CN-121995792-A - Virtual reality-based unmanned aerial vehicle virtual-real combination simulation method and system

CN121995792ACN 121995792 ACN121995792 ACN 121995792ACN-121995792-A

Abstract

A virtual-real combined simulation method and system of an unmanned aerial vehicle based on virtual reality comprise the steps of 1, building a three-dimensional virtual flight scene and deploying the simulated unmanned aerial vehicle, 2, carrying out virtual flight by the simulated unmanned aerial vehicle, 3, transmitting preprocessed virtual flight data to a real unmanned aerial vehicle end data processing planning module, 4, generating a control instruction, controlling the real unmanned aerial vehicle to fly according to the control instruction by a real unmanned aerial vehicle flight control module, 5, preprocessing real pose information acquired in real time and then transmitting the real pose information to a virtual end data receiving end, 6, carrying out real-time correction on pose information of the simulated unmanned aerial vehicle, synchronously updating surrounding scene feedback in the three-dimensional virtual flight scene, and 7, repeating 2 to 6 to form virtual-real two-way real-time closed loop interaction until the real unmanned aerial vehicle completes a preset simulated flight task. The invention realizes virtual-real combined simulation of virtual guidance, reality and real feedback and virtualization of the unmanned aerial vehicle, and enables the real unmanned aerial vehicle to complete real flight in the logic of the virtual environment.

Inventors

MIAO ZHIQIANG
LI QIAN
NIU CHUANPENG
LI JIAEN
WANG HUAYU
WANG YAONAN

Assignees

湖南大学

Dates

Publication Date: 20260508
Application Date: 20260327

Claims (10)

