CN115933444B - Simulation method and device for sonar search and submergence of helicopter CGF entity crane - Google Patents
Simulation method and device for sonar search and submergence of helicopter CGF entity crane Download PDFInfo
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Abstract
The disclosure provides a simulation method and device for a helicopter CGF entity hoisting sonar search, 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 the position information of each path point; based on the acting distance of the lifting sonar, inserting a first detection point between adjacent path points, determining the position information of the first detection point, and forming a second detection point by the path points and the first detection point; expanding 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; based on the position information of the second detection point stored in the rotorcraft motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and simulation of lifting sonar search and submergence is achieved 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 a helicopter CGF entity hoisting sonar search.
Background
In a real combat situation, helicopter hoisting sonar search is one of the most commonly used search methods for a helicopter to search submarines. During combat simulation, in order to simulate and realize that a helicopter computer generates a weapon force (Computer Generated Forces, simply called CGF) entity hangs and plays a sonar to search for a submarine, the helicopter CGF entity needs to complete a plurality of maneuvering actions such as flying along a navigation route, lowering the altitude, hovering, lifting the altitude and the like.
However, when the maneuver of the helicopter CGF entity is switched from "fly along navigation route" to "reduce altitude", the course of motion data such as waypoint index is initialized; when the helicopter CGF entity continues to execute 'flying along the navigation route' at the end of detection of the detection point, the helicopter CGF entity returns to the first path point on the navigation route due to zeroing of the path point index, and 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.
Aiming at the problem that the motion process data is initialized in the simulation of the existing helicopter CGF entity lifting sonar search, so that the helicopter CGF entity cannot hover at a plurality of detection points on a navigation route, no effective technical solution is proposed at present.
Disclosure of Invention
The main purpose of the present disclosure is to provide a simulation method and apparatus for a helicopter CGF entity to hoist and release sonar search, so as to solve the problem in the related art that in the simulation of the helicopter CGF entity to hoist and release sonar search, motion process data is initialized, resulting in that the helicopter CGF entity cannot hover at a plurality of detection points on a navigation route.
To achieve the above object, a first aspect of the present disclosure provides a simulation method for a helicopter CGF entity lifting sonar search, including:
drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a designed editor of a simulation development platform, and determining the 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 lifting sonar, and determining the position information of the first detection point, wherein the path points and the first detection point are assembled to form a second detection point;
expanding and developing a rotor plane 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 rotor plane motion data descriptor; and
based on the position information of the second detection point stored in the rotorcraft motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and simulation of lifting sonar search and submergence is achieved in a finite state machine mode.
Optionally, based on the acting distance of the lifting sonar, inserting the first detection point between adjacent path points, and determining the position information of the first detection point, including:
determining a detection distance between adjacent detection points based on the action distance of the lifting 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 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 includes:
determining the ith path point on the preset navigation route according to the following formula
And->
Individual waypoints->
Horizontal distance between->
：
Further, determining the position information of the first detection point according to the preset navigation route and the position information of each path point comprises the following steps:
when the preset navigation route is a straight line, searching the submarine by the helicopter CGF entity according to a straight line propulsion mode;
determining a first detection point in a straight line propulsion mode according to the following formula
Longitude coordinates +.>
And latitude coordinate->
：
Further, after determining the location 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 path point includes:
when the preset navigation route is a broken line, searching the submarine by the helicopter CGF entity according to a broken line propulsion mode;
According to the horizontal distance
And->
Determining the size relation of the route point +.>
And
total number of first detection points in between->
Wherein D is the detection interval, lambda is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point under the broken line pushing mode according to the following formula
Longitude coordinates +.>
And latitude coordinate->
：
Further, according to the horizontal distance
And->
Determining the size relation of the path points
And->
Total number of first detection points in between->
Comprising:
if it is
Then Path Point->
And->
The total number of the first detection points is; />
；
If it is
Road thenRadial point->
And->
The total number of the first detection points is +.>
。
Further, after determining the location 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 detection point in a rotorcraft motion data descriptor, including:
Storing the position information of the second detection point into a rotorcraft motion data descriptor 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 includes a flight state, a descent state, a hover state, and a ascent state, and the maneuver instruction includes a specified heading speed instruction, a change altitude instruction, and a specified destination speed instruction;
