CN115933444A - Simulation method and device for helicopter CGF entity suspension sonar search and rescue - Google Patents
Simulation method and device for helicopter CGF entity suspension sonar search and rescue Download PDFInfo
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Abstract
The disclosure provides a helicopter CGF entity sonar searching and submerging simulation method and device, wherein the method comprises the following steps: drawing a plurality of path points on a preset navigation route of a helicopter CGF entity, and determining position information of each path point; inserting a first detection point between adjacent path points based on the acting distance of the suspended sonar, determining the position information of the first detection point, and enabling the path points and the first detection point to form a second detection point; in an external storage space of a maneuvering control model of the simulation development platform, expanding and developing a rotorcraft motion data descriptor, and storing the position information of the second detection point into the rotorcraft motion data descriptor; and sending a maneuvering instruction to a maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of the hanging sonar search and submergence in a finite state machine mode.
Description
Technical Field
The disclosure relates to the technical field of simulation, in particular to a simulation method and device for helicopter CGF entity sonar hoisting and searching.
Background
In the actual operation condition, the helicopter is hung to carry out sonar search and submergence, and the method is one of the most commonly used search and submergence methods for the helicopter to search a submarine. During combat simulation, in order to simulate and realize that a helicopter Computer generates a military force (CGF) entity to hang and place a sonar to search for a submarine, the CGF entity of the helicopter needs to complete a plurality of maneuvering actions such as 'flying along a navigation route', 'lowering height', 'hovering' and 'raising height'.
However, when the maneuvering action of the CGF entity of the helicopter is switched from 'flying along the navigation route' to 'reducing the height', the movement process data such as the path point index and the like are initialized; when the helicopter CGF entity continues to perform "fly along the navigation route" after the detection of the detection points, the helicopter CGF entity returns to the first path point on the navigation route due to the zero-index of the path point, repeats the previous route, instead of flying to the next path point according to the actual navigation route, so that the helicopter CGF entity cannot hover at multiple detection points on the navigation route.
Aiming at the problem that the helicopter CGF entity cannot hover at a plurality of detection points on a navigation route due to the fact that motion process data are initialized in simulation of existing helicopter CGF entity hanging sonar searching and submerging, an effective technical solution is not provided at present.
Disclosure of Invention
The invention mainly aims to provide a simulation method and a simulation device for helicopter CGF entity suspension sonar search submergence, and aims to solve the problem that in the related technology, motion process data are initialized in simulation of helicopter CGF entity suspension sonar search submergence, so that a helicopter CGF entity cannot hover at a plurality of detection points on a navigation route.
In order to achieve the above object, a first aspect of the present disclosure provides a simulation method for helicopter CGF entity sonar search and rescue, including:
drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a scenario editor of a simulation development platform, and determining position information of each path point in the plurality of path points;
inserting first detection points between adjacent path points based on the acting distance of the suspended sonar, and determining the position information of the first detection points, wherein the set of the path points and the first detection points form second detection points;
in an external storage space of a maneuvering control model of the simulation development platform, a rotary-wing aircraft motion data descriptor is developed in an expanded mode, and the position information of the second detection point is stored in the rotary-wing aircraft motion data descriptor; and
and sending a maneuvering instruction to a maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of the hanging sonar search and submergence in a finite state machine mode.
Optionally, based on the range of the sonar, inserting a first detection point between adjacent path points, and determining the position information of the first detection point, includes:
determining the detection distance between adjacent detection points based on the action distance of the suspended sonar, wherein the adjacent detection points are two adjacent second detection points;
determining a horizontal distance between adjacent path points on a preset navigation route, wherein the adjacent path points are two adjacent path points;
inserting first detection points with equal intervals between adjacent path points based on the detection intervals and the horizontal distance, wherein the intervals of the first detection points are the detection intervals;
and determining the position information of the first detection point according to the preset navigation route and the position information of each path point.
Further, determining the horizontal distance between adjacent waypoints on the preset navigation route comprises:
determining the ith path point on the preset navigation route according to the following formula
And a fifth->
Number of way points->
Is horizontally present->
：
Further, determining the position information of the first detection point according to the preset navigation route and the position information of each path point, including:
when the preset navigation route is a straight line, the CGF entity of the helicopter searches for the submarine according to a straight line propulsion mode;
determining a first detection point in a linear propulsion mode according to the following formula
Longitudinal coordinate of &>
And latitude coordinate
：
Further, after determining the position information of the first detection point, the method further comprises:
the total number of second probe points N is determined according to the following formula:
Optionally, determining the position information of the first detection point according to the preset navigation route and the position information of each waypoint includes:
when the preset navigation route is a broken line, the helicopter CGF entity searches for the submarine according to a broken line propulsion mode;
according to horizontal distance
And &>
The relationship between the size of the first and second electrodes, determining a waypoint +>
And &>
In between the total number of first detection points->
Wherein D is the detection interval, and λ is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point in a broken line advancing mode according to the following formula
Longitudinal coordinate->
And latitude coordinate->
：
Further, according to the horizontal distance
And &>
Determines a path point->
And &>
In between the total number of first detection points->
The method comprises the following steps:
if it is not
Then the path point->
And &>
The total number of the first detection points is;
；
if it is not
Then the way point>
And &>
The total number of the first detection points in between is
。
Further, after determining the position information of the first detection point, the method further comprises:
the total number of second probe points N is determined according to the following formula:
Optionally, storing the position information of the second probe point into a rotorcraft motion data descriptor, comprising:
storing the position information of the second detection point into the motion data descriptor of the rotorcraft in an array form, wherein the index value of the second detection point is configured in the array form;
the total number of second probe points and the index value of the next second probe point are stored in the rotorcraft motion data descriptor.
