CN115859699B - Large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering - Google Patents
Large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering Download PDFInfo
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Abstract
The invention discloses a large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering, and belongs to the technical field of cluster flight simulation. Comprising the following steps: the system comprises a cluster control module, a simulator, a UE4-RPC server, an ammunition flight scene rendering module and a ground monitoring module; the cluster control module is used for running cluster decision software; the simulation machine consists of N flight simulation nodes; the UE4-RPC server obtains flight state true values of all flight simulation nodes in the simulator, and the flight state true values are used for rendering images by UE4 software; the ammunition flight scene rendering module generates rendering nodes of ammunition flight scenes and simulates acquired image information; the ground monitoring module monitors the flight state of the cluster ammunition in real time and controls the start or stop of the flight simulation node and the rendering node. The invention solves the problems of difficult verification and reproduction of large-scale cluster ammunition systems.
Description
Technical Field
The invention relates to the technical field of clustered flight simulation, in particular to a large-scale fine-grained clustered ammunition simulation system for providing three-dimensional scene rendering.
Background
Up to now, research on cluster ammunition related technology has achieved abundant results, and from the technical application level, research content comprises a meeting technology, collaborative tracking, area searching, collaborative attack, formation control technology comprising formation generation, maintenance and change, and the like; from the implementation method, the method comprises a pure control method of virtual structure, pilot following and the like, and a method inspired by biological clusters, such as a method based on behavior rules, deep learning and the like. The method aims at providing technical support for the cluster ammunition system, so that the cluster can realize various functions and complete various civil or military tasks such as scout search, electronic countermeasure, regional control, saturation attack and the like. However, due to the large scale of the cluster system, the above methods are difficult to test and verify, and often only small-scale test and verification under 10 rounds of test and verification can be performed.
Therefore, in order to verify the effectiveness of various cooperative control methods in a large-scale system, a reasonable cluster form is sought, the cluster system and the cooperative control method are pushed to be theoretically landed, and a proper large-scale cluster ammunition simulation system needs to be built. Existing simulation systems can be generally divided into three types of hardware in-loop simulation systems, software in-loop simulation systems and pure numerical simulation systems:
(1) The hardware uses the same hardware in the loop simulation verification system as in the actual flight test, carries the same control algorithm, and simulates the flight scene and the flight state data by using simulation software, so that the workload of algorithm verification is reduced compared with the actual machine test on the premise of ensuring that the algorithm running environment is consistent with the actual machine. The reality of semi-physical simulation is higher due to the existence of hardware, but the simulation system is more complex, and an missile-borne hardware platform is required to be built according to the specification of a real machine test, so that the simulation system is generally used as the last simulation verification flow before the real machine test.
(2) The software integrates the compiled cluster control module and the flight control software into digital simulation in loop simulation, and provides a simulation environment and an operation environment for the cluster control module and the flight control software. The difference from hardware-in-loop simulation is that the cluster control module, which is the verification object of software-in-loop, is not run in the on-board hardware any more, but is run in a simulation computer, which is different from the hardware condition of the real machine test, but the basic structure and framework of the cluster control module are also reserved.
(3) In the verification method of pure numerical simulation, the whole system including the control system and the controlled object system is required to be subjected to digital modeling, and the parameter change condition of the controlled object system under the action of the control system is observed and analyzed, so that the purposes of researching, analyzing and verifying the control system are achieved. Therefore, in the pure numerical simulation, the mathematical model is a key factor for reflecting the real situation of the pure numerical simulation, and the establishment of the numerical model needs to reflect the main characteristics of the research object.
However, in the large-scale clustered flight simulation, in order to reduce the operation amount and reduce the burden of a simulation system, an ammunition model and a flight scene are generally simplified, a particle model is used, or the flight scene is "rasterized", so that the simulation precision is poor and the large-scale simulation can be supported; in the simulation verification system of the hardware in the loop structure, because a real ammunition model and a flight environment model are used, the system operation burden is large, and large-scale clustered flight simulation is difficult to carry out. It can be seen that the existing simulation verification means are difficult to meet the requirements of large scale and authenticity at the same time.