based on the position information of the second detection point stored in the rotorcraft motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and the simulation of the suspension sonar search is realized in a finite state machine mode, and the method comprises the following steps:
when the helicopter CGF entity is in a flight state, reading an index value of a next second detection point and position information of the next second detection point from a rotorcraft motion data descriptor through a maneuvering control model of a simulation development platform, sending a 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 detection point according to the specified destination point speed;
When the helicopter CGF entity 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 helicopter CGF entity to descend from the flying height to the hovering height;
when the height of the helicopter CGF entity is smaller than or equal to the hovering height, switching to a hovering state, and immersing a hanging sonar carried by the helicopter CGF entity in water for detection;
if the sonar is hung to detect the target submarine or a return command is received, ending the detection; if the lifting sonar does not detect the target submarine and the maintenance time of the hovering state is more than or equal to the preset search time, switching the helicopter CGF entity to the rising state;
when the helicopter CGF entity is in a rising state, the maneuvering control model sends a height changing instruction to the maneuvering physical model to drive the helicopter CGF entity to rise from a hovering height to a flying height;
when the altitude of the CGF entity of the helicopter is greater than or equal to the flying altitude, switching back to the flying state, and automatically increasing the index value of the next second detection point by 1.
The second aspect of the present disclosure provides a simulation apparatus for a helicopter CGF entity suspension sonar search, comprising:
the drawing unit is used for drawing a plurality of path points on a preset navigation route of the helicopter CGF entity by utilizing a designed editor of the simulation development platform, and determining the position information of each path point in the plurality of path points;
The inserting unit is used for inserting a first detection point between adjacent path points based on the acting distance of the lifting sonar and determining the position information of the first detection point, wherein the path points and the first detection point are assembled to form a second detection point;
the expansion development unit is used for expanding and developing the rotor plane motion data descriptor in the external storage space of the maneuvering control model of the simulation development platform and storing the position information of the second detection point into the rotor plane motion data descriptor; and
the driving unit is used for sending a maneuvering instruction to a maneuvering physical model of the helicopter CGF entity based on the position information of the second detection point stored by the rotorcraft motion data descriptor, driving the helicopter CGF entity to hover at the second detection point, and realizing simulation of lifting sonar search and submergence in a finite state machine mode.
A third aspect of the present disclosure provides a computer-readable storage medium storing computer instructions for causing a computer to perform the simulation method of the helicopter CGF entity hoist sonar search as provided in any one of the first aspects.
A fourth aspect of the present disclosure provides an electronic device, comprising: 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 to cause the at least one processor to perform the simulation method of the helicopter CGF entity hoist sonar search provided in any of the first aspects.
In the simulation method for the helicopter CGF entity hoisting sonar search and submergence provided by the embodiment of the disclosure, in an external storage space of a maneuvering control model of a simulation development platform, a rotor plane motion data descriptor is expanded and developed, and position information of a second detection point is stored in the rotor plane motion data descriptor; the method comprises the steps of developing a rotorcraft motion data descriptor through expansion, opening up an external storage space of a maneuvering control model to store motion process data, and avoiding losing position information of a second detection point during state switching;
based on the position information of the second detection point stored in the rotor plane motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and simulation of lifting sonar search and submergence is realized in a finite state machine mode; according to the method, a maneuvering instruction is sent to a maneuvering physical model of a helicopter CGF entity through a maneuvering control model externally stored rotor plane movement data descriptor, the helicopter CGF entity is driven to hover at a second detection point, and the problem that in the related art, movement process data is initialized in simulation of a helicopter CGF entity lifting 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 prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are only some embodiments of the present disclosure and that other drawings may be obtained from these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a cross-sectional view of a helicopter in a suspended sonar search;
fig. 2 is a flow chart of a simulation method for a helicopter CGF entity crane sonar search provided in an embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a method for determining position information of a first detection point according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a helicopter CGF entity searching for submarines according to a polyline propulsion manner provided in an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a finite state machine for helicopter CGF entity lifting sonar search provided in an embodiment of the present disclosure;
fig. 6 is a block diagram of a simulation device for a helicopter CGF entity lifting sonar search provided by an embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device provided in an embodiment of the present disclosure.
