CN115906537A - Unmanned aerial vehicle photoelectric load simulation system based on 3D visual - Google Patents
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Abstract
The invention belongs to the technical field of 3D scene development, and discloses an unmanned aerial vehicle photoelectric load simulation system based on 3D vision, which comprises an unmanned aerial vehicle simulation bottom layer simulator module and an unmanned aerial vehicle photoelectric load vision image mapping display module, wherein the unmanned aerial vehicle simulation bottom layer simulator module is formed by packaging unreal engine software, the unmanned aerial vehicle simulation bottom layer simulator module comprises a user display part, a data processing part and a physical model part, the physical model part is used for setting physical parameters of an unmanned aerial vehicle model and an atmospheric environment model, the data processing part comprises a physical engine, the user display part comprises a rendering engine, and the unmanned aerial vehicle photoelectric load vision image mapping display module is used for mapping a 3D picture generated by the rendering engine into a 2D load vision image.
Description
Technical Field
The invention belongs to the technical field of 3D scene development, and particularly relates to an unmanned aerial vehicle photoelectric load simulation system based on a 3D scene.
Background
Before the unmanned aerial vehicle formally invests in tasks in various fields, validity and reliability verification of a series of complex algorithms needs to be carried out, and the verification mainly comprises an aircraft obstacle avoidance algorithm, a load image visual algorithm, a cluster distributed control algorithm and the like.
With the continuous development of virtual simulation technology, the verification of unmanned aerial vehicle algorithm is performed on various simulation platforms in advance, and the traditional unmanned aerial vehicle simulation development platform comprises the following steps: the Gazebo robot simulation platform and the JMavSim quadrotor unmanned aerial vehicle simulation platform have a dominant position in development and simulation of an aircraft control algorithm, and have various modular designs and wide application range; however, the above platform has a non-negligible drawback:
1) The large scene required by unmanned aerial vehicle simulation is difficult to model due to low efficiency of scene building and rendering.
2) Only the development of a control algorithm of the simulated aircraft is focused, and an efficient load image mapping display function is not established.
3) The development of visual algorithms under most of unmanned aerial vehicle photoelectric loads cannot be supported.
In reality, when an unmanned aerial vehicle executes a task, the scene distance span of single flight can reach hundreds of kilometers, and various severe environmental conditions need to be overcome through the assistance of a visual algorithm of a photoelectric load, so that the photoelectric load simulation of the unmanned aerial vehicle needs ultra-large scene foundation, efficient rendering, high-frame-rate load image mapping display and support of visual algorithm simulation.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unmanned aerial vehicle photoelectric load simulation system based on a 3D view, which aims to solve the problems in the prior art, and adopts the following technical scheme in order to achieve the aim of the invention:
an unmanned aerial vehicle photoelectric load simulation system based on 3D vision comprises an unmanned aerial vehicle simulation bottom layer simulator module and an unmanned aerial vehicle photoelectric load vision image mapping display module, wherein the unmanned aerial vehicle simulation bottom layer simulator module and the unmanned aerial vehicle photoelectric load vision image mapping display module are formed by packaging unreal engine software;
the unmanned aerial vehicle simulation bottom layer simulator module comprises a user display part, a data processing part and a physical model part, wherein the physical model part is used for setting physical parameters of an unmanned aerial vehicle model and an atmospheric environment model, the data processing part comprises a physical engine, the user display part comprises a rendering engine, and the physical engine is used for resolving physical information according to the set physical parameters and transmitting the physical information to the rendering engine to generate and display a 3D picture;
the unmanned aerial vehicle photoelectric load visual image mapping display module is used for mapping the 3D picture generated by the rendering engine into a 2D load visual image;
the system also comprises an unmanned aerial vehicle photoelectric load visual algorithm simulation verification module, which is used for processing the 2D load visual image by a visual algorithm and displaying the 2D load visual image on a display.
Further, the user display part also comprises an API communication layer which is connected with an external program of the simulation computer.
Further, the data processing part further comprises a visual sensor, wherein the visual sensor is connected with the physical engine and the API communication layer and is used for receiving the kinematic information of the physical engine and sending a sensor signal to the API communication layer.
Further, the physical model part comprises an unmanned aerial vehicle physical model and an atmospheric environment model, and the unmanned aerial vehicle physical model and the atmospheric environment model are connected with the physical engine.