Therefore, how to provide a large-scale fine-grained clustered ammunition simulation system that provides three-dimensional scene rendering is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering, which is a set of fine-grained cluster ammunition simulation system with large scale and high precision, and solves the problems of difficult verification and reproduction of the large-scale cluster ammunition system. Meanwhile, the simulation system can provide relatively independent three-dimensional flight scene rendering synchronized with other nodes for each flight simulation node, so that development and verification of a vision-related algorithm under the cluster ammunition background are facilitated.
In order to achieve the above object, the present invention provides the following technical solutions:
in one aspect, the present invention provides a large scale fine grained clustered ammunition simulation system providing three dimensional scene rendering, comprising: the system comprises a cluster control module, a simulator, a UE4-RPC server, an ammunition flight scene rendering module and a ground monitoring module;
the cluster control module is used for running cluster decision software;
the simulator consists of N flight simulation nodes;
the UE4-RPC server obtains flight state true values of all flight simulation nodes in the simulator, and the flight state true values are used for rendering images by UE4 software;
the ammunition flight scene rendering module generates rendering nodes of ammunition flight scenes and simulates acquired image information;
the ground monitoring module monitors the flight state of the cluster ammunition in real time and controls the start or stop of the flight simulation node and the rendering node.
Preferably, the cluster control module runs cluster decision software, establishes connection with all flight simulation nodes in the simulator by using a MAVLINK protocol through UDP, acquires all node information, and sends the calculated relevant control quantity of the cluster self-organizing algorithm to the corresponding flight simulation nodes.
Preferably, the cluster control module includes: the device comprises a main thread unit, a UDP receiving unit, a unpacking unit and a cluster calculating unit;
the cluster computing unit consists of N self-organizing algorithm threads;
the main thread unit continuously monitors the unpacking condition of the unpacking unit, wakes up the corresponding self-organizing algorithm threads when the data is updated, controls the frequency of all the self-organizing algorithm threads, and controls program sequential logic to avoid errors when the multithreading reads and writes data in the shared memory;
the UDP receiving unit consists of N UDP receiving and transmitting threads and is used for transmitting UDP data;
and the unpacking unit unpacks the flight simulation node data to obtain flight simulation node data and outputs the flight simulation node data to a corresponding self-organizing algorithm thread in the cluster computing unit.
Preferably, the cluster control module instantiates N corresponding self-organizing algorithm threads according to the number N of flight simulation nodes in the simulator, the running contents of the threads are consistent, and the threads are distinguished by means of ids corresponding to the flight simulation nodes.
Preferably, each flight simulation node comprises a corresponding flight control unit, a dynamics simulation unit and a data forwarding unit;
the flight control unit is connected with the ground monitoring module and is used for performing self-driving by using px 4-based open source flight control;
the dynamics simulation unit is connected with the UE4-RPC server and is used for performing flight simulation by using an ammunition dynamics model identified by jsbsim carrying experimental data;
the data forwarding unit is connected with the ground monitoring module and is used for receiving a starting instruction of the ground monitoring module to realize interaction between the flight control unit and the dynamics simulation unit.
Preferably, the UE4-RPC server includes: the simulation data transfer service unit and the data query service unit;
the simulation data transfer class service unit is connected with the dynamic simulation unit;
the data query service unit is connected with the dynamics simulation unit and the ammunition flight scene rendering module respectively.
Preferably, the ammunition flight scene rendering module is a three-dimensional scene rendering module based on a UE4 engine, and includes: the optical imaging assembly, the ammunition model, the ground scene generating assembly, the meteorological simulation assembly and the state data analyzing assembly are respectively connected with the UE4-RPC server, initial parameters of a simulation scene are received through the UE4-RPC server, and the airborne visual angle image output of ammunition is provided by combining with flight state data of the dynamic simulation unit
Preferably, the invention provides a large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering:
firstly, in order to realize large-scale simulation, a system framework with extensible quantity of simulators is designed so as to conveniently increase flight simulation nodes. The simulation system uses software in a loop architecture, a flight control unit and a cluster control module running in simulation are consistent with the real machine in flight, and a px 4-based flight control unit and ROS 2-based cluster control module architecture is used.