Further, the finite state machine comprises a flight state, a descent state, a hover state and an ascent state, and the maneuvering instructions comprise a designated heading speed instruction, a change altitude instruction and a designated destination speed instruction;
wherein, based on the positional information of the second probe point of rotorcraft motion data descriptor storage, send the maneuver instruction to the maneuvering physical model of helicopter CGF entity, drive helicopter CGF entity and hover at the second probe point to realize hanging down the simulation that the sonar searched for the dive with finite-state machine's mode, include:
when the CGF entity of the helicopter is in a flying state, reading an index value of a next second detection point and position information of the next second detection point from a motion data descriptor of the gyroplane through a maneuvering control model of a simulation development platform, sending a speed instruction of a specified destination point to a maneuvering physical model of the CGF entity of the helicopter, and driving the CGF entity of the helicopter to fly to the next second detection point according to the speed of the specified destination point;
when the CGF entity of the helicopter reaches the next second detection point, switching to a descending state, and sending a height changing instruction to the maneuvering physical model through the maneuvering control model to drive the CGF entity of the helicopter to descend from the flying height to the hovering height;
when the height of the CGF entity of the helicopter is less than or equal to the hovering height, switching to a hovering state, and immersing a suspended sonar carried by the CGF entity of the helicopter into water for detection;
if the target submarine is detected by the suspended sonar or a return flight command is received, ending the detection; if the target submarine is not detected by the suspended sonar and the maintenance time of the hovering state is greater than or equal to the preset search time, the CGF entity of the helicopter is switched to the rising state;
when the CGF entity of the helicopter is in a rising state, the maneuvering control model sends a height changing instruction to the maneuvering physical model to drive the CGF entity of the helicopter to rise from a hovering height to a flying height;
and when the height of the CGF entity of the helicopter is more than or equal to the flight height, switching back to the flight state, and increasing the index value of the next second detection point by 1.
A second aspect of the present disclosure provides a simulator for a helicopter CGF entity to park sonar search and dive, including:
the system comprises a drawing unit, a simulation development platform and a control unit, wherein the drawing unit is used for drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a scenario editor of the simulation development platform and determining position information of each path point in the plurality of path points;
the inserting unit is used for inserting first detection points between adjacent path points based on the acting distance of the suspended sonar and determining the position information of the first detection points, wherein the set of the path points and the first detection points form second detection points;
the extended development unit is used for extending and developing a rotorcraft motion data descriptor in an external storage space of a maneuvering control model of the simulation development platform and storing the position information of the second detection point into the rotorcraft motion data descriptor; and
and the driving unit is used for sending a maneuvering instruction to the maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary-wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of lifting, placing, sonar, searching and submerging in a finite state machine mode.
A third aspect of the present disclosure provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the simulation method for helicopter CGF entity sonar hunting provided in any one of the first aspects.
A fourth aspect of the present disclosure provides an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores a computer program executable by at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor executes the simulation method for helicopter CGF entity sonar hunting provided in any one of the first aspect.