Detailed Description
In order that those skilled in the art will better understand the present disclosure, a technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the 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 foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the disclosure 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, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In a real combat situation, helicopter hoisting sonar search is one of the most commonly used search methods for a helicopter to search submarines. A flight section view of a helicopter lifting sonar search and submerging is shown in fig. 1, wherein the force of the helicopter searches for a target submarine by using the lifting sonar, hovers at a height of 5-30 meters above a detection point and places the lifting sonar in water, and the searching time reaches a set duration
（/>
Typically 3 minutes to 5 minutes), if the target submarine is not found, the weapon force of the helicopter is raised to highly retract the hydrophone of the lifting sonar, the hydrophone flies to the next detection point, and the process is repeated until the target submarine is found or a return instruction is received. Flying height from one detection point to the next>
The distance D between two adjacent detection points is generally 100-300 m, a times of the action distance R of the lifting sonar, a times of the action distance A is generally 1.4-1.8 times, and the flying speed V can be 100 knots, namely 100 knots of sea/hour. The sonar probe is hung into the water by a hanging cable to detect the sonar of the target submarine, and the sonar probe is arranged on the anti-submarine helicopter or the surface ship; hydrophones are important components of sonar, and are acoustic devices that transmit and receive acoustic waves underwater, and can convert electrical signals into underwater acoustic signals or vice versa.
During combat simulation, in order to simulate and realize that a helicopter computer generates an arming force (Computer Generated Forces, simply called CGF) entity hangs and plays a sonar to search for a submarine, the helicopter CGF entity needs to complete a plurality of maneuvering actions such as flying along a navigation route, lowering the altitude, hovering, lifting the altitude and the like. However, when the maneuver of the helicopter CGF entity is switched from "fly along navigation route" to "reduce altitude", the course of motion data such as waypoint index is initialized; when the helicopter CGF entity continues to execute 'flying along the navigation route' at the end of detection of the detection point, the helicopter CGF entity returns to the first path point on the navigation route due to zeroing of the path point index, and 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-mentioned problems, an embodiment of the present disclosure provides a simulation method for a helicopter CGF entity lifting sonar search, which automatically calculates a detection point position based on a working distance of a lifting sonar and a preset navigation route, and completes an entire flow of the lifting sonar search simulation along the preset navigation route in one atomic motion, as shown in fig. 2, the method includes steps S101 to S104 as follows:
Step S101: drawing a plurality of path points on a preset navigation route of a helicopter CGF entity by using a designed editor of a simulation development platform, and determining the position information of each path point in the plurality of path points; the simulation development platform can be a MAXSim simulation development platform, the preset navigation route is a preset navigation route, the preset navigation route can be in various shapes such as a straight line, a fold line, an arcuate shape, a square shape and the like, and the specific shape of the preset navigation route can be determined according to specific requirements;
specifically, in a designed editor of the MAXSim simulation development platform, a user can draw any plurality of path points on a preset navigation route by using a map ranging function, the distances between the path points can be equal or unequal, the drawing process is simple, the position information of the path points and the position information of the path points can be obtained after the drawing is completed, and the position information of the path points can be represented by longitude and latitude; the assumption is made that the basic situation of both parties of the battle, the battle attempt, and the battle development situation are assumed and assumed according to the training subjects.
Step S102: inserting a first detection point between adjacent path points based on the acting distance of the lifting sonar, and determining the position information of the first detection point, wherein the path points and the first detection point are assembled to form a second detection point;
Specifically, the acting distance of the lifting sonar refers to the detection distance of the lifting sonar in the underwater detection target submarine, a plurality of first detection points can be inserted between adjacent path points based on the acting distance, the path points are also used as detection points, the path points and the first detection points together form a second detection point, and the helicopter CGF entity hovers over the second detection point to detect the target submarine.
According to the method and the device, the position information of the first detection point can be automatically calculated according to the acting distance of the lifting 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, and the process of designing and manufacturing is greatly simplified without manually calculating and setting the position information of the second detection point.
