【作者】 丁斌；

【导师】 祖家奎；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 鉴于无人机不载人以及可以长时间进出各种危险空域的特性,使得其在军事和民用等诸多领域中正在发挥着越来越重要的作用。在无人机研制过程中,需要进行大量的飞行控制系统半物理实时仿真和科研试飞试验,而飞行数据的观测、分析和处理是一个非常重要的环节。当前数据处理的主要手段是文本显示和二维曲线显示,然而随着飞行数据量的增大,这种简单的方法越来越不能满足新要求。此外,伴随计算机的高速发展,PC机对图像的处理能力越来越强,所以对大数据量的观测和分析越来越倾向于使用三维虚拟现实技术来综合处理。本文在论述虚拟现实和无人机技术的基础上,详细介绍了利用Visual C++和OpenGL实现基于虚拟现实的无人机三维可视化仿真的设计方案和实现方法。论文首先对虚拟现实的理论与背景进行了介绍,并在此基础上分析和比较了五种常见的虚拟现实的实现方法;结合该五种方法的优缺点,确定了课题的技术路线和总体设计方案。然后依据总体设计路线中的各个功能模块和设计需求,完成了虚拟场景中的环境建模、无人机本体建模、三维场景仿真环境实现、飞行信息显示环境开发等工作,并针对无人机虚拟现实实现过程中的若干关键技术进行了重点的论述,如飞机本体的建模、飞机尾焰、场景、天空、地形、碰撞检测、平显、数据交换等。最后,对实现后的三维仿真系统进行了试验验证,完成整个系统的调试工作,并且展示了系统的实现效果。本文实现的无人机虚拟仿真系统能够将无人机飞行数据以更自然、更易理解的图像形式展示,达到了很好的显示效果,证明了本文所采用的技术路线和实现方案是可行且有效的。该方法具有通用性强、灵活性好、成本低等特点,在无人机地面检测、遥控遥测和仿真系统中有着较高的工程应用价值。更多还原

【Abstract】 Because of UAV’s (Unmanned Aerial Vehicle) promising characteristic, it plays a more important role in many fields such as military and civil, and has drawn considerable attention recently. The observation, analysis and processing of the flight data are very important steps to simulate flight control system during the development of UAV. However, the general display method which be demonstrated in the mode of text or the two dimensional curve can’t meet the need of the new increasing performances. At the same time, the technique of VR provides a good means to realize 3D simulation with the high-speed development of computer techniques.At the basis of virtual reality and UAV’s control system, the thesis is engaged in researching on 3D simulation and VR realization of UAV. The designed scheme and realized methods which employ the Visual C++ and OpenGL are discussed in detail.Firstly, the theory and background of virtual reality are introduced summarily, and its five realized methods are analyzed and compared respectively. Then, the technical route and general designed scheme are determined. Secondly, according to each function modules and their design requirements of the designed scheme, the paper realizes many developments, such as environment model, UAV’s body model, three dimensional scene simulation environment design, flight information display environment , etc. Furthermore, some kernel techniques, which be comprised of the plane modeling, tail flame, fly scene, the sky, the terrain, collision test, the HUD(Head-up Display), data exchange and so on, are emphasized specially. Finally, the whole system of 3D simulation for a certain UAV is completed triumphantly, and its performances are perfectly.According to the running results of 3D simulation system, it proves that the adopted technical route and designed scheme are feasible and effective. This technique has the characteristic of universality, flexibility, low cost, and so on. The achievement has an important values in UAV’s engineering applications, such as the ground-testing system, remote-sensing/remote-control system and simulation system.更多还原