In the simulation method for the helicopter CGF entity suspended sonar search latency provided by the embodiment of the disclosure, a rotorcraft motion data descriptor is developed in an external storage space of a maneuvering control model of a simulation development platform in an expanded manner, and the position information of a second detection point is stored in the rotorcraft motion data descriptor; by expanding and developing the motion data descriptor of the rotorcraft, an external storage space of a maneuvering control model is developed to store motion process data, and the position information of the second detection point is prevented from being lost during state switching;
based on the position information of the second detection point stored by the motion data descriptor of the rotary wing aircraft, a maneuvering instruction is sent to a maneuvering physical model of the CGF entity of the helicopter, the CGF entity of the helicopter is driven to hover at the second detection point, and the simulation of the hanging sonar search and submergence is realized in a finite state machine mode; through the autogyro motion data descriptor stored outside the maneuvering control model, the maneuvering instruction is sent to the maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and the problem that in the related technology, the motion process data is initialized in the simulation of the helicopter CGF entity hanging sonar search and submergence, so that the helicopter CGF entity cannot hover at a plurality of detection points on a navigation route is solved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flight profile of a helicopter in a suspended sonar diving mode;
FIG. 2 is a schematic flow chart of a simulation method for helicopter CGF entity sonar search and rescue provided by the embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for determining position information of a first probe point according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a helicopter CGF entity searching for a submarine according to a zigzag propulsion manner provided by the embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a finite state machine for helicopter CGF entity sonar search and rescue provided by the embodiment of the present disclosure;
FIG. 6 is a block diagram of a simulation apparatus for a helicopter CGF entity to park sonar search and dive provided by the embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device provided by an embodiment of the disclosure.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure may be described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In the actual combat situation, the helicopter is used for hoisting and placing sonar for searching and submerging, and the method is one of the most commonly used methods for searching and submerging by the helicopter. A flight profile of a helicopter hoisting sonar search submarine is shown in figure 1, wherein the helicopter is used for searching a target submarine by using the hoisting sonar in the force of force, the target submarine is hovered at a position 5 to 30 meters above a detection point generally, the hoisting sonar is put into water, and the searching time reaches a set duration
（/>
Generally 3-5 minutes), if the target submarine is not found, the force of the helicopter is raised to a height to retract the hydrophone used for hanging and placing the sonar, the hydrophone flies to the next detection point, and the process is repeated until the target submarine is found or a return flight instruction is received. Flying height->
The distance D between two adjacent detection points is a times of the suspension sonar action distance R, the multiple a is 1.4 to 1.8 times, and the flying speed V can be 100 knots, namely 100 nautical miles per hour. The suspended sonar is a sonar for detecting a target submarine by using a suspended discharge cable to enable a sonar probe to hang into water, and is arranged on an anti-diving helicopter or a surface ship; the hydrophone is an important part of the sonar, is an acoustic device for transmitting and receiving sound waves under water, and can convert an electric signal into an underwater sound signal or convert the underwater sound signal into an electric signal.
During combat simulation, in order to simulate and realize that a Computer Generated Forces (CGF) entity of a helicopter hangs and puts a sonar search submarine, the CGF entity of the helicopter needs to complete a plurality of maneuvering actions such as "flying along a navigation route", "lowering height", "hovering" and "raising height". However, when the maneuvering action of the CGF entity of the helicopter is switched from 'flying along the navigation route' to 'reducing the height', the movement process data such as the path point index and the like are initialized; when the helicopter CGF entity continues to perform "fly along the navigation route" after the detection of the detection points, the helicopter CGF entity returns to the first path point on the navigation route due to the zero-indexed path point, repeats the previous route, instead of flying to the next path point according to the actual navigation route, so that the helicopter CGF entity cannot hover at a plurality of detection points on the navigation route.
In order to solve the above problem, an embodiment of the present disclosure provides a simulation method for a helicopter CGF entity to hoist a sonar search submergence, which automatically calculates a detection point position based on an action distance of a hoisting sonar and a preset navigation route, and completes the whole process of the simulation of the hoisting sonar search submergence along the preset navigation route inside one atomic action, as shown in fig. 2, the method includes the following steps S101 to S104:
step S101: drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a scenario editor of a simulation development platform, and determining position information of each path point in the plurality of path points; the simulation development platform can be an MAXSIM simulation development platform, the preset navigation route is a preset navigation route which can be in various shapes such as a straight line, a broken line, a zigzag, a square and the like, and the specific shape of the preset navigation route can be determined according to specific requirements;
specifically, in a scenario editor of the MAXSim simulation development platform, scenario makers can draw any number of path points on a preset navigation route by using a map ranging function, distances between the path points can be equal or unequal, the drawing process is simple, after the drawing is finished, the path points and position information of the path points are obtained, and the position information of the path points can be represented by longitude and latitude; among them, the assumption is the assumption and assumption of the basic situation of both parties of the battle, the battle attempt and the battle development situation according to the training topic.
Step S102: inserting first detection points between adjacent path points based on the acting distance of the suspended sonar, and determining the position information of the first detection points, wherein the set of the path points and the first detection points form second detection points;
specifically, the working distance of the suspended sonar refers to the detection distance of the suspended sonar for detecting the target submarine in water, a plurality of first detection points can be inserted between adjacent path points based on the working distance, the path points are also used as detection points, the path points and the first detection points jointly form second detection points, and the CGF entity of the helicopter hovers over the second detection points to detect the target submarine.
This openly can be according to the working distance of hanging and putting the sonar and predetermine the positional information of navigation route automatic computation first gauge point, combines the positional information of path point and the positional information of first gauge point, obtains the positional information of second gauge point, need not manual calculation again and sets up the positional information of second gauge point, has greatly simplified the flow of thinking and deciding the preparation.
