Six-degree-of-freedom simulation method of tracked vehicle

Abstract

The invention discloses a six-degree-of-freedom simulation method of a tracked vehicle. The six-degree-of-freedom simulation method of the tracked vehicle includes the steps that first, three-dimensional modeling is conducted on a three-dimensional terrain grid and the tracked vehicle through three-dimensional modeling software in advance; then, the shape of the upper portion of the tracked vehicle is simplified to be a BOX rigid body object, and a track of the vehicle is simplified to be a plurality of vehicle wheels; the height of each vehicle wheel can be determined in real time according to the terrain triangular facet and the positions where the vehicle wheels make contact with the terrain; a six-ball collision detection method is adopted, so that the slant angle of the rigid body plane on the upper portion of the tracked vehicle is obtained; at last, the position and the posture formula of a rigid body on the upper portion of the vehicle are given, and accordingly the displacement and the course angle of the tracked vehicle are determined. The six-degree-of-freedom simulation method of the tracked vehicle can be used for six-degree-of-freedom simulation of tracked vehicle equipment such as a tank, an excavator and a bulldozer, has the advantages of being small in calculation, simple in simulation method, vivid in simulated effect and the like, and is suitable for simulated training products like engineering machines and military armored vehicles and the fields of product demonstration verification, propagandizing and popularizing and the like, thereby having huge application value.

Description

technical field [0001] The invention relates to the technical field of computer simulation, in particular to a six-degree-of-freedom simulation method for a tracked vehicle. Background technique [0002] Tracked vehicles, such as tanks, crawler excavators, crawler bulldozers and other equipment can reproduce the basic movements in the 3D simulation system, but for tracked vehicles, the ups and downs of the vehicle are completely determined by the terrain touched by the current track determined, therefore cannot be treated by treating tracked vehicles as wheeled vehicles. [0003] The tracked vehicle walking system is composed of a track and a number of road wheels. The undulations of the terrain cause the upper and lower heights of the track and the road wheels to be different, which in turn makes the undulating angle of the tracked vehicle different. In a three-dimensional environment, the ground is composed of a series of grids, and the computer forms triangular surfaces ...

AI Technical Summary

Problems solved by technology

This method takes a long time and has high requirements for hardware, which is unsatisfactory for applications with strong real-time performance.

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