In an alternative embodiment of the present disclosure, a method for determining location information of a first detection point is shown in fig. 3, and step S102 includes:
step S1021: determining a detection distance between adjacent detection points based on the action distance of the lifting sonar, wherein the adjacent detection points are two adjacent second detection points; presetting a multiple a between 1.4 and 1.8, and obtaining the detection distance D=a×R between adjacent detection points based on the action distance R of the lifting sonar carried by the helicopter CGF entity by calculating the product of the preset multiple a and the action distance R of the lifting sonar 。
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 i-th route point on the preset navigation route is determined according to the following formula (1)>
And->
Individual waypoints->
Horizontal distance between->
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
and i is a positive integer, M is the total number of route points on the preset navigation route, < >>
And
respectively represent the i-th route point +.>
Longitude and latitude coordinates of>
And->
Respectively represent +.>
Individual waypoints->
Longitude and latitude coordinates of (a).
Through 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 interval and the horizontal distance, wherein the interval of the first detection points is the detection interval; a plurality of equidistant first detection points can be inserted between adjacent path points, and a plurality of second detection points with equal distances are obtained by combining the path points, so that the detection range of the suspended sonar is ensured to be maximum through the equal detection distances, and the detection range and the detection efficiency are improved.
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 fold line, an arcuate shape, a square shape and the like, and navigation routes in different shapes can be preset according to different actual demands, so that 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 alternative embodiment of the present disclosure, step S1024 includes:
when the preset navigation route is a straight line, searching the submarine by the helicopter CGF entity according to a straight line propulsion mode;
with the detection distance D as a step length, adjacent path points on a preset navigation route
And->
Interposed therebetween
Equidistant first detection points, the first detection points in the straight line propulsion mode are determined according to the following formula (2)>
Longitude coordinates +.>
And latitude coordinate->
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
，/>
representing a down-rounding operator; second detection point
Is a waypoint->
，/>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the D is the detection interval, < >>
For the route point in the preset navigation route +.>
And->
Azimuth angles of the path segments in the northeast coordinate system.
Through the formula (2), longitude coordinates and latitude coordinates of all the first detection points inserted in the linear propulsion mode can be obtained, and the position information of all the first detection points can be determined.
Further, after determining the location 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 path points on a preset navigation route,
for presetting the route point on the navigation route +.>
And a waypoint
The horizontal distance between the two is D, the detection interval. 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 each two adjacent path points.
In a preferred embodiment of the present disclosure, step S1024 includes:
when the preset navigation route is a broken line, searching the submarine by the helicopter CGF entity according to a broken line propulsion mode; the schematic diagram of the helicopter CGF entity searching for submarines according to the fold line propulsion mode is shown in fig. 4, and compared with the straight line propulsion mode, the fold line propulsion mode can enlarge the searching area;
according to the horizontal distance
And->
Determining the size relation of the route point +.>
And
total number of first detection points in between->
Wherein D is the detection interval, lambda is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point in a polyline pushing mode according to the following formula (4)
Longitude coordinates +.>
And latitude coordinate- >
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
and j is a positive integer, ">
Representing a down-rounding operator; second detection point->
Is a waypoint->
，/>
，/>
The method comprises the steps of carrying out a first treatment on the surface of the D is the detection interval, < >>
For the route point in the preset navigation route +.>
And->
Azimuth angles of the path segments in the northeast coordinate system.
According to the above formula (4), the longitude coordinates and latitude coordinates of all the first detection points inserted in the polyline pushing mode can be obtained, and the position information of all the first detection points can be determined.
Specifically, the horizontal distance is used in step S1024
And->
Determining the size relation of the route point +.>
And->
Total number of first detection points in between->
Comprising:
if it is
Then Path Point->
And->
The total number of the first detection points is +.>
；
If it is
Then Path Point->
And->
The total number of the first detection points is +.>
。
Further, after determining the location 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 formula (5):
wherein M is the total number of path points on a preset navigation route,
is a waypoint->
And->
The total number of first detection points. Helicopter CGF entity is according to bookWhen the submarine is searched in the line 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 each two adjacent path points.
The search area of the helicopter CGF entity can be enlarged according to a broken line pushing mode, and the broken line searching mode is enlarged by about 0.43a compared with the searching width of a straight line searching mode, wherein a is a preset multiple aiming at the action distance R of the lifting sonar when the detection distance D is determined.