In an alternative embodiment of the present disclosure, the method for determining the position information of the first probe point is shown in fig. 3, and step S102 includes:
step S1021: determining the detection distance between adjacent detection points based on the action distance of the suspended sonar, wherein the adjacent detection points are two adjacent second detection points; presetting a multiple a between 1.4 to 1.8, calculating the product of the preset multiple a and the action distance R of a suspension sonar carried by a CGF entity of a helicopter to obtain the detection distance D = a × R between adjacent detection points。
Step S1022: determining a horizontal distance between adjacent path points on a preset navigation route, wherein the adjacent path points are two adjacent path points;
specifically, step S1022 includes:
from the first waypoint on the navigation route
Initially, the first position on the preset navigation route is determined according to the following formula (1)i number of waypoints->
And a first +>
Number of way points->
Is horizontally present->
：
Wherein the content of the first and second substances,
and i is a positive integer, M is the total number of waypoints on the preset navigation route, and/or>
And &>
Respectively represent the ith path point->
In a longitudinal coordinate and in a latitude coordinate, and>
and &>
Respectively denote a first>
Multiple path points>
Longitude and latitude coordinates of (a).
By the formula (1), the horizontal distance between all adjacent path points on the preset navigation route can be obtained.
Step S1023: inserting first detection points with equal intervals between adjacent path points based on the detection intervals and the horizontal distance, wherein the intervals of the first detection points are the detection intervals; can insert a plurality of equidistant first detecting points between adjacent path point, combine the path point, obtain the equal second detecting point of a plurality of intervals, guarantee through equal detection interval that the detection range who hangs and put the sonar reaches the biggest, improves detection range and detection efficiency.
Step S1024: and determining the position information of the first detection point according to the preset navigation route and the position information of each path point. The preset navigation route can be in various shapes such as a straight line, a broken line, a bow shape and a square shape, the navigation routes in different shapes can be preset according to different actual requirements, and then the longitude coordinate and the latitude coordinate of the first detection point are determined in a mode corresponding to the shape of the preset navigation route.
In an optional implementation manner of the present disclosure, step S1024 includes:
when the preset navigation route is a straight line, the CGF entity of the helicopter searches for the submarine according to a straight line propulsion mode;
taking the detection distance D as a step length, and presetting adjacent path points on a navigation route
And &>
Is inserted between>
The first detection points with equal spacing are determined in a linear advancing mode according to the following formula (2)>
Longitude coordinate of
And latitude coordinate->
：
Wherein the content of the first and second substances,
，/>
represents a round-down operator; the second detection point->
Is a way point>
，
，/>
(ii) a D is the detection distance>
For a waypoint in a preset navigation route->
And
the azimuth angle of the path segment between in the northeast coordinate system.
Through the formula (2), longitude coordinates and latitude coordinates of all the inserted first detection points in the straight line propulsion mode can be obtained, and position information of all the first detection points can be determined.
Further, after determining the position information of the first detection point in step S1024, the method further includes:
determining the total number of second detection points according to the following formula (3)N：
Wherein M is the total number of route points on the preset navigation route,
for presetting a waypoint on the navigation route>
And waypoints
And D is the detection pitch. When the helicopter CGF entity searches the submarine according to the linear propulsion mode, the total number of the second detection points is the sum of the total number of the path points and the total number of the first detection points between every two adjacent path points.
In a preferred embodiment of the present disclosure, step S1024 includes:
when the preset navigation route is a broken line, the CGF entity of the helicopter searches for the submarine according to a broken line propulsion mode; the schematic diagram of the helicopter CGF entity searching the submarine according to the fold line propulsion mode is shown in FIG. 4, and compared with the linear propulsion mode, the fold line propulsion mode can enlarge the search area;
according to horizontal distance
And &>
Determines a path point->
And &>
In between the total number of first detection points->
Wherein D is the detection interval, and λ is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point in a fold line advancing mode according to the following formula (4)
Longitudinal coordinate->
And latitude coordinate>
：
Wherein the content of the first and second substances,
and j is a positive integer, and>
represents a round-down operator; the second detection point->
Is a way point->
，/>
，/>
(ii) a D is the detection distance>
For a waypoint in a preset navigation route->
And &>
The azimuth angle of the path segment between in the northeast coordinate system.
According to the above formula (4), longitude coordinates and latitude coordinates of all the inserted first detection points in the polyline propulsion mode can be obtained, and the position information of all the first detection points can be determined.
Specifically, the step S1024 is executed according to the horizontal distance
And &>
Determines a path point->
And &>
In between the total number of first detection points->
The method comprises the following steps:
if it is used
Then the path point->
And &>
In between the first detection point is counted as->
；
If it is not
Then the path point->
And &>
The total number of the first detection points is
。
Further, after determining the position information of the first detection point in step S1024, the method further includes:
the total number N of second probe points is determined according to the following equation (5):
wherein M is the total number of route points on the preset navigation route,
is a way point->
And &>
The total number of first probe points in between. When the helicopter CGF entity searches the submarine according to the zigzag propulsion mode, the total number of the second detection points is the sum of the total number of the path points and the total number of the first detection points between every two adjacent path points.
The search area can be enlarged according to the broken line propulsion mode to helicopter CGF entity, and the search width that the broken line search mode has enlarged than the straight line search mode about 0.43a, wherein, a is when confirming detection interval D, to hanging the preset multiple of sonar working distance R.