Secondly, in order to ensure the true reliability and the consistency of the simulation, a true ammunition model with 6 degrees of freedom and 12 state quantities is obtained by identification by using a true flight data system. The method is characterized in that a flight dynamics simulation unit is developed based on JSBsim flight simulation software, true and reliable flight simulation is provided, and high-precision simulation is carried out on the flight of cluster ammunition based on the real and reliable flight simulation.
Then, the UE4 engine is used for rendering the cluster flight scene of the ammunition in real time, and ammunition rendering nodes in the simulation system can be added, so that simulation of image information acquired by the onboard optical imaging equipment of each ammunition can be provided for each ammunition individual.
Finally, through the designed UE4-RPC server, the real-time performance and the synchronism in the whole real-time simulation process are ensured, wherein the real-time rendering of ammunition flight data by the rendering nodes is included, and the synchronization between the rendering nodes of each ammunition image is ensured.
Compared with the prior art, the invention discloses a large-scale fine grain cluster ammunition simulation system for providing three-dimensional scene rendering, which has the following beneficial effects:
1. in the existing simulation system, in order to ensure the authenticity and the credibility of the simulation, semi-physical simulation is mostly used, but the simulation system is more complex due to the existence of hardware, and the increase of flight simulation nodes is accompanied with the increase of hardware, so that the simulation requirements of hundreds of nodes are difficult to deal with. The invention designs a modularized simulation system structure based on the flight simulation nodes of the software in the ring structure, the node number is very convenient to expand, and the running flight control software and cooperative control software are basically consistent with those used in the actual flight test.
2. Although the existing pure numerical simulation can realize the simulation of large-scale cluster ammunition, the authenticity of the used mathematical model is difficult to ensure, so that the reliability of a simulation system is not high to some extent. The ammunition pneumatic model obtained by identification of the real flight data system is completely consistent with the live ammunition through the same flight control software and cooperative software in real flight, so that the simulation reality and high reliability are ensured while the large-scale simulation requirement is met.
3. Existing simulation systems focus only on simulation of flight status data and cannot provide a verification scenario for image correlation algorithms. The invention develops ammunition flight scene rendering software based on the UE4 image engine, and can simulate the flight scene of each ammunition individual in the cluster, thereby simulating the image information acquired by the missile-borne optical imaging equipment, and providing a verification means and a platform for the missile-borne image recognition technology.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of a simulation system provided by the present invention;
fig. 2 is a thread architecture diagram of a cluster control module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating interaction between a cluster control module and a simulator according to an embodiment of the present invention;
FIG. 4 is a flow chart of control amount data according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a flight simulation node according to an embodiment of the present invention;
fig. 6 is a flowchart of an operation of a data forwarding unit according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a UE4-RPC server architecture according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an ammunition flight scene rendering module according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of the present invention discloses a large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering, including: the system comprises a cluster control module, a simulator, a UE4-RPC server, an ammunition flight scene rendering module and a ground monitoring module;
the cluster control module is used for running cluster decision software;
the simulation machine consists of N flight simulation nodes;
the UE4-RPC server obtains flight state true values of all flight simulation nodes in the simulator, and the flight state true values are used for rendering images by UE4 software;
the ammunition flight scene rendering module generates rendering nodes of ammunition flight scenes and simulates acquired image information;
the ground monitoring module monitors the flight state of the cluster ammunition in real time and controls the start or stop of the flight simulation node and the rendering node.
Specifically, the cluster control module runs cluster decision software, establishes connection with all flight simulation nodes in the simulator by using a MAVLINK protocol through UDP, acquires all node information, and sends the calculated relevant control quantity of the cluster self-organizing algorithm to the corresponding flight simulation nodes.
Specifically, the number of ammunition flight scene rendering modules is N, and the ammunition flight scene rendering modules correspond to flight simulation nodes in the simulator.
Specifically, the interaction among all modules is realized through a local area network;
specifically, the number of computers for running flight simulation nodes and rendering ammunition flight scenes is determined by simulation scale requirements in actual use, the flight simulation nodes are connected with a cluster control module and a UE4-RPC server, data interaction of different flight simulation nodes and real-time monitoring of a ground station are achieved, and synchronous image rendering of the ammunition flight scenes is guaranteed, so that the whole simulation system can be kept to run efficiently and stably in real-time high-granularity cluster flight simulation.
