulation efficiency compared with an external field actual flight test, can rapidly complete resolving on the performance level of the data chain in a short time while dynamically displaying a multi-element complex electromagnetic environment, and basically and accurately completes interference analysis on the unmanned aerial vehicle data chain in a specific scene, provides powerful support for further mining of data, and has certain flexibility and high efficiency.
Description
Technical Field
The invention relates to the field of data chain simulation, in particular to a simulation design method.
Background
Document "VC + + based space electromagnetic environment simulation software, microcomputer information, 2005, vol.21(8-3), p112-p 113" discloses a VC + + based space electromagnetic environment simulation software system, which, based on the characteristics of complex modulation, variable parameters and increasing density of modern radar signals, uses Pulse Description Word (PDW) to describe the characteristics of received signals and the technical characteristics of radar signals on the basis of describing the environment where a radar receiver is located by using a radio frequency Pulse model; and a VC + + language is used as a programming design platform, a mathematical model of six parameters in the pulse description words is designed and realized, and full-pulse simulation experiment data output by radar electromagnetic signal processing is obtained through simulation. When a module object is designed and packaged, the method only considers the characteristics of a radar receiver, and the object is not analyzed comprehensively; in addition, in the process of system simulation, only the parameter characteristics of the pulse description words are focused, and various interference systems existing in a complex electromagnetic environment are not reflected.
Disclosure of Invention
In order to overcome the defects of the prior art and solve the problem that the existing simulation system design does not consider the influence effect of a complex electromagnetic environment faced by a data chain, the invention provides a method for designing an unmanned aerial vehicle data chain simulation system under the complex electromagnetic environment based on VC + +.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
the method comprises the following steps: establishing each element model base
The data chain system under the complex electromagnetic environment mainly comprises a scene setting module, a model base module, a data calculation module and a man-machine interaction interface module, wherein the scene setting module inputs and sets parameters of measurement and control signals and various interference signal sources, and mainly comprises signal source names, signal quantity and system, signal frequency, antenna gain, signal transmitting power, propagation environment parameters and signal source motion parameters; the model library module is used for displaying the frequency, waveform and amplitude values of signals existing in a complex electromagnetic environment and corresponding propagation model attenuation characteristics; the data calculation module calculates power values of all signals at the receiver after attenuation according to signal frequency, antenna gain and signal transmitting power input and set in the scene setting module, and position coordinates of the unmanned aerial vehicle, the ground station and the interference source, and the ratio of the signal power of the measurement and control link to the sum of the interference signal power is a signal-to-interference ratio; loading dynamic scene information by a man-machine interaction interface module, receiving command input and displaying a simulation calculation result;
the specific steps for establishing the corresponding model library are as follows:
step 1.1: compiling generation functions and environment propagation characteristic functions of various communication electromagnetic signals through MATLAB software, taking a signal mathematical model S (T) and a propagation characteristic function L (f) as generation codes, performing Fourier transform on the S (T) by utilizing a T2F function to obtain a frequency domain expression F (w) of the signals, packaging the whole codes into a function form, taking frequency f and amplitude A as input parameters, adding a subslope function in the MATLAB as a command for drawing a signal and a propagation characteristic function graph, and saving and operating an m file to obtain a time domain waveform graph, a frequency domain spectral graph and a propagation attenuation characteristic graph of various electromagnetic signals, and displaying the waveform, the amplitude, the frequency characteristics and a propagation environment attenuation change curve of the signals;
step 1.2: compiling the m files of the signal generation function and the propagation characteristic function which are packaged in the step 1.1 in an MATLAB by using an mcc-B cppplib command to generate a dynamic link library dll file and an h-header file in a C + + language format, and adding the dynamic link library dll file and the h-header file into a simulation software project directory;
step 1.3: adding a combination frame on a human-computer interaction interface by using a C + + interface control, adding name texts of different elements by using an Addstring function in a CComBox class library for selection, adding a Button control beside the combination frame, acquiring a selected signal type by using a GetItemText function in a response code corresponding to the control, and calling a function command in the h-head file generated in the step 1.2, namely running and generating a signal diagram and a propagation characteristic diagram generated by function pop-up;
step two: constructing a multi-element, multi-dimensional electromagnetic environment
The quick configuration of the attributes of elements of the unmanned aerial vehicle, the ground station and the interference source is realized by utilizing an interactive interface window of the MFC;