Step S103: in an external storage space of a maneuvering control model of the simulation development platform, a rotary-wing aircraft motion data descriptor is developed in an expanded mode, and the position information of the second detection point is stored in the rotary-wing aircraft motion data descriptor; compared with the maneuvering internal data descriptor (mobility InternalData) in the internal storage space of the maneuvering control model, the rotorcraft movement data descriptor (RotorCraffData) which is expanded and developed is located in the storage space outside the maneuvering control model, and the rotorcraft movement data descriptor is not initialized when a maneuvering command is switched subsequently.
Specifically, the descriptor is a structure body used for describing different attributes of each aspect of the CGF entity in the MAXSim simulation development platform; as the maneuvering control model on the simulation development platform updates the maneuvering internal data descriptor when maneuvering instructions are switched, if the position information of the second detection point obtained in the step S102 is stored in the maneuvering internal data descriptor, the position information of the second detection point is initialized when maneuvering instructions are switched, and the CGF entity of the helicopter flies back to the origin because the position information of the next second detection point cannot be read;
therefore, the rotorcraft motion data descriptor is developed and expanded in the storage space outside the maneuvering control model, the rotorcraft motion data descriptor is stored in the storage space outside the maneuvering control model, the motion process data such as the position information of the second detection point is stored in the rotorcraft motion data descriptor, the rotorcraft motion data descriptor is not initialized when maneuvering instructions are switched, and the situation that the CGF entity of the helicopter reads the position information of the next second detection point is guaranteed.
According to the method, the motion data descriptors of the rotary wing aircraft are developed in an expanded mode, the external storage space of the maneuvering control model is developed to store the motion process data, and the problem that the position information of the second detection point is lost when the original maneuvering internal data descriptors of the MAXSim simulation development platform are in a conversion state is solved.
In an alternative embodiment of the present disclosure, storing the position information of the second detection point in the rotorcraft motion data descriptor in step S103 includes:
storing the position information of the second detection point into the motion data descriptor of the rotorcraft in an array form, wherein the index value of the second detection point is configured in the array form; storing the position information of the second detection point in an array form in a motion data descriptor of the rotary-wing aircraft, and configuring an index value of the second detection point from 0 according to the sequence of the second detection point on a preset navigation route after storing;
the total number of second probe points and the index value of the next second probe point are stored in the rotorcraft motion data descriptor. If the total number of the second detection points is N, the range of the index value of the second detection point is 0 to N-1, and the index value of the next second detection point, namely the index value of the second detection point to which the CGF entity of the helicopter is going, is stored.
In the rotorcraft motion data descriptor (rotorcraft data) under extended development, the member variables include:
1) nroutepoint num: the total number of the second detection points is 0 in an initial value;
2) aOutePoints [ N ]: the second detection point array stores the position information of the second detection point, namely the longitude and latitude coordinates of the second detection point, and the initial value is null;
3) nRouteIndex: the index value of the next second detection point, namely the index value of the second detection point to which the CGF entity of the helicopter is going, is set to be-1;
4) bouutoffoldan: and if the CGF entity of the helicopter is outside the preset navigation route, the initial value is false.
The whole simulation process of the helicopter CGF entity is divided into a plurality of search periods, and the helicopter CGF entity executes a periodic suspension sonar search potential simulation process according to the search periods; after receiving the search instruction, the maneuvering control model on the MAXSim simulation development platform increases the index value (nroutindex) of the next second detection point in the rotorcraft motion data descriptor (RotorCraftData) by 1, that is, increases the index value of the next second detection point by 1 and assigns the index value to the index value of the next second detection point.
Step S104: and sending a maneuvering instruction to a maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of the hanging sonar search and submergence in a finite state machine mode.
According to the helicopter CGF entity hovering method and device, the maneuvering instruction is sent to the maneuvering physical model of the helicopter CGF entity through the rotorcraft movement data descriptor stored outside the maneuvering control model, the helicopter CGF entity is driven to hover at the second detection point, and the problem that in the related technology, the movement process data is initialized in simulation of the helicopter CGF entity hanging sonar searching and submerging, and therefore the helicopter CGF entity cannot hover at multiple detection points on a navigation route is solved. The method and the system fill the gap that the conventional MAXSim simulation development platform cannot realize the simulation of the helicopter CGF entity in the process of hanging, placing, sonar searching and submerging along the preset navigation departure route, and can support the development of related simulation experiments.