Further, the unmanned aerial vehicle physical model and the atmospheric environment model are connected with a visual programming interface for visually setting physical parameters of the unmanned aerial vehicle model and the atmospheric environment model.
A2D load visual image mapping method is applied to an unmanned aerial vehicle photoelectric load visual image mapping display module, and comprises the following steps:
firstly, changing and loading a scene required by a user by a model;
placing a model needing to be rendered to the photoelectric load in a scene;
thirdly, performing view transformation according to the attitude positions of the unmanned aerial vehicle and the photoelectric load calculated by the physical engine, and mapping an object under the scene world coordinate to a load view space;
and fourthly, finally, carrying out perspective projection transformation from 3D to 2D on the object in a certain view field range in the load view space, so that the load 2D image shows the effect of observation in reality.
Further, in the fourth step, the display process utilizes the GPU graphics board to accelerate the processing in parallel.
The invention has the following beneficial effects:
(1) The simulation platform is developed in an illusion engine with a real environment, has a highly real physical engine and is high-efficient in rendering; the method can set ultra-large scenes and different weathers, and a user can freely realize the updating setting of the physical model and the environmental model through blueprint programming.
(2) The photoelectric load visual display adopts a mode of directly performing GPU rendering by adopting an illusion engine, so that the frame rate of photoelectric load image display of the unmanned aerial vehicle is greatly improved.
(3) An external hardware link is set up, the link can realize the simulation of the photoelectric load visual algorithm of the unmanned aerial vehicle based on the illusion engine, and the verification cost of the photoelectric load visual algorithm is greatly reduced.
Drawings
Fig. 1 is a schematic diagram of the overall architecture of a simulation underlying simulator module of an unmanned aerial vehicle;
FIG. 2 is a schematic view of a photoelectric loading visual image mapping process;
FIG. 3 is a high frame rate payload visual image display diagram;
fig. 4 is a schematic diagram of photoelectric load mode switching.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1 to 4 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.
As shown in fig. 1, an unmanned aerial vehicle photoelectric load simulation system based on 3D vision comprises an unmanned aerial vehicle simulation bottom layer simulator module and an unmanned aerial vehicle photoelectric load vision image mapping display module, which are packaged by unreal engine software;
the unmanned aerial vehicle simulation bottom layer simulator module comprises a user display part, a data processing part and a physical model part, wherein the physical model part is used for setting physical parameters of an unmanned aerial vehicle model and an atmospheric environment model, the data processing part comprises a physical engine, the user display part comprises a rendering engine, and the physical engine is used for resolving physical information according to the set physical parameters and transmitting the physical information to the rendering engine to generate and display a 3D picture;
the unmanned aerial vehicle photoelectric load visual image mapping display module is used for mapping the 3D picture generated by the rendering engine into a 2D load visual image;
the system also comprises an unmanned aerial vehicle photoelectric load visual algorithm simulation verification module, which is used for processing the 2D load visual image by a visual algorithm and displaying the 2D load visual image on a display.
The unmanned aerial vehicle simulation bottom simulator module is mainly used as a bottom support of a simulation platform, is a C + + extension plug-in which is packaged by utilizing illusion engine software in a self-defined mode, can automatically call the plug-in during simulation running, and is mainly packaged into three parts: physical model part (including unmanned aerial vehicle physical model, atmospheric environment model), data processing part (including vision sensor, physics engine), user display part (including API communication, rendering engine).
The integral link framework of the unmanned aerial vehicle simulation bottom layer simulator module is shown in fig. 1, a default unmanned aerial vehicle physical model and an atmosphere environment model are arranged in a physical model part, the two models are both generated by 3D software and stored in a plug-in a blueprint asset mode, and a user can change the attributes of the physical model and the environment model in a visual programming mode. Secondly, a physical engine contained in the data processing part can receive action parameters (such as model surface area, air pressure, wind speed and the like) simulated by the physical model part, and information such as speed, attitude, kinematics and the like is resolved and transmitted to the upper layer for controlling the attributes of the unmanned aerial vehicle and the sensor in 3D rendering; in addition, the vision sensor is mainly in the form of photoelectric load. The API communication in the user display part is mainly applied to the ideal state of the internal parameters of the unmanned aerial vehicle and the photoelectric load given by a user through an external program to dynamically control the simulated unmanned aerial vehicle and the simulated photoelectric load, the function allows the user to drive and control the simulated unmanned aerial vehicle and the visual sensor by utilizing the external program, and simultaneously allows the user to acquire all simulated rotating tables (speed, position, sensor signals, perception signals and other data) in the platform, so that various unmanned aerial vehicle flight control and visual algorithms are realized; the rendering engine is used for displaying a 3D scene required by a user.