Step S103: expanding and developing a rotor plane 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 rotor plane motion data descriptor; compared with a maneuver internal data descriptor (MotionInternalData) in the maneuver control model internal storage space, the extended and developed rotorcraft motion data descriptor (RotorCraftData) is located in the storage space outside the maneuver control model, and the rotorcraft motion data descriptor is not initialized when maneuver instructions are subsequently switched.
Specifically, the descriptor is a structural body used for describing different attributes of each aspect of the CGF entity in the MAXSim simulation development platform; since the maneuver control model on the simulation development platform updates the maneuver internal data descriptor when switching maneuver instructions, if the position information of the second detection point obtained in step S102 is stored in the maneuver internal data descriptor, the position information of the second detection point is initialized when switching maneuver instructions, and the helicopter CGF entity flies back to the origin because the position information of the next second detection point is not read;
Therefore, the method and the device expand and develop the rotor plane motion data descriptors in the storage space outside the maneuvering control model, store the motion process data such as the position information of the second detection point into the rotor plane motion data descriptors, and avoid initializing the rotor plane motion data descriptors when switching maneuvering instructions, so as to ensure that the helicopter CGF entity reads the position information of the next second detection point.
According to the method, the movement process data are stored by expanding and developing the movement data descriptors of the rotorcraft, and opening up the external storage space of the maneuvering control model, so that 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 a rotorcraft motion data descriptor 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 rotor plane motion data descriptor, and after storing, 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;
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 index value range of the second detection points is 0-N-1, and the index value of the next second detection point, namely the index value of the second detection point to which the helicopter CGF entity is going, is stored.
In the extended development rotorcraft motion data descriptor (rotorcraft data), the member variables include:
1) nRoutePontsNum: the total number of the second detection points is 0;
2) aRoutepoints [ 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 helicopter CGF entity is going, and the initial value is-1;
4) bOutOfRoutePlan: whether the helicopter CGF entity is outside a preset navigation route or not is determined as false by an initial value.
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 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 (nRouteIndex) of the next second detection point in the rotorcraft motion data descriptor (rotocraft data) by 1, i.e., increases the index value of the next second detection point by 1 and assigns the index value of the next second detection point to itself.
Step S104: based on the position information of the second detection point stored in the rotorcraft motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and simulation of lifting sonar search and submergence is achieved in a finite state machine mode.
According to the method, the mobile command is sent to the mobile physical model of the helicopter CGF entity through the mobile control model externally stored rotor plane motion data descriptor, the helicopter CGF entity is driven to hover at the second detection point, and the problem that in the related art, the helicopter CGF entity can not hover at a plurality of detection points on a navigation route due to the fact that motion process data are initialized in simulation of the helicopter CGF entity to hoist sonar search is solved. The simulation platform fills the gap that the existing MAXSim simulation development platform cannot realize simulation of a helicopter CGF entity in a sonar-seeking process along a preset navigation departure path, and can support development of relevant 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 a ascent state, and the maneuver instruction includes a specified heading speed instruction, a change altitude instruction, and a specified destination point speed instruction;
Specifically, the flying height of the helicopter CGF entity is preset
Helicopter hover height->
Search time->
The movement process is performed in a finite state machine modeThe line expression shows that a search period of the simulation process of the helicopter CGF entity lifting sonar search can be divided into a flight state, a descending state, a hovering state and a rising state, a schematic diagram of a finite state machine of the helicopter CGF entity lifting sonar search is shown in fig. 5, and conversion relations of different states are shown in the following table 1:
TABLE 1
TABLE 2
Wherein, step S104 includes:
when the helicopter CGF entity is in a flight state, reading an index value of a next second detection point and position information of the next second detection point from a rotorcraft motion data descriptor through a maneuvering control model of a simulation development platform, sending a 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 detection point according to the specified destination point speed;
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, longitude AND latitude coordinate values (aRoutePoint [ nRouteIndex ]) of the next second detection point are obtained, AND the maneuvering control model sends a specified destination point speed instruction (position_AND_VEL) to a maneuvering physical model of a helicopter CGF entity, wherein the instruction comprises the longitude AND latitude coordinate values (aRoutePoint [ nRouteInDudex ]) of the next second detection point AND a required cruising speed; when responding to a speed instruction (POSITION_AND_VEL) of a designated destination point, the maneuvering physical model drives a helicopter CGF entity to fly to a next second detection point according to longitude AND latitude coordinate values (aRoutepoints [ nRouteIndex ]) of the next second detection point AND the required cruising speed; when the helicopter CGF entity reaches the next second detection point, it switches to the second state.