In an alternative embodiment of the present disclosure, the finite state machine includes a flight state, a descent state, a hover state, and an ascent state, the maneuver instructions include a specified heading speed instruction, a change altitude instruction, and a specified destination speed instruction;
specifically, the flight height of the CGF entity of the helicopter is preset
Helicopter hovering height>
Time of search
The motion process is expressed in a finite state machine mode, a flight state, a descending state, a hovering state and an ascending state can be divided in one search period of a simulation process of the helicopter CGF entity hoisting sonar search and submergence, a schematic diagram of the finite state machine of the helicopter CGF entity hoisting sonar search and submergence is shown in figure 5, and the conversion relation of different states is shown in the following table 1:
TABLE 1
TABLE 2
Wherein, step S104 includes:
when the CGF entity of the helicopter is in a flying state, reading an index value of a next second detection point and position information of the next second detection point from a motion data descriptor of the gyroplane through a maneuvering control model of a simulation development platform, sending a speed instruction of a specified destination point to a maneuvering physical model of the CGF entity of the helicopter, and driving the CGF entity of the helicopter to fly to the next second detection point according to the speed of the specified destination point;
specifically, the first state is a flight state, an index value (nrouteIndex) of a next second detection point is read from a rotorcraft motion data descriptor (RotorCraftData) through a maneuvering control model of a simulation development platform, AND a longitude AND latitude coordinate value (aOutPoints [ nRouteIndex ]) of the next second detection point is obtained, the maneuvering control model sends a designated destination point speed instruction (POSITION _ AND _ VEL) to a maneuvering physical model of a helicopter CGF entity, AND the instruction comprises the longitude AND latitude coordinate value (aOutPoints [ nRouteIndex ]) of the next second detection point AND a required cruising speed; when the maneuvering physical model responds to a specified target point speed instruction (POSITION _ AND _ VEL), the maneuvering physical model drives the CGF entity of the helicopter to fly towards the next second detection point according to the longitude AND latitude coordinate value (aOutTePoints [ nRouteIndex ]) of the next second detection point AND the required cruising speed; and when the CGF entity of the helicopter reaches the next second detection point, switching to a second state.
When the CGF entity of the helicopter reaches the next second detection point, switching to a descending state, and sending a height changing instruction to the maneuvering physical model through the maneuvering control model to drive the CGF entity of the helicopter to descend from the flying height to the hovering height;
specifically, the second state is a descent state, and the maneuvering control model sends a CHANGE altitude instruction (CHANGE _ TO _ ALT) TO the maneuvering physical model of the helicopter CGF entity, where the CHANGE altitude instruction carries the hover altitude that the helicopter CGF entity is expected TO reach
(ii) a The motorized physical model responds to the command to actuate the helicopter CGF entity from altitude->
Falling to hover height>
(ii) a When the height of a helicopter CGF entity is less than or equal to a hovering height >>
And then switches to the third state. />
When the height of the CGF entity of the helicopter is less than or equal to the hovering height, switching to a hovering state, and immersing a suspended sonar carried by the CGF entity of the helicopter into water for detection;
if the target submarine is detected by the suspended sonar or a return flight command is received, ending the detection; if the target submarine is not detected by the hoisting sonar and the maintenance time of the hovering state is greater than or equal to the preset search time, the CGF entity of the helicopter is switched to the ascending state;
specifically, the third state is a hovering state, and the helicopter CGF entity is maintained at hovering height
Immersing a suspended sonar carried by the device into water for detection; if the target is searched or a return command is received during the hovering of the CGF entity of the helicopter by the aid of the hanging sonar, the search is ended; if the target is not searched by the hanging sonar and the hovering state maintaining time is more than or equal to the searching time>
The helicopter CGF entity switches to a fourth state.
When the CGF entity of the helicopter is in a rising state, the maneuvering control model sends a height changing instruction to the maneuvering physical model to drive the CGF entity of the helicopter to rise from a hovering height to a flying height;
and when the height of the CGF entity of the helicopter is more than or equal to the flight height, switching back to the flight state, and increasing the index value of the next second detection point by 1.
Specifically, the fourth state is an ascending state, and the maneuver control model sends a Change altitude instruction (CHANGE _ TO _ ALT) TO the maneuver physical model of the helicopter CGF entity, wherein the Change altitude instruction carries the expected arrivalFlying height of
(ii) a The motorized physical model, in response to the instruction, drives the helicopter CGF entity to ≧ hover height>
Rises to flight height->
(ii) a When the height of the CGF entity of the helicopter is more than or equal to the flying height ≥ the ≥ of>
When the CGF entity of the helicopter is switched back to the first state, the maneuvering control model increments the index value (nroutindex) of the next second probe point in the rotorcraft motion data descriptor (RotorCraftData) by 1, i.e., increments the index value of the next second probe point by 1 and assigns the index value itself to the next second probe point.
And when the CGF entity of the helicopter detects a target or receives a return command, ending the search and submergence process.
According to the method, the CGF entity of the helicopter is automatically converted among the flight state, the descent state, the hover state and the ascent state in a search period through the finite state machine, so that the whole simulation process of suspending and placing sonar search potential along a preset navigation route can be completed in one atomic action, steps of making a behavior model are reduced, and the efficiency of making the behavior model and performing a simulation experiment is greatly improved.