step 2.1: the method comprises the following steps of establishing test environment scenes of mountainous areas, urban areas and sea surfaces, and selecting a dragging mode by adding combat unit symbols and a mouse to realize rapid placement of combat unit elements, namely unmanned aerial vehicles, ground stations and interference sources, in a multi-element scene:
establishing a front view area and a top view area through a CRect-like Create function, adding a background picture into a project, and loading the picture by using CRect-like and CPaintDC-like response functions so as to show a three-dimensional battle background; creating a combat unit symbol area on the rightmost side of the interface through a Create function in the CRect class, and placing pictures of elements required to be set, wherein the pictures are respectively an unmanned aerial vehicle, a ground station, an interference source and a propagation model; adding and selecting an unmanned aerial vehicle, a ground station and an interference source by using mouse operation response functions of OnLButtunDown and OnLButtunDblClk, and dragging and placing elements by using an OnMousemOve function;
step 2.2, inputting and setting the attribute parameters of each element in the multi-element scene, popping up a Menu list Menu through a mouse right button message function OnRButtunDown, selecting a corresponding Menu item and popping up a dialog box, and inputting the transmitting power, the center frequency, the antenna gain, the movement speed and the acceleration of each signal source at the position of a corresponding Edit box Edit; drawing a battle unit running track according to an actual scene and a task profile, namely drawing lines by using MoveTo and LineTo functions in MFC line drawing function CDC classes to double-click the positions of pictures, namely, defining a track; according to the three test environment scenes created in the step 2.1, clicking a propagation model picture in the symbol area of the combat unit in the step 2.1, adding a CDialog-like DoModal () function in a mouse message response function OnlbuttonDown, popping up a propagation model selection dialog box, selecting a corresponding propagation model, namely an Egli model corresponding to a mountain scene, an Okumura model corresponding to an urban scene and a sea propagation model corresponding to a sea scene, and determining a propagation model called in a program for subsequent calculation;
step three: dynamic complex electromagnetic environment simulation
Step 3.1: determining coordinate conversion in a system, wherein a scene displayed by a window is a device logical coordinate, namely a pixel point coordinate of a display screen, scale variables in x, y and z directions are respectively set in a program in a step two and are fxratio, fyratio and fzr ratio, the scale variables are freely set, namely when an elevation view area and a top view area are created in a step 2.1, the length and width of a set area in a Create function are respectively a, B and C, the coordinates of the elevation view area and the top view area are the logical coordinates of the device, the actual area size of the test environment scene in a step 2.1 is respectively A, B, C, fxrate is A/a, fyrato B/B and fzr ratio is C/C, when the distance of each element is calculated, firstly, a logical coordinate is obtained by using a code plane.x, plane.y and plane.z, and then the coordinate is multiplied by a corresponding scale to convert the unmanned plane into a geodetic coordinate system, and the unmanned plane is converted into a geodetic coordinate system according to the step, Converting coordinates of the ground station and the interference source;
step 3.2: setting events and stepping duration of a timer, and setting by using an OnTimer method and a SetTimer method in MFC engineering, wherein the OnTimer method specifies an event casei to be executed circularly, and the ith event can be executed by adding SetTimer (i, t, NULL) at a code where the timer event needs to be executed, wherein a first parameter i of a SetTimer function corresponds to an event sequence number i in the OnTimer, a second parameter t represents the circulating execution time, the unit is millisecond, and a third parameter is default to NULL; after the simulation is started, the unmanned aerial vehicle moves according to the actual flying speed and acceleration of the unmanned aerial vehicle and moves to the next simulation beat point in the front view and top view area windows, the beat point utilizes a self-defined GetNextPoint function, namely, the flying distance of the unmanned aerial vehicle in the cycle execution time is calculated according to the speed and the acceleration of the unmanned aerial vehicle, the flying distance is divided by a scale and converted into a logical coordinate distance, the coordinates of the unmanned aerial vehicle after the cycle execution time is cycled once are calculated according to the origin coordinates, and the unmanned aerial vehicle moves to the point coordinates after the cycle execution time;
step 3.3: at each beat point, according to the signal source transmission parameters set in the step 2.2 and the distance between the unmanned aerial vehicle, the ground station and the interference source at the moment, the selected propagation model is utilized to calculate the power attenuation value of each signal, the ground station transmission power subtracts the power attenuation value to obtain the power value of the data chain signal, the interference source transmission power value subtracts the power attenuation value to obtain the power value of each interference signal, the COScopeCtrl type object is established to be associated with the Rect by utilizing a dotting and line drawing mode, namely a COScopeCtrl type function in the MFC, a CRect type method is utilized to determine a display area on a man-machine interaction interface, and a curve horizontal and vertical coordinates OScopeCt.