1. The virtual-real combination simulation method of the unmanned aerial vehicle based on the virtual reality is characterized by comprising the following steps of: S1, constructing a virtual simulation environment (1), including constructing a three-dimensional virtual flight scene and deploying a simulation unmanned aerial vehicle (2), and synchronizing flight parameters of the simulation unmanned aerial vehicle (2) and a real unmanned aerial vehicle (9); S2, the simulation unmanned aerial vehicle (2) performs virtual flight according to pose data fed back by the real unmanned aerial vehicle (9), acquires virtual flight data, and then performs preprocessing on the virtual flight data; S3, transmitting the preprocessed virtual flight data to a real unmanned aerial vehicle side data processing planning module (7); S4, a real unmanned aerial vehicle end data processing planning module (7) performs path planning according to the preprocessed virtual flight data to generate a control instruction, and a real unmanned aerial vehicle flight control module (8) controls the flight of a real unmanned aerial vehicle (9) according to the control instruction; s5, in the flight process of the real unmanned aerial vehicle (9), preprocessing real pose information acquired in real time and then transmitting the real pose information to a virtual end data receiving end (12); S6, the virtual terminal data processing module (4) receives and analyzes the preprocessed real pose information, real-time correction is carried out on the virtual pose information of the simulation unmanned aerial vehicle (2) according to the analyzed real pose information, so that the simulation unmanned aerial vehicle (2) is consistent with the real unmanned aerial vehicle (9), and feedback of surrounding scenes in the three-dimensional virtual flight scene is synchronously updated; S7, repeating the steps S2 to S6, continuously guiding the virtual flight data to the real unmanned aerial vehicle (9) and continuously feeding back the real pose data to the virtual simulation environment (1), forming virtual-real bidirectional real-time closed loop interaction until the real unmanned aerial vehicle (9) completes a preset simulation flight task, and stopping data transmission and flight control.
2. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 1, wherein the step S1 specifically comprises the following steps: s11, building a three-dimensional virtual flight scene in a virtual simulation platform, and then deploying a simulation unmanned aerial vehicle (2) in the three-dimensional virtual flight scene; s12, configuring a virtual sensor module (3) for the simulation unmanned aerial vehicle (2); s13, initializing physical parameters of a three-dimensional virtual flight scene, and initializing flight parameters of the simulation unmanned aerial vehicle (2); S14, synchronizing the physical parameters of the three-dimensional virtual flight scene and the flight parameters of the simulation unmanned aerial vehicle (2) to the real unmanned aerial vehicle flight control module (8) of the real unmanned aerial vehicle (9), and ensuring that the flight parameters of the simulation unmanned aerial vehicle (2) and the flight parameters of the real unmanned aerial vehicle (9) are consistent.
3. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 2, wherein the step S2 specifically comprises the following steps: S21, the simulation unmanned aerial vehicle (2) performs virtual flight in a three-dimensional virtual flight scene according to real pose information fed back by the real unmanned aerial vehicle (9); s22, in the virtual flight process of the simulation unmanned aerial vehicle (2), the virtual sensor module (3) acquires virtual flight data of the simulation unmanned aerial vehicle (2) in real time, wherein the virtual flight data comprises virtual pose information and virtual visual information; S23, transmitting the virtual flight data to a virtual end data processing module (4), preprocessing the virtual flight data by the virtual end data processing module (4), and converting the virtual flight data into a standard data format which can be identified by a real unmanned aerial vehicle (9) to obtain preprocessed virtual flight data; s24, temporary storing the preprocessed virtual flight data to a virtual end buffer area of the virtual end data processing module (4).
4. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 3, wherein the step S3 specifically comprises the following steps: S31, transmitting the preprocessed virtual flight data to a class image transmission data transmitting end (5); S32, the class diagram data transmitting end (5) transmits the preprocessed virtual flight data to the class diagram data receiving end (6) deployed on the real unmanned aerial vehicle (9) in real time in a wireless communication mode; and S33, after the class diagram data receiving end (6) receives the data, the received data is transmitted to the real unmanned aerial vehicle end data processing planning module (7).
5. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 4, wherein the step S4 specifically comprises the following steps: S41, a real unmanned aerial vehicle side data processing planning module (7) performs secondary analysis on the preprocessed virtual flight data to extract virtual pose information and virtual visual information; s42, acquiring real pose information by using a real unmanned aerial vehicle physical positioning module (10); S43, a real unmanned plane end data processing planning module (7) performs path planning according to virtual visual information and real pose information; s44, the real unmanned aerial vehicle end data processing planning module (7) decomposes the path planning result into control instructions and transmits the control instructions to the real unmanned aerial vehicle flight control module (8); s45, the real unmanned aerial vehicle flight control module (8) takes control instructions as a basis, and controls the real unmanned aerial vehicle (9) to fly in a real environment by combining real pose information provided by the real unmanned aerial vehicle physical positioning module (10), so that physical flight of the real unmanned aerial vehicle (9) under the guidance of a virtual environment is realized.
6. The virtual-real combination simulation method of the unmanned aerial vehicle based on the virtual reality according to claim 5, wherein the virtual sensor module (3) comprises one or more of a virtual obstacle avoidance radar, a virtual barometer and a virtual gyroscope besides a virtual camera and a virtual positioning module; the real unmanned aerial vehicle physical positioning module (10) comprises a real camera and a sensor which is the same as the virtual sensor module (3) besides the real positioning module.
7. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 5, wherein the step S45 further comprises the following steps: S46, the real unmanned plane physical positioning module (10) acquires real visual information in real time, and the real unmanned plane (9) corrects the flight path guided by the virtual sensor module (3) in real time according to the real pose information and the real visual information.
8. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 7, wherein the step S5 specifically comprises the following steps: S51, acquiring real pose information in real time by a real unmanned aerial vehicle physical positioning module (10) carried on the real unmanned aerial vehicle (9) in the flight process of the real unmanned aerial vehicle (9); S52, transmitting the real pose information to a real unmanned aerial vehicle side data processing planning module (7), and preprocessing the real pose information by the real unmanned aerial vehicle side data processing planning module (7) to obtain preprocessed real pose information; S53, the preprocessed real pose information is transmitted to a real-end data transmitting end (11), and the real-end data transmitting end (11) transmits the preprocessed real pose information back to a virtual-end data receiving end (12) in real time in a wireless communication mode.
9. The virtual-real combination simulation method of the unmanned aerial vehicle based on virtual reality according to claim 8, wherein the step S6 specifically comprises the following steps: S61, the virtual terminal data receiving terminal (12) transmits the preprocessed real pose information to the virtual terminal data processing module (4) in real time; S62, after data are analyzed by the virtual terminal data processing module (4), the analyzed real pose information is used as an updating basis, the virtual pose information of the simulation unmanned aerial vehicle (2) is corrected and updated in real time, and the simulation unmanned aerial vehicle (2) follows according to the analyzed real pose information, so that the simulation unmanned aerial vehicle (2) is consistent with the real unmanned aerial vehicle (9); And S63, synchronously updating surrounding scene feedback in the three-dimensional virtual flight scene according to the analyzed real pose information.
10. A virtual-real combination simulation system of an unmanned aerial vehicle, configured to configure or execute the virtual-real combination simulation method of an unmanned aerial vehicle according to any one of claims 1 to 9, the virtual-real combination simulation system of an unmanned aerial vehicle comprising: the system comprises a virtual simulation platform, a virtual terminal data processing module (4) and a virtual terminal data receiving terminal (12), wherein the virtual simulation platform is constructed with a virtual simulation environment (1), and the virtual simulation environment (1) comprises a three-dimensional virtual flight scene and deploys a simulation unmanned aerial vehicle (2), wherein the simulation unmanned aerial vehicle (2) is embedded with a virtual sensor module (3), a virtual terminal data processing module (4) and a virtual terminal data receiving terminal (12) which are connected in sequence; The system comprises a real unmanned aerial vehicle (9), an on-board computer, a real unmanned aerial vehicle physical positioning module (10), a real unmanned aerial vehicle flight control module (8) and a real end data transmitting end (11), wherein the on-board computer is provided with a real unmanned aerial vehicle end data processing planning module (7), and is electrically connected with the real unmanned aerial vehicle (9), the real unmanned aerial vehicle physical positioning module (10), the real unmanned aerial vehicle flight control module (8) and the real end data transmitting end (11) respectively; The data transmission module comprises a data transmission data transmitting end (5) and a data receiving end (6) which are connected in a wireless mode, wherein the data transmission data transmitting end (5) is connected with the virtual end data processing module (4) in a wireless mode, and the data receiving end (6) is electrically connected with the onboard computer.