From the above description, it can be seen that the present disclosure achieves the following technical effects:
according to the method and the device, the position information of the first detection point can be automatically calculated according to the working distance of the suspended sonar and the preset navigation route, the position information of the second detection point is obtained by combining the position information of the path point and the position information of the first detection point, the position information of the second detection point does not need to be manually calculated and set, and the planning and manufacturing process is greatly simplified;
by expanding and developing the motion data descriptor of the rotary-wing aircraft and opening up an external storage space of the maneuvering control model to store motion process data, the problem that the position information of a second detection point is lost when the original maneuvering internal data descriptor of the MAXSim simulation development platform is in a conversion state is solved;
the method has the advantages that the maneuvering instruction is sent to the maneuvering physical model of the CGF entity of the helicopter through the maneuvering data descriptor of the rotary-wing aircraft stored outside the maneuvering control model, and the CGF entity of the helicopter is driven to hover at the second detection point, so that the problem that the CGF entity of the helicopter cannot hover at a plurality of detection points on a navigation route due to the fact that the data of the movement process is initialized in the simulation of the helicopter CGF entity hoisting sonar search potential in the related technology is solved;
the finite state machine is used for automatically converting the CGF entity of the helicopter among a flight state, a descent state, a hover state and an ascent state in a search period, so that the whole simulation process of suspending and placing a sonar search potential along a preset navigation route can be completed in one atomic action, the steps of making a behavior model are reduced, and the efficiency of making the behavior model and performing a simulation experiment is greatly improved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present disclosure further provides a simulation apparatus for implementing the above simulation method for a CGF entity of a helicopter to hoist, put, sonar, and search for a submarine, as shown in fig. 6, the apparatus includes:
the drawing unit 61 is configured to draw a plurality of waypoints on a preset navigation route of the CGF entity of the helicopter by using a scenario editor of the simulation development platform, and determine position information of each waypoint of the plurality of waypoints;
an inserting unit 62, configured to insert a first detection point between adjacent path points based on an action distance of the suspended sonar, and determine position information of the first detection point, where a set of the path points and the first detection point constitutes a second detection point;
the extended development unit 63 is used for extending and developing a rotorcraft motion data descriptor in an external storage space of a maneuvering control model of the simulation development platform and storing the position information of the second detection point into the rotorcraft motion data descriptor; and
and the driving unit 64 is used for sending a maneuvering instruction to the maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary-wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of lifting, placing, sonar, searching and submerging in a finite state machine mode.
The specific manner in which the operations of the units of the above-described embodiments of the apparatus are performed has been described in detail in relation to the embodiments of the method and will not be described in detail here.
The embodiment of the present disclosure also provides an electronic device, as shown in fig. 7, the electronic device includes one or more processors 71 and a memory 72, where one processor 71 is taken as an example in fig. 7.
The controller may further include: an input device 73 and an output device 74.
The processor 71, the memory 72, the input device 73 and the output device 74 may be connected by a bus or other means, as exemplified by the bus connection in fig. 7.
The Processor 71 may be a Central Processing Unit (CPU), the Processor 71 may also be other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or a combination of the above chips, and the general-purpose Processor may be a microprocessor or any conventional Processor.
The memory 72, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present disclosure. The processor 71 executes various functional applications and data processing of the server by running the non-transitory software program, instructions and modules stored in the memory 72, that is, the simulation method for helicopter CGF entity sonar scan and dive of the above method embodiment is realized.
The memory 72 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 72 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 72 may optionally include memory located remotely from the processor 71, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 73 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 74 may include a display device such as a display screen.
One or more modules are stored in the memory 72, which when executed by the one or more processors 71 perform the method shown in FIG. 2.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the processes of the embodiments of the motor control methods described above can be included when the computer program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM for short), a random access Memory (RAM for short), a Flash Memory (FM for short), a hard disk (hard disk Drive for short), or a Solid-State Drive (SSD for short); the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.
Claims (13)
1. A helicopter CGF entity hangs sonar search and dive simulation method which is characterized by comprising the following steps:
drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a scenario editor of a simulation development platform, and determining position information of each path point in the plurality of path points;
inserting a first detection point between adjacent path points based on the acting distance of the suspended sonar, and determining the position information of the first detection point, wherein the set of the path points and the first detection point forms a second detection point;
in an external storage space of a maneuvering control model of the simulation development platform, a rotorcraft motion data descriptor is developed in an expanded mode, and the position information of the second detection point is stored in the rotorcraft motion data descriptor; and
and sending a maneuvering instruction to a maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary-wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of lifting, placing, sonar, searching and submerging in a finite-state machine mode.
2. The method according to claim 1, wherein the determining the position information of the first detection point by inserting the first detection point between adjacent path points based on the range of the sonar, comprises:
determining a detection distance between adjacent detection points based on the action distance of the suspended sonar, wherein the adjacent detection points are two adjacent second detection points;
determining a horizontal distance between adjacent path points on a preset navigation route, wherein the adjacent path points are two adjacent path points;
inserting first detection points with equal intervals between adjacent path points based on the detection interval and the horizontal distance, wherein the interval of the first detection points is the detection interval;
and determining the position information of the first detection point according to a preset navigation route and the position information of each path point.