The complex electromagnetic environment is formed by overlapping a plurality of electromagnetic signals which are distributed densely, in a large quantity, in a complex pattern and dynamically and randomly in a certain space, in a time domain, a frequency domain, an energy domain and a space domain. And unmanned aerial vehicle data chain system is the important component of unmanned aerial vehicle system, and its performance is decisive unmanned aerial vehicle's whole level of fighting. Therefore, the composition and the influence of the complex electromagnetic environment must be deeply analyzed, and a more effective modeling and simulation method is adopted to research the influence of the complex electromagnetic environment on the reliability of the unmanned aerial vehicle data chain system.
The method has the beneficial effect that the performance level of the unmanned aerial vehicle data chain is dynamically displayed by constructing a multi-element complex electromagnetic environment. Compared with the actual flight test of an external field, the system can basically complete the configuration and simulation of the task profile in any environment in a shorter time, so that the simulation efficiency is improved; compared with the research of other scholars, the system can dynamically display the multivariate complex electromagnetic environment and simultaneously can rapidly complete resolving on the performance level of the data link in a short time. Compared with a reconnaissance mission planning system, the simulation flight height is improved by 4 times, and the simulation time is only 1/8 times of that of the system; compared with a certain data link connectivity simulation software, the simulation flight height is improved by more than 10 times, and the simulation time is only 35% of that of the system. Therefore, the simulation system of the invention basically and accurately completes the interference analysis of the unmanned aerial vehicle data chain in the specific scene, provides powerful support for further mining of data, and has certain flexibility and high efficiency.
Drawings
Fig. 1 is a diagram showing the characteristics of an interference signal according to the present invention.
FIG. 2 is a propagation model characteristic presentation diagram of the present invention.
FIG. 3 is a schematic diagram of the present invention for creating a multi-element complex electromagnetic environment.
FIG. 4 is a parameter diagram of simulation results of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention will now be further described with reference to the examples:
the method comprises the following steps: establishing each element model base
The data chain system under the complex electromagnetic environment mainly comprises a scene setting module, a model base module, a data calculation module and a man-machine interaction interface module, wherein the scene setting module inputs and sets parameters of measurement and control signals and various interference signal sources, and mainly comprises signal source names, signal quantity and system, signal frequency, antenna gain, signal transmitting power, propagation environment parameters and signal source motion parameters; the model library module is used for displaying the frequency, waveform and amplitude values of signals existing in a complex electromagnetic environment and corresponding propagation model attenuation characteristics; the data calculation module calculates power values of signals at the receiver after attenuation and reaching the antenna aperture of the receiver according to the signal frequency, the antenna gain and the signal transmitting power input and set in the scene setting module and position coordinates of the unmanned aerial vehicle, the ground station and the interference source, and measures and controls the ratio of the signal power of the link to the sum of the power of the interference signals; loading dynamic scene information by a man-machine interaction interface module, receiving command input and displaying a simulation calculation result;
the specific steps for establishing the corresponding model library are as follows:
step 1.1: compiling generation functions and environment propagation characteristic functions of various communication electromagnetic signals through MATLAB software, taking a signal mathematical model S (T) and a propagation characteristic function L (f) as generation codes, performing Fourier transform on the S (T) by utilizing a T2F function to obtain a frequency domain expression F (w) of the signals, packaging the whole codes into a function form, taking frequency f and amplitude A as input parameters, adding a subslope function in the MATLAB as a command for drawing a signal and a propagation characteristic function graph, and saving and operating an m file to obtain a time domain waveform graph, a frequency domain spectral graph and a propagation attenuation characteristic graph of various electromagnetic signals, and displaying the waveform, the amplitude, the frequency characteristics and a propagation environment attenuation change curve of the signals;