Description

Virtual reality-based unmanned aerial vehicle virtual-real combination simulation method and system Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle virtual-real combination simulation method and system based on virtual reality. Background At present, simulation training and testing of unmanned aerial vehicles are mainly divided into three modes of pure virtual simulation, real flight test and semi-physical simulation. The method can avoid the hardware loss of a real unmanned plane, reduce the flight safety risk, simulate a complex scene, but has obvious differences between sensor data of the virtual environment, flight physical feedback and the real environment, has limited reference value of simulation results, and is easy to cause suitability problems when the simulation results are transited from the virtual simulation to the real flight. The real flight test is to enable the unmanned aerial vehicle to complete the flight task in the actual field and obtain the truest flight data and environmental feedback, but the method has obvious disadvantages that firstly, the real flight has high requirements on the field, the field is an exclusive field which is free and has no interference, the field cost is high, secondly, the safety risks such as collision and crash of the unmanned aerial vehicle exist in the flight process, the hardware is easy to damage, the test cost is increased, and thirdly, extremely complex flight scenes are difficult to simulate and the diversity of the test scenes is limited. The semi-physical simulation is used as an intermediate form of pure virtual and real flight, and is connected with part of unmanned aerial vehicle physical hardware (such as a flight control board, a sensor module and the like) to be linked with a virtual simulation environment, but the existing semi-physical simulation scheme still has the core problem of insufficient reality, namely, the scheme mainly transmits simple motion instructions of the virtual environment to the physical hardware, only realizes local motion simulation of the hardware, does not enable the whole machine of the real unmanned aerial vehicle to participate in simulation, cannot restore physical characteristics (such as aerodynamic resistance of a fuselage, inertial feedback of complete machine posture adjustment, matching of a power system and a flight posture and the like) of the whole machine of the unmanned aerial vehicle, meanwhile, the virtual environment and the physical hardware are transmitted only by unidirectional instructions, real-time feedback correction of hardware flight data to the virtual environment is avoided, the running state of the virtual scene and the actual motion of the hardware are disjointed, the simulation process still stays at the level of 'hardware simulation motion and independent running of the virtual environment', and the dynamic interaction effect of the whole machine in the real flight cannot be reproduced, so that the result of the semi-physical simulation and the real flight have larger deviation, and the requirements of high-precision unmanned aerial vehicle training and algorithm test are still difficult to be satisfied. In addition, in the prior art, a small amount of unmanned aerial vehicle virtual-real combination attempts exist, but the real environment data are simply imported into a virtual scene, the bidirectional real-time interaction of the virtual sensor information and the real unmanned aerial vehicle is not realized, the real unmanned aerial vehicle cannot complete synchronous motion under the guidance of the virtual environment, the core problems of unsmooth connection of virtual simulation, semi-physical simulation and real flight are not solved, the essence of the method is that the virtual simulation and the real flight are divided into two independent stages, and the real virtual-real fusion simulation is not realized. Disclosure of Invention The invention provides an unmanned aerial vehicle virtual-real combination simulation method and system based on virtual reality, which are used for solving the technical problems mentioned in the background art. In order to achieve the above purpose, the technical scheme of the invention is realized as follows: the invention provides an unmanned aerial vehicle virtual-real combination simulation method based on virtual reality, which comprises the following steps: s1, constructing a virtual simulation environment, including constructing a three-dimensional virtual flight scene and deploying a simulation unmanned aerial vehicle, and synchronizing flight parameters of the simulation unmanned aerial vehicle and a real unmanned aerial vehicle; s2, the simulation unmanned aerial vehicle performs virtual flight according to pose data fed back by the real unmanned aerial vehicle, acquires virtual flight data, and then performs preprocessing on the virtual flight dat