3. The method of claim 2, wherein determining the horizontal distance between adjacent waypoints on the preset navigation route comprises:
determining the ith path point on the preset navigation route according to the following formula
And a fifth->
Number of way points->
Is horizontally present->
：
4. The method according to claim 3, wherein the determining the position information of the first probe point according to the preset navigation route and the position information of each waypoint comprises:
when the preset navigation route is a straight line, the CGF entity of the helicopter searches for the submarine according to a straight line propulsion mode;
determining a first detection point in a linear propulsion mode according to the following formula
Longitudinal coordinate->
And latitude coordinate
：
5. The method of claim 4, wherein after determining the location information of the first probe point, the method further comprises:
the total number N of second probe points is determined according to the following formula:
6. The method according to claim 3, wherein the determining the position information of the first probe point according to the preset navigation route and the position information of each waypoint comprises:
when the preset navigation route is a broken line, the CGF entity of the helicopter searches for the submarine according to a broken line propulsion mode;
according to horizontal distance
And &>
Determines a path point->
And &>
In between the total number of first detection points->
Wherein D is the detection interval, and λ is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point in a broken line advancing mode according to the following formula
Longitudinal coordinate->
And latitude coordinate
：
7. The method of claim 6, wherein the function is based on horizontal distance
And &>
The relationship between the size of the first and second electrodes, determining a waypoint +>
And &>
In that a total of first detection points>
The method comprises the following steps:
if it is not
Then the way point>
And &>
In that the total number of first detection points is->
；
If it is not
Then the path point->
And &>
The total number of the first detection points is
。
8. The method of claim 6, wherein after determining the location information of the first probe point, the method further comprises:
the total number N of second probe points is determined according to the following formula:
9. The method of claim 1, wherein said storing location information of said second probe point in said rotorcraft motion data descriptor comprises:
storing the position information of the second probe point in an array form into the rotorcraft motion data descriptor, wherein the index value of the second probe point is configured by the array form;
storing the total number of second probe points and an index value for a next second probe point in the rotorcraft motion data descriptor.
10. The method of claim 9,
the finite state machine comprises a flight state, a descent state, a hover state and an ascent state, and the maneuvering instruction comprises a designated course speed instruction, a change altitude instruction and a designated destination point speed instruction;
wherein, the position information of the second detection point stored based on the descriptor of the rotorcraft motion data sends a maneuvering instruction to the maneuvering physical model of the helicopter CGF entity, drives the helicopter CGF entity to hover at the second detection point, and realizes the simulation of the hanging sonar search submergence in a finite state machine manner, including:
when the helicopter CGF entity is in the flying state, reading an index value of a next second probe point and position information of the next second probe point from the moving data descriptor of the rotary wing aircraft through a maneuvering control model of the simulation development platform, sending the specified destination point speed instruction to a maneuvering physical model of the helicopter CGF entity, and driving the helicopter CGF entity to fly to the next second probe point according to the specified destination point speed;
when the helicopter CGF entity reaches the next second detection point, switching to the descending state, and sending the height changing instruction to the maneuvering physical model through the maneuvering control model to drive the helicopter CGF entity to be lowered from the flying height to the hovering height;
when the height of the CGF entity of the helicopter is less than or equal to the hovering height, switching to the hovering state, and immersing a suspended sonar carried by the CGF entity of the helicopter into water for detection;
if the suspended sonar detects the target submarine or receives a return command, finishing detection; if the target submarine is not detected by the suspended sonar and the maintenance time of the hovering state is greater than or equal to the preset searching time, the CGF entity of the helicopter is switched to the rising state;
when the helicopter CGF entity is in the ascent state, the maneuvering control model sends the altitude change instruction to the maneuvering physical model to drive the helicopter CGF entity to ascend from the hovering altitude to the flying altitude;
and when the height of the CGF entity of the helicopter is greater than or equal to the flight height, switching back to the flight state, and increasing the index value of the next second detection point by 1.
11. The utility model provides a helicopter CGF entity hangs and puts sonar and search latent simulation device which characterized in that includes:
the system comprises a drawing unit, a simulation development platform and a control unit, wherein the drawing unit is used for drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a scenario editor of the simulation development platform and determining position information of each path point in the plurality of path points;
the system comprises an inserting unit, a detecting unit and a processing unit, wherein the inserting unit is used for inserting a first detection point between adjacent path points based on the action distance of the suspended sonar and determining the position information of the first detection point, and the set of the path points and the first detection point forms a second detection point;
the extended development unit is used for extending and developing a motion data descriptor of the rotary-wing aircraft in an external storage space of a maneuvering control model of the simulation development platform and storing the position information of the second detection point into the motion data descriptor of the rotary-wing aircraft; and
and the driving unit is used for sending a maneuvering instruction to the maneuvering physical model of the CGF entity of the helicopter based on the position information of the second detection point stored by the motion data descriptor of the rotary-wing aircraft, driving the CGF entity of the helicopter to hover at the second detection point, and realizing the simulation of hoisting, sonar and searching in a finite-state machine mode.
12. A computer readable storage medium having stored thereon computer instructions for causing a computer to execute the method of simulating helicopter CGF entity hover sonar search scenario of any of claims 1-10.
13. An electronic device, characterized in that the electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method for simulating helicopter CGF entity sonar search latency of any one of claims 1-10.
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