step 1.2: compiling the m files of the signal generation function and the propagation characteristic function which are packaged in the step 1.1 in an MATLAB by using an mcc-B cppplib command to generate a dynamic link library dll file and an h-header file in a C + + language format, and adding the dynamic link library dll file and the h-header file into a simulation software project directory;
step 1.3: adding a combination frame on a human-computer interaction interface by using a C + + interface control, adding name texts of different elements by using an Addstring function in a CComBox class library for selection, adding a Button control beside the combination frame, acquiring a selected signal type by using a GetItemText function in a response code corresponding to the control, and calling a function command in the h-head file generated in the step 1.2, namely running and generating a signal diagram and a propagation characteristic diagram generated by function pop-up;
step two: constructing a multi-element, multi-dimensional electromagnetic environment
The simulated complex electromagnetic environment has the characteristics of diversity, complex time-frequency domain overlapping, various spatial distribution and the like, each radiation source is in different task profiles and comprehensively influenced by different natural environment elements to form a multi-element multi-dimensional electromagnetic environment faced by a data chain, and the rapid configuration of the attributes of elements of an unmanned aerial vehicle, a ground station and an interference source can be realized by utilizing an interactive interface window of an MFC (micro-electromechanical system).
Step 2.1: the method comprises the following steps of establishing test environment scenes of mountainous areas, urban areas and sea surfaces, and selecting a dragging mode by adding combat unit symbols and a mouse to realize rapid placement of combat unit elements, namely unmanned aerial vehicles, ground stations and interference sources, in a multi-element scene:
establishing a front view area and a top view area through a CRect-like Create function, adding a background picture into a project, and loading the picture by using CRect-like and CPaintDC-like response functions so as to show a three-dimensional battle background; creating a combat unit symbol area on the rightmost side of the interface through a Create function in the CRect class, and placing pictures of elements required to be set, wherein the pictures are respectively an unmanned aerial vehicle, a ground station, an interference source and a propagation model; adding and selecting an unmanned aerial vehicle, a ground station and an interference source by using mouse operation response functions of OnLButtunDown and OnLButtunDblClk, and dragging and placing elements by using an OnMousemOve function;
step 2.2, inputting and setting the attribute parameters of each element in the multi-element scene, popping up a Menu list Menu through a mouse right button message function OnRButtunDown, selecting a corresponding Menu item and popping up a dialog box, and inputting the transmitting power, the center frequency, the antenna gain, the movement speed and the acceleration of each signal source at the position of a corresponding Edit box Edit; drawing a battle unit running track according to an actual scene and a task profile, namely drawing lines by using MoveTo and LineTo functions in MFC line drawing function CDC classes to double-click the positions of pictures, namely, defining a track; according to the three test environment scenes created in the step 2.1, clicking a propagation model picture in the symbol area of the combat unit in the step 2.1, adding a CDialog-like DoModal () function in a mouse message response function OnlbuttonDown, popping up a propagation model selection dialog box, selecting a corresponding propagation model, namely an Egli model corresponding to a mountain scene, an Okumura model corresponding to an urban scene and a sea propagation model corresponding to a sea scene, and determining a propagation model called in a program for subsequent calculation;
step three: dynamic complex electromagnetic environment simulation