Specifically, each module or each unit in this embodiment is a software module or a software unit.
In a specific embodiment, the cluster control module provides a unified class distributed operation framework and a data interface for related cluster algorithms, so that different cluster algorithms can be accessed into the system to perform fine grain simulation in a large-scale cluster scene, and the algorithm rationality is verified.
Specifically, referring to fig. 2, a thread architecture diagram of a cluster control module is mainly divided into: the system comprises a main thread unit, a UDP receiving unit, a unpacking unit and a cluster computing unit, wherein inter-thread data interaction is realized through a shared memory mode among the units.
More specifically, the cluster computing unit is composed of N self-organizing algorithm threads.
More specifically, the UDP receiving unit is composed of N UDP receiving and transmitting threads, and is used for transmitting UDP data.
More specifically, the main thread unit controls the frequency of all self-organizing algorithm threads, and controls program sequential logic to avoid errors when multithreading reads and writes data in the shared memory; the main thread unit will continuously monitor the unpacking condition at the frequency of 5Hz, and when the data is updated, the corresponding self-organizing algorithm thread will be awakened.
More specifically, the unpacking unit unpacks to obtain flight simulation node data and outputs the flight simulation node data to a corresponding self-organizing algorithm thread in the cluster computing unit.
More specifically, the cluster control module provides a unified class distributed operation framework and a data interface for related cluster algorithms, so that different cluster algorithms can be accessed into the simulation system to perform fine grain simulation in a large-scale cluster scene, and the algorithm rationality is verified.
In a specific embodiment, referring to fig. 3, the cluster control module interacts with the data flow of the flight simulation nodes in the simulator, all the flight simulation nodes are exclusively connected with the cluster decision module, and corresponding threads are established in the cluster decision module for receiving the flight state quantity of the specific flight simulation node and storing the flight state quantity in the shared memory. The thread of the unpacking unit continuously reads unpacking data in the shared thread at a specific frequency, and after unpacking, the unpacking unit stores the flight state data of all flight simulation nodes in corresponding positions in the shared memory.
Specifically, although the cluster control module is not deployed in each simulator, but only runs a single program in the cluster control algorithm server to process the cluster self-organization method of all the flight simulation nodes, the invention still restores the distributed use scene as far as possible, packages the cluster algorithm needing to be subjected to simulation test into a class, the cluster decision module instantiates N corresponding cluster algorithm threads according to the number N of the flight simulation nodes of the simulation system, and the running content of the threads is basically consistent and is differentiated only by means of ids corresponding to the flight simulation nodes. Therefore, each thread in the cluster decision module is independent, and the input information of each thread is the flight state information of all flight simulation nodes of the cluster, but the preprocessing of each thread on the input information extracts the projection information and the local information required by the input information. Thus, from the point of view of the input and output of the algorithm, we can still consider that the self-organizing method of the present invention is running in a distributed manner.
Specifically, the cluster decision server is a computer, and cluster decision software is operated on the computer to form a cluster control module together.
In particular, the self-organizing method is a test object that needs to be verified using a simulation system by which it is desirable to verify the effectiveness of the self-organizing method. The ad hoc method may be modified according to the authentication requirements.
In a specific embodiment, referring to fig. 4, in the cluster decision module, only the self-organizing algorithm threads and the flight simulation nodes need to be in one-to-one correspondence with the data of the control output. After the self-organizing algorithm thread calculates the control quantity, the control quantity is packed and sent to the corresponding flight simulation node through the independent channel.
In a specific embodiment, referring to fig. 5, the structure of the flight simulation node is shown, so that the software composition of the flight simulation node part and the data interaction with other external software parts are realized. Each flight simulation node comprises a corresponding flight control unit, a dynamics simulation unit and a data forwarding unit;
more specifically, the three units of the flight control unit, the dynamics simulation unit and the data forwarding unit together form a digital flight scene of ammunition, a high-precision ammunition model and a self-driving instrument, that is, a flight simulation node is an ammunition individual in the cluster.
Specifically, the flight control unit is connected with the ground monitoring module and is used for performing self-driving by using px 4-based open source flight control.