When the helicopter CGF entity 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 helicopter CGF entity to descend from the flying height to the hovering height;
Specifically, the second state is a down state, and the maneuver control model sends a CHANGE altitude command (CHANGE_TO_ALT) TO the maneuver physical model of the helicopter CGF entity, where the command carries the hover altitude that the helicopter CGF entity is expected TO reach
The method comprises the steps of carrying out a first treatment on the surface of the The maneuvering physical model responds to the instruction to drive the helicopter CGF entity to move from flying height +.>
Lowering to hover height
The method comprises the steps of carrying out a first treatment on the surface of the When the height of the helicopter CGF entity is less than or equal to the hovering height +.>
At this time, the third state is switched.
When the height of the helicopter CGF entity is smaller than or equal to the hovering height, switching to a hovering state, and immersing a hanging sonar carried by the helicopter CGF entity in water for detection;
if the sonar is hung to detect the target submarine or a return command is received, ending the detection; if the lifting sonar does not detect the target submarine and the maintenance time of the hovering state is more than or equal to the preset search time, switching the helicopter CGF entity to the rising state;
specifically, the third state is a hover state, with the helicopter CGF entity maintained at hover height
Immersing the mounted hanging sonar into water for detection; if the lifting sonar searches a target or receives a return command during the hovering of the helicopter CGF entity, ending the search; if the hanging sonar does not search the target and the hovering state maintaining time is more than or equal to the search time +. >
The helicopter CGF entity switches to the fourth state.
When the helicopter CGF entity is in a rising state, the maneuvering control model sends a height changing instruction to the maneuvering physical model to drive the helicopter CGF entity to rise from a hovering height to a flying height;
when the altitude of the CGF entity of the helicopter is greater than or equal to the flying altitude, switching back to the flying state, and automatically increasing the index value of the next second detection point by 1.
Specifically, the fourth state is the up state, and the maneuver control model sends a CHANGE altitude command (change_to_alt) TO the maneuver physical model of the helicopter CGF entity, which carries the desired altitude of flight
The method comprises the steps of carrying out a first treatment on the surface of the Responsive to the instruction, the maneuver physical model drives the helicopter CGF entity from hover height +.>
Rise to flying height +>
The method comprises the steps of carrying out a first treatment on the surface of the When the altitude of the helicopter CGF entity is more than or equal to the flying altitude +.>
When the helicopter CGF entity switches back to the first state, the maneuver control model willThe index value (nruteindex) of the next second detection point in the rotorcraft motion data descriptor (rotocraft data) is incremented by 1, i.e., the index value of the next second detection point is incremented by 1 and assigned to the index value itself of the next second detection point.
And when the helicopter CGF entity detects a target or receives a return instruction, ending the search and diving process.
According to the method and the device, through the finite state machine, the CGF entity of the helicopter automatically converts among the flight state, the descending state, the hovering state and the ascending state in one search period, so that the whole simulation flow of sonar search and submerging along a preset navigation route can be completed in one atomic action, the steps of behavior model manufacturing are reduced, and the efficiency of behavior model manufacturing and simulation experiments 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 acting distance of the lifting 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, and the process of designing and manufacturing is greatly simplified without manually calculating and setting the position information of the second detection point;
by expanding and developing the rotor plane motion data descriptors and opening up an external storage space of a maneuvering control model to store motion process data, the problem that the original maneuvering internal data descriptors of the MAXSim simulation development platform lose the position information of the second detection points in a transition state is solved;
A maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity through a maneuvering control model externally stored rotor plane movement data descriptor, the helicopter CGF entity is driven to hover at a second detection point, and the problem that in the related art, the helicopter CGF entity can not hover at a plurality of detection points on a navigation route due to the fact that movement process data are initialized in simulation of sonar search and submergence by the helicopter CGF entity is solved;
through the finite state machine, the CGF entity of the helicopter automatically converts among a flight state, a descending state, a hovering state and a rising state in one search period, so that the whole simulation flow of sonar search and submerging along a preset navigation route can be completed in one atomic action, the steps of behavior model manufacturing are reduced, and the efficiency of behavior model manufacturing and simulation experiments 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 other than that illustrated herein.