Step 3.1: determining coordinate conversion in a system, wherein a scene displayed by a window is a device logical coordinate, namely a pixel point coordinate of a display screen, scale variables in x, y and z directions are respectively set in a program in a step two and are fxratio, fyratio and fzr ratio, the scale variables are freely set, namely when an elevation view area and a top view area are created in a step 2.1, the length and width of a set area in a Create function are respectively a, B and C, the coordinates of the elevation view area and the top view area are the logical coordinates of the device, the actual area size of the test environment scene in a step 2.1 is respectively A, B, C, fxrate is A/a, fyrato B/B and fzr ratio is C/C, when the distance of each element is calculated, firstly, a logical coordinate is obtained by using a code plane.x, plane.y and plane.z, and then the coordinate is multiplied by a corresponding scale to convert the unmanned plane into a geodetic coordinate system, and the unmanned plane is converted into a geodetic coordinate system according to the step, Converting coordinates of the ground station and the interference source;
step 3.2: setting events and stepping duration of a timer, and setting by using an OnTimer method and a SetTimer method in MFC engineering, wherein the OnTimer method specifies an event casei to be executed circularly, and the ith event can be executed by adding SetTimer (i, t, NULL) at a code where the timer event needs to be executed, wherein a first parameter i of a SetTimer function corresponds to an event sequence number i in the OnTimer, a second parameter t represents the circulating execution time, the unit is millisecond, the value of 1000 is 1 second, and a third parameter is default to NULL; after the simulation is started, the unmanned aerial vehicle moves according to the actual flying speed and acceleration of the unmanned aerial vehicle and moves to the next simulation beat point in the front view and top view area windows, the beat point utilizes a self-defined GetNextPoint function, namely, the flying distance of the unmanned aerial vehicle in the cycle execution time is calculated according to the speed and the acceleration of the unmanned aerial vehicle, the flying distance is divided by a scale and converted into a logical coordinate distance, the coordinates of the unmanned aerial vehicle after the cycle execution time is cycled once are calculated according to the origin coordinates, and the unmanned aerial vehicle moves to the point coordinates after the cycle execution time;
step 3.3: at each beat point, according to the signal source transmission parameters set in the step 2.2 and the distance between the unmanned aerial vehicle, the ground station and the interference source at the moment, the selected propagation model is utilized to calculate the power attenuation value of each signal, the ground station transmission power subtracts the power attenuation value to obtain the power value of the data chain signal, the interference source transmission power value subtracts the power attenuation value to obtain the power value of each interference signal, the COScopeCtrl type object is established to be associated with the Rect by utilizing a dotting and line drawing mode, namely a COScopeCtrl type function in the MFC, a CRect type method is utilized to determine a display area on a man-machine interaction interface, and a curve horizontal and vertical coordinates OScopeCt.
The complex electromagnetic environment is formed by overlapping a plurality of electromagnetic signals which are distributed densely, in a large quantity, in a complex pattern and dynamically and randomly in a certain space, in a time domain, a frequency domain, an energy domain and a space domain. And unmanned aerial vehicle data chain system is the important component of unmanned aerial vehicle system, and its performance is decisive unmanned aerial vehicle's whole level of fighting. Therefore, the composition and the influence of the complex electromagnetic environment must be deeply analyzed, and a more effective modeling and simulation method is adopted to research the influence of the complex electromagnetic environment on the reliability of the unmanned aerial vehicle data chain system.
As shown in fig. 1, the interference signal system type included in the simulation scene is set, and the interference signal frequency is the same as the data link signal frequency, so as to obtain a signal characteristic display diagram; as shown in fig. 2, a scene propagation model is selected and a signal attenuation characteristic map is obtained, with the signal frequency set to 2 GHz.
As shown in fig. 3, a multi-dimensional complex electromagnetic environment is established, a scene is selected as the sea surface, the positions of the unmanned aerial vehicle, the ground station and the multiple interference sources are set through mouse click and drag operations, the positions of the ground station, the unmanned aerial vehicle and the interference sources are marked in front view and top view areas, a track of the unmanned aerial vehicle under the mission profile is planned, and the speed is set to be 250 m/s.
The ground station is set as a data link signal transmitting end, and the unmanned aerial vehicle is set as a data link signal receiving end, and each element signal parameter is input and stored.