Specifically, the dynamics simulation unit is connected with the UE4-RPC server and is used for performing flight simulation by using an ammunition dynamics model identified by jsbsim carrying experimental data;
specifically, the data forwarding unit is connected with the ground monitoring module and is used for receiving a starting instruction of the ground monitoring module to realize interaction between the flight control unit and the dynamics simulation unit.
Wherein, ground monitoring module still includes: the ground station and the simulation control end are connected with the flight control unit, the flight control unit sends a flight state measurement value to the ground station, and the ground station sends a mode instruction to the flight control unit; the data forwarding unit is connected with the simulation control end, and the simulation control end sends a starting instruction to the data conversion unit.
Specifically, the flight control unit and the dynamics simulation unit interact through the data forwarding unit, so that the transmission frequency of two data streams can be limited through the data forwarding unit.
In a specific embodiment, the operation flow of the data forwarding unit is shown in fig. 6, when the dynamics simulation unit starts simulation, the data forwarding unit intercepts communication at two ends until an initial state and a starting instruction from the flight control unit are received, at this time, the data forwarding unit sends the initial state of ammunition to the dynamics simulation unit, and the self-driving instrument is turned on, and the flight simulation node starts simulation.
Specifically, the dynamics simulation unit provides flight dynamics simulation of ammunition, takes rudder accelerator as input, calculates flight state information in real time, and sends the flight state information to the UE4-RPC server for the rendering engine to render a flight scene in real time. The dynamics simulation unit is internally provided with a sensor model, simulates sensor data and sends the sensor data to the self-driving instrument software through the data forwarding software. The self-driving instrument software controls the ammunition to fly, and provides rudder quantity and throttle control quantity to control the ammunition in a stable flying state while responding to the cluster decision software and the ground station instruction.
Specifically, in order to ensure high precision and space-to-ground consistency of the simulation system, the ammunition flight dynamics model used by the invention is obtained by identifying an ammunition real flight data system, and parameters related to flight control (including PID of inner ring attitude control) in simulation are completely consistent with those in real-machine flight. The ammunition flight characteristics in the real machine test and the simulation test are basically consistent, and the flight tracks are basically consistent.
Specifically, the existing cluster simulation system based on flight simulation software or open source simulation software has the upper limit of the number of flight simulation nodes, and cannot simulate the cluster countermeasure process under the real condition. In combination with the functional requirements of the simulation system, the embodiment of the invention discloses a set of micro-service simulation software architecture based on a request-response mode aiming at the large-scale cluster simulation problem in the prior art. The architecture is convenient for adding custom hardware nodes and digital nodes, and has good expansibility.
In one embodiment, referring to fig. 7, the UE4-RPC server architecture is centered on providing data services, and other components in the simulation system are clients. Comprising the following steps: the simulation data transfer service unit and the data query service unit;
the simulation data transfer service unit is connected with the dynamic simulation unit;
the data query service unit is connected with the dynamics simulation unit and the ammunition flight scene rendering module respectively.
Specifically, the initial source of the simulation data in the simulation system is a dynamics simulation unit, and the dynamics simulation unit needs to request the server to upload the simulation data of the ammunition flight state after the simulation is started. After the simulation starts, the control end, the three-dimensional scene rendering module and the data storage module in the flight simulation node need to request the required simulation data from the server, so that the respective functions are realized.
In a specific embodiment, referring to fig. 8, an embodiment of the present invention further discloses an ammunition flight scene rendering module based on the method, including: the system comprises an optical imaging assembly, an ammunition model, a ground scene generating assembly, a meteorological simulation assembly and a state data analyzing assembly, wherein the optical imaging assembly, the ammunition model, the ground scene generating assembly, the meteorological simulation assembly and the state data analyzing assembly are respectively connected with a UE4-RPC server, initial parameters of a simulation scene are received through the UE4-RPC server, and airborne visual angle image output of ammunition is provided by combining flight state data of a dynamics simulation unit.