The embodiment of the disclosure also provides a simulation device for implementing the simulation method by using the helicopter CGF entity to hoist and put sonar search, as shown in fig. 6, the device comprises:
a drawing unit 61, configured to draw a plurality of path points on a preset navigation route of the helicopter CGF entity by using a desired editor of the simulation development platform, and determine position information of each of the plurality of path points;
an inserting unit 62, configured to insert a first detection point between adjacent path points based on a working distance of the lifting 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;
an extension development unit 63, configured to extend and develop a rotorcraft motion data descriptor in an external storage space of the maneuver control model of the simulation development platform, and store position information of the second probe point into the rotorcraft motion data descriptor; and
the driving unit 64 is configured to send a maneuver instruction to a maneuver physical model of the helicopter CGF entity based on the position information of the second detection point stored in the rotorcraft motion data descriptor, and drive the helicopter CGF entity to hover at the second detection point, so as to implement simulation of the hoist sonar search in a finite state machine manner.
The specific manner in which the units of the above embodiments of the apparatus perform their operations has been described in detail in relation to the embodiments of the method and is not described in detail here.
The disclosed embodiments also provide an electronic device, as shown in fig. 7, which includes one or more processors 71 and a memory 72, one processor 71 being exemplified in fig. 7.
The controller may further include: an input device 73 and an output device 74.
The processor 71, memory 72, input device 73 and output device 74 may be connected by a bus or otherwise, for example in fig. 7.
The processor 71 may be a central processing unit (Central Processing Unit, abbreviated as CPU), the processor 71 may be other general purpose processor, digital signal processor (DigitalSignal Processor, abbreviated as DSP), application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), field programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or a combination of the foregoing chips, and the general purpose processor may be a microprocessor or any conventional processor.
The memory 72, as 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 embodiments of the present disclosure. Processor 71 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in memory 72, i.e., implementing the simulation method of the helicopter CGF entity hoist sonar search of the above-described method embodiment.
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 that, when executed by the one or more processors 71, perform the method as shown in fig. 2.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the embodiment of the above-described motor control method when executed. The storage medium may be a magnetic disk, an optical disc, a Read-Only Memory (ROM), a random access Memory (RandomAccess Memory, RAM), a Flash Memory (FM), a hard disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present disclosure have been described with reference to the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and such modifications and variations fall within the scope as defined by the appended claims.
Claims (12)
1. A simulation method for a helicopter CGF entity crane sonar search 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 designed editor of a simulation development platform, and determining the 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 lifting sonar, and determining the position information of the first detection point, wherein the path points and the first detection point form a second detection point;
expanding 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
based on the position information of the second detection point stored in the rotorcraft motion data descriptor, a maneuvering instruction is sent to a maneuvering physical model of the helicopter CGF entity, the helicopter CGF entity is driven to hover at the second detection point, and simulation of suspension sonar search and submergence is realized in a finite state machine mode, wherein the finite state machine comprises a flight state, a descent state, a hover state and a rising state;
The method for determining the position information of the first detection point based on the action distance of the lifting sonar comprises the following steps of:
determining a detection distance between adjacent detection points based on the action distance of the lifting 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 equidistant first detection points 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 the preset navigation route and the position information of each path point.