And starting the system, starting simulation, obtaining the signal-to-interference ratio of the received signal of the airborne receiver of the unmanned aerial vehicle at each simulation beat, storing and displaying the signal-to-interference ratio on a main interface, as shown in fig. 4.
Claims (1)
1. A simulation system design method for reliability of an unmanned aerial vehicle data link is characterized in that the simulation system comprises a scene setting module, a model base module, a data calculation module and a human-computer interaction interface module, wherein the scene setting module inputs and sets parameters of measurement and control signals and various interference signal sources, the parameters comprise signal source names, signal quantity and system, signal frequency, antenna gain, signal transmitting power, propagation environment parameters and signal source motion parameters, a corresponding parameter setting dialog box is created by using a DoModal function of a CDiallog dialog box class in an MFC class library, a C + + interface control is used for directly dragging and adding an edit box and a combination box in the dialog box to serve as a parameter input inlet, and the GetEmItText function is used for acquiring input in the edit box, assigning variables and storing the variables; the model library module is used for displaying the frequency, waveform and amplitude values of signals existing in a complex electromagnetic environment and corresponding propagation model attenuation characteristics; the data calculation module calculates power values of signals at the receiver after attenuation and reaching the antenna aperture of the receiver according to the signal frequency, the antenna gain and the signal transmitting power input and set in the scene setting module and position coordinates of the unmanned aerial vehicle, the ground station and the interference source, and measures and controls the ratio of the signal power of the link to the sum of the power of the interference signals; loading dynamic scene information by a man-machine interaction interface module, receiving command input and displaying a simulation calculation result; the method comprises the following steps:
the method comprises the following steps: building a model library
Step 1.1: compiling generation functions and environment propagation characteristic functions of various communication electromagnetic signals through MATLAB software, generating codes of a signal mathematical model S (T) and a propagation characteristic function L (f), performing Fourier transform on the S (T) by utilizing a T2F function to obtain a frequency domain expression F (w) of the signal, packaging the whole code into a function form, taking frequency f and amplitude A as input parameters, adding a subslope function in the MATLAB as a command for drawing a signal and a propagation characteristic function graph, and saving and operating an m file to obtain a time domain waveform graph, a frequency domain spectrogram and a propagation attenuation characteristic graph of various electromagnetic signals, and displaying waveform, amplitude, frequency characteristics and a propagation environment attenuation change curve of the signal;
step 1.2: compiling the m files of the signal generation function and the propagation characteristic function which are packaged in the step 1.1 in an MATLAB by using an mcc-B cppplib command to generate a dynamic link library dll file and an h-header file in a C + + language format, and adding the dynamic link library dll file and the h-header file into a simulation software project directory;
step 1.3: adding a combination frame on a human-computer interaction interface by using a C + + interface control, adding name texts of different propagation models and signal models by using an Addstring function in a CComBox class library for selection, adding a Button control beside the combination frame, obtaining a selected signal type by using a GetItemText function in a response code corresponding to the control, calling a function command in an h-header file generated in the step 1.2, and running and generating a signal diagram and a propagation characteristic diagram generated by popping a function;
step two: constructing a multi-element, multi-dimensional electromagnetic environment
Step 2.1: the method comprises the following steps of establishing test environment scenes of mountainous areas, urban areas and sea surfaces, selecting a dragging mode by adding combat unit symbols and a mouse, and realizing rapid placement of combat units, namely unmanned aerial vehicles, ground stations and interference sources in a multi-element scene:
establishing a front view area and a top view area through a CRect-like Create function, adding a background picture into a project, and loading the picture by using CRect-like and CPaintDC-like response functions so as to show a three-dimensional battle background; creating a symbol area of a combat unit on the rightmost side of the interface through a Create function in the CRect class, and placing pictures of the unmanned aerial vehicle, the ground station, the interference source and the propagation model; the method comprises the steps that the addition and selection of the unmanned aerial vehicle, the ground station and the interference source are realized by using mouse operation response functions of OnLButtunDown and OnLButtunDblClk, and the dragging and placing of the unmanned aerial vehicle, the ground station and the interference source are realized by using an OnMousemove function;