In one particular embodiment, the invention discloses a large-scale fine-grained clustered ammunition simulation system providing three-dimensional scene rendering:
1. based on the flight simulation nodes of the software in-loop structure, a modularized simulation system structure is designed, and the node quantity is very convenient to expand;
2. the real pneumatic model is carried, so that the requirements of large scale and simulation reality are considered with lower hardware requirements;
3. the multi-node rendering of ammunition flight scenes is realized;
4. the UE4-RPC server is designed, so that a micro-service architecture based on a request-response mode is realized, rendering nodes have good expansibility, and rendering nodes can be added and deleted according to actual requirements in a simulation system;
5. the cluster control module provides use cases for deployment and test of a cluster algorithm in a simulation system, and after the algorithm is packaged into a c++ object, the distributed deployment of the algorithm is realized in a multithreading mode in a light-weighted mode.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A large scale fine grained clustered ammunition simulation system providing three dimensional scene rendering, comprising: the system comprises a cluster control module, a simulator, a UE4-RPC server, an ammunition flight scene rendering module and a ground monitoring module;
the cluster control module is used for running cluster decision software, and comprises: the device comprises a main thread unit, a UDP receiving unit, a unpacking unit and a cluster calculating unit;
the cluster computing unit consists of N self-organizing algorithm threads;
the main thread unit continuously monitors the unpacking condition of the unpacking unit, wakes up the corresponding self-organizing algorithm threads when the data is updated, controls the frequency of all the self-organizing algorithm threads, and controls program sequential logic to avoid errors when the multithreading reads and writes data in the shared memory;
the UDP receiving unit consists of N UDP receiving and transmitting threads and is used for transmitting UDP data;
the unpacking unit unpacks the node data to obtain node data and outputs the node data to a corresponding self-organizing algorithm thread in the cluster computing unit;
the simulation machine consists of N flight simulation nodes, and each flight simulation node comprises a corresponding flight control unit, a dynamics simulation unit and a data forwarding unit;
the flight control unit is connected with the ground monitoring module and is used for performing self-driving by using px 4-based open source flight control;
the dynamics simulation unit is connected with the UE4-RPC server and is used for performing flight simulation by using an ammunition dynamics model identified by jsbsim carrying experimental data;
the data forwarding unit is connected with the ground monitoring module and is used for receiving a starting instruction of the ground monitoring module to realize interaction between the flight control unit and the dynamics simulation unit;
the UE4-RPC server obtains flight state true values of all flight simulation nodes in the simulator, and the flight state true values are used for rendering images by UE4 software;
the ammunition flight scene rendering module generates rendering nodes of ammunition flight scenes and simulates acquired image information;
the ground monitoring module monitors the flight state of the cluster ammunition in real time and controls the start or stop of the flight simulation node and the rendering node.
2. The large-scale fine-grained cluster ammunition simulation system for providing three-dimensional scene rendering according to claim 1, wherein the cluster control module runs cluster decision software, establishes connection with all flight simulation nodes in the simulator by using a mavlnk protocol through UDP, acquires all node information, and sends calculated cluster self-organizing algorithm related control quantity to the corresponding flight simulation nodes.
3. The large scale fine grained clustered ammunition simulation system providing three dimensional scene rendering according to claim 1, wherein the clustered control module instantiates N corresponding self-organizing algorithm threads according to the number N of flight simulation nodes in the simulator, the threads run in a consistent manner, and are distinguished by ids corresponding to the flight simulation nodes.
4. The large scale fine grain clustered ammunition simulation system providing three dimensional scene rendering of claim 1 wherein said UE4-RPC server comprises: the simulation data transfer service unit and the data query service unit;
the simulation data transfer class service unit is connected with the dynamic simulation unit;
the data query service unit is connected with the dynamics simulation unit and the ammunition flight scene rendering module respectively.
5. The large scale fine grained clustered ammunition simulation system providing three dimensional scene rendering according to claim 4, wherein the ammunition flight scene rendering module is a three dimensional scene rendering module based on a UE4 engine comprising: the system comprises an optical imaging assembly, an ammunition model, a ground scene generating assembly, a meteorological simulation assembly and a state data analyzing assembly, wherein the optical imaging assembly, the ammunition model, the ground scene generating assembly, the meteorological simulation assembly and the state data analyzing assembly are respectively connected with the UE4-RPC server, initial parameters of a simulation scene are received through the UE4-RPC server, and airborne visual angle image output of ammunition is provided by combining flight state data of the dynamic simulation unit.
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| CN115859699A (en) | 2023-03-28 |
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