2. The method of claim 1, wherein determining the horizontal distance between adjacent waypoints on the preset navigational route comprises:
determining the ith path point on the preset navigation route according to the following formula
And->
Individual waypoints->
Horizontal distance between->
：
3. The method of claim 2, wherein determining the location information of the first detection point based on the preset navigation route and the location information of each path point comprises:
when the preset navigation route is a straight line, searching the submarine by the helicopter CGF entity according to a straight line propulsion mode;
determining a first detection point in a straight line propulsion mode according to the following formula
Longitude coordinates +.>
And latitude coordinate->
：/>
4. The method of claim 3, wherein after determining the location information of the first probe point, the method further comprises:
the total number of second probe points N is determined according to the following formula:
5. The method of claim 2, wherein determining the location information of the first detection point based on the preset navigation route and the location information of each path point comprises:
when the preset navigation route is a broken line, searching the submarine by the helicopter CGF entity according to a broken line propulsion mode;
according to the horizontal distance
And->
Determining the size relation of the route point +.>
And->
Total number of first detection points in between->
Wherein D is the detection interval, lambda is the adjustment parameter, 0.1<λ<0.5；
Determining a first detection point under the broken line pushing mode according to the following formula
Longitude coordinates +.>
And latitude coordinate->
：
6. The method according to claim 5, wherein the horizontal distance
And->
Determining the size relation of the route point +.>
And->
Total number of first detection points
Comprising:
if it is
Then Path Point->
And->
The total number of the first detection points is
；
If it is
Then Path Point->
And->
The total number of the first detection points is +. >
。
7. The method of claim 5, wherein after determining the location information of the first probe point, the method further comprises:
the total number of second probe points N is determined according to the following formula:
8. The method of claim 1, wherein said storing the position information of the second probe point into the rotorcraft motion data descriptor comprises:
storing the position information of the second detection point into the rotorcraft motion data descriptor in an array form, wherein the index value of the second detection point is configured through the array form;
storing the total number of second detection points and an index value of a next second detection point in the rotorcraft motion data descriptor.
9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,
the maneuver instruction comprises a specified heading speed instruction, a change altitude instruction and a specified destination point speed instruction;
the method for simulating the suspension sonar search by using the finite state machine comprises the steps of sending a maneuvering instruction to a maneuvering physical model of a helicopter CGF entity based on the position information of the second detection point stored by the rotor plane motion data descriptor, driving the helicopter CGF entity to hover at the second detection point, and realizing the simulation of the suspension sonar search by using the finite state machine, wherein the method comprises the following steps:
When the helicopter CGF entity is in the flight state, reading an index value of a next second detection point and position information of the next second detection point from the rotorcraft motion data descriptor through a maneuvering control model of the simulation development platform, sending the appointed 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 detection point according to the appointed 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 descend from flying height to hovering height;
when the height of the helicopter CGF entity is smaller than or equal to the hovering height, switching to the hovering state, and immersing a hanging sonar carried by the helicopter CGF entity in water for detection;
if the lifting sonar detects the target submarine or receives a return command, ending the detection; if the lifting sonar does not detect the target submarine and the maintenance time of the hovering state is greater than or equal to the preset search time, switching the helicopter CGF entity to the ascending state;
When the helicopter CGF entity is in the ascending state, the maneuvering control model sends the height changing instruction to the maneuvering physical model to drive the helicopter CGF entity to ascend from the hovering height to the flying height;
and when the height of the helicopter CGF entity is greater than or equal to the flying height, switching back to the flying state, and automatically increasing the index value of the next second detection point by 1.
10. Simulation device for sonar search of helicopter CGF entity crane, which is characterized by comprising:
the drawing unit is used for drawing a plurality of path points on a preset navigation route of the helicopter CGF entity by utilizing a designed editor of the simulation development platform, and determining the position information of each path point in the plurality of path points;
an insertion unit, configured to insert a first detection point between adjacent path points based on a working distance of the lifting sonar, and determine position information of the first detection point, where a set of the path point and the first detection point forms a second detection point;
the expansion development unit is used for expanding and developing a rotorcraft motion data descriptor in a storage space outside 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
The driving unit is used for sending a maneuvering instruction to a maneuvering physical model of the helicopter CGF entity based on the position information of the second detection point stored by the rotorcraft motion data descriptor, driving the helicopter CGF entity to hover at the second detection point, and realizing simulation of suspension sonar search and submergence in a finite state machine mode, wherein the finite state machine comprises a flight state, a descending state, a hovering state and a rising state;
the method for determining the position information of the first detection point based on the action distance of the lifting sonar comprises the following steps of:
determining a detection distance between adjacent detection points based on the action distance of the lifting 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 equidistant first detection points 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 the preset navigation route and the position information of each path point.
11. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the simulation method of a helicopter CGF entity hoist sonar search of any of claims 1-9.
12. An electronic device, the electronic device comprising: 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 to cause the at least one processor to perform the simulation method of a helicopter CGF entity hoist sonar search of any of claims 1-9.
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