Further, the user display part also comprises an API communication layer which is connected with an external program of the simulation computer.
Further, the data processing part further comprises a visual sensor, wherein the visual sensor is connected with the physical engine and the API communication layer and is used for receiving the kinematic information of the physical engine and sending a sensor signal to the API communication layer.
Further, the physical model part comprises an unmanned aerial vehicle physical model and an atmospheric environment model, and the unmanned aerial vehicle physical model and the atmospheric environment model are connected with the physical engine.
Further, the unmanned aerial vehicle physical model and the atmospheric environment model are connected with a visual programming interface for visually setting physical parameters of the unmanned aerial vehicle model and the atmospheric environment model.
As shown in fig. 2 and fig. 3, a 2D load view image mapping method is applied to the unmanned aerial vehicle photoelectric load view image mapping display module, and the method includes the following steps:
firstly, loading a scene required by a user by model transformation;
placing the model needing to be rendered to the photoelectric load in a scene;
thirdly, performing view transformation according to the attitude positions of the unmanned aerial vehicle and the photoelectric load calculated by the physical engine, and mapping an object under the scene world coordinate to a load view space;
and fourthly, finally, carrying out perspective projection transformation from 3D to 2D on the object in a certain view field range in the load view space, so that the load 2D image shows the effect of observation in reality.
Further, in the fourth step, the display process utilizes the GPU graphics board to accelerate the processing in parallel.
The unmanned aerial vehicle photoelectric load visual image mapping display module utilizes a self-defined packaged C + + class in the illusion engine software, takes the C + + class as a sub item of an unmanned aerial vehicle physical model, and automatically operates the module when a plug-in is called; the method has the main functions that 3D scenes are mapped into 2D load visual images, the specific mapping process is shown in figure 2, firstly, the model is transformed and loaded into the scene required by a user, and the model which needs to be rendered to a photoelectric load is placed in one scene; then, view transformation is carried out according to the unmanned aerial vehicle and the photoelectric load attitude position calculated by the physical engine, and an object under the scene world coordinate is mapped into a load view space; and finally, carrying out perspective projection transformation from 3D to 2D on the object in a certain view field range in the load view space, so that the load 2D image shows an observation effect in reality. In addition, the GPU image boards are used for parallel accelerated processing in the display process, so that the load image display rate can reach the level of scene rendering efficiency, and high-frame-rate load visual image display is realized
The simulation verification module for the photoelectric load visual algorithm of the unmanned aerial vehicle takes the two modules as bottom layer supports, and can simulate the whole process of the photoelectric load operation visual algorithm of the unmanned aerial vehicle in a real scene by building an external hardware link, wherein the link connection block diagram is shown in fig. 4. The design basis of the module is as follows: in a real scene, the load capacity of the unmanned aerial vehicle is limited, and the cost of installing a high-grade device capable of carrying a target tracking algorithm is high, so that reliable communication between the unmanned aerial vehicle and a ground station is generally required to be established to realize a photoelectric load visual algorithm. As can be seen from fig. 3, the module respectively uses the load simulation computer and the embedded development board as cores, and simulates the flight of the unmanned aerial vehicle in a 3D scene and the visual algorithm processing of the ground station server on the load image. The simulation computer is used for simulating the operation of the unmanned aerial vehicle and the photoelectric load in a 3D scene, the 3D scene and a 3D model of the unmanned aerial vehicle are displayed in the display 1, the load visual image is converted into a high-speed video code stream through the encoder and is transmitted into the switch, and the external key-in control equipment allows a user to control attributes such as the photoelectric load attitude, the focal length and the like of the unmanned aerial vehicle; the embedded development board is used for receiving the high-speed video code stream in the switch, simultaneously carrying out the processing of the visual algorithm on the decoded load view and displaying the processing result in the display 2;
in addition, a data frame driving flight function is added to the module, an external access semi-physical aircraft simulation control node is supported, the load simulation computer receives flight control data simulated by the semi-physical aircraft simulation node, the flight mode of the unmanned aerial vehicle is calculated, and the unmanned aerial vehicle in a 3D scene is driven to fly.