step 2.2, inputting and setting the attribute parameters of the unmanned aerial vehicle, the ground station and the interference source placed in the step 2.1, selecting a corresponding Menu item and popping up a dialog box through a mouse right key message function OnRButtunDown popup Menu list Menu, and inputting the transmitting power, the center frequency, the antenna gain, the movement speed and the acceleration of each signal source at the position of a corresponding Edit box Edit; drawing a battle unit running track according to an actual scene and a task profile, namely drawing lines by using MoveTo and LineTo functions in MFC line drawing function CDC classes to double-click the positions of pictures, namely, defining a track; clicking a propagation model picture in the symbol area of the combat unit in the step 2.1 according to the three test environment scenes created in the step 2.1, adding a CDialog-like DoModal function in a mouse message response function OnlbuttonDown, popping up a propagation model selection dialog box, selecting a corresponding propagation model, namely an Egli model corresponding to a mountain scene, an Okumura model corresponding to an urban scene and a sea propagation model corresponding to a sea scene, and determining a called propagation model for subsequent calculation;
step three: dynamic complex electromagnetic environment simulation
Step 3.1: determining coordinate conversion in a system, wherein a scene displayed by a window is a logical coordinate of equipment, namely a pixel point coordinate of a display screen, scale variables in the x direction, the y direction and the z direction are respectively set as fxratio, fyratio and fzratio in the second step, the scale variables are freely set, namely when a front view area and a top view area are created in the step 2.1, the length and the width of the set area in a Create function are respectively a, B and C, the coordinates of the front view area and the top view area are the logical coordinates of the equipment, the actual area size of the test environment scene in the step 2.1 is respectively A, B, C, fxratio A/a, fyratio B/B and fzratio C/C are firstly used for obtaining the logical coordinate when the distance between an unmanned aerial vehicle, a ground station and an interference source is calculated, then the logical coordinate is obtained by multiplying the coordinate by the plane x, the plane y and the plane z, and then the coordinate system can be converted into a geodetic coordinate system, and the unmanned aerial vehicle can be converted into a geodetic coordinate system according to the step Converting coordinates of the ground station and the interference source;
step 3.2: setting events and stepping duration of a timer, and setting by using an OnTimer method and a SetTimer method in MFC engineering, wherein the OnTimer method specifies an event casei to be executed circularly, and the ith event can be executed by adding SetTimer (i, t, NULL) at a code where the timer event needs to be executed, wherein a first parameter i of a SetTimer function corresponds to an event sequence number i in the OnTimer, a second parameter t represents the circulating execution time, the unit is millisecond, and a third parameter is default to NULL; after the simulation is started, the unmanned aerial vehicle moves according to the actual flying speed and acceleration of the unmanned aerial vehicle and moves to the next simulation beat point in the front view and top view area windows, the beat point utilizes a self-defined GetNextPoint function, namely, the flying distance of the unmanned aerial vehicle in the cycle execution time is calculated according to the speed and the acceleration of the unmanned aerial vehicle, the flying distance is divided by a scale and converted into a logical coordinate distance, the coordinates of the unmanned aerial vehicle after the cycle execution time is cycled once are calculated according to the origin coordinates, and the unmanned aerial vehicle moves to the point coordinates after the cycle execution time;
step 3.3: at each beat point, according to the signal source transmission parameters set in the step 2.2 and the distance between the unmanned aerial vehicle, the ground station and the interference source at the moment, the selected propagation model is utilized to calculate the power attenuation value of each signal, the ground station transmission power subtracts the power attenuation value to obtain the power value of the data link signal, the interference source transmission power value subtracts the power attenuation value to obtain the power value of each interference signal, a display area is determined on a man-machine interaction interface by using a CRect method by using a dotting and drawing mode, namely using a COScopeCtrl function in the MFC, a COScopeCtrl object is created to be associated with the display area, a curve horizontal and vertical coordinates are set, and the variable value of each second is dynamically drawn in the display area, so that the dynamic complex electromagnetic environment simulation process is realized.
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| WO2020087334A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Simulation method for unmanned aerial vehicle, terminal device, and computer readable storage medium |
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