Compared with the prior art, the unmanned aerial vehicle photoelectric load simulation platform development technology based on the unreal engine platform has the following advantages:
(1) The simulation platform is developed in an illusion engine with a real environment, has a highly real physical engine and is high-efficient in rendering; the method can set ultra-large scenes and different weathers, and a user can freely realize the updating setting of the physical model and the environmental model through blueprint programming.
(2) The photoelectric load visual display adopts a mode of directly performing GPU rendering by adopting a phantom engine, so that a plurality of redundant API communication steps are eliminated, and the frame rate of photoelectric load image display of the unmanned aerial vehicle is greatly improved.
(3) An external hardware link is built, the link can realize the simulation of the photoelectric load visual algorithm of the unmanned aerial vehicle based on the illusion engine, and the cost of verifying the photoelectric load visual algorithm is greatly reduced.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various changes, modifications, alterations, and substitutions which may be made by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. The utility model provides an unmanned aerial vehicle photoelectricity load simulation system based on 3D view, its characterized in that: the unmanned aerial vehicle simulation bottom simulator comprises an unmanned aerial vehicle simulation bottom layer simulator module and an unmanned aerial vehicle photoelectric load visual image mapping display module, wherein the unmanned aerial vehicle simulation bottom layer simulator module and the unmanned aerial vehicle photoelectric load visual image mapping display module are formed by packaging unreal engine software;
the unmanned aerial vehicle simulation bottom simulator module comprises a user display part, a data processing part and a physical model part, wherein the physical model part is used for setting physical parameters of an unmanned aerial vehicle model and an atmospheric environment model, the data processing part comprises a physical engine, the user display part comprises a rendering engine, and the physical engine is used for solving physical information according to the set physical parameters and transmitting the physical information to the rendering engine to generate and display a 3D picture;
the unmanned aerial vehicle photoelectric load visual image mapping display module is used for mapping the 3D picture generated by the rendering engine into a 2D load visual image;
the system also comprises an unmanned aerial vehicle photoelectric load visual algorithm simulation verification module, which is used for processing the 2D load visual image by a visual algorithm and displaying the 2D load visual image on a display.
2. The unmanned aerial vehicle photoelectric load simulation system based on 3D vision of claim 1, characterized in that: the user display part also comprises an API communication layer which is connected with an external program of the simulation computer.
3. The 3D vision-based unmanned aerial vehicle photoelectric load simulation system of claim 2, wherein: the data processing part also comprises a visual sensor which is connected with the physical engine and the API communication layer and is used for receiving the kinematic information of the physical engine and sending a sensor signal to the API communication layer.
4. The unmanned aerial vehicle photoelectric load simulation system based on 3D vision of claim 1, characterized in that: the physical model part comprises an unmanned aerial vehicle physical model and an atmospheric environment model, and the unmanned aerial vehicle physical model and the atmospheric environment model are connected with the physical engine.
5. The unmanned aerial vehicle photoelectric load simulation system based on 3D vision of claim 4, characterized in that: the unmanned aerial vehicle physical model and the atmospheric environment model are connected with a visual programming interface so as to be used for visually setting physical parameters of the unmanned aerial vehicle model and the atmospheric environment model.
6. A mapping method of 2D loading view images is applied to the unmanned aerial vehicle photoelectric load simulation system based on 3D views, which is disclosed by any one of claims 1 to 5, and comprises the following steps:
firstly, changing and loading a scene required by a user by a model;
placing a model needing to be rendered to the photoelectric load in a scene;
thirdly, performing view transformation according to the attitude positions of the unmanned aerial vehicle and the photoelectric load calculated by the physical engine, and mapping an object under the scene world coordinate to a load view space;
and fourthly, finally, carrying out perspective projection transformation from 3D to 2D on the object in a certain view field range in the load view space, so that the load 2D image shows the effect of observation in reality.
7. The method for mapping 2D loading view images according to claim 6, wherein: in the fourth step, the display process utilizes the GPU graphics board to accelerate the processing in parallel.
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