A virtual reality-based grenade gun simulation method and a training system thereof

Abstract

The application relates to a virtual reality-based grenade rifle simulation method and a training system thereof, wherein the steps of the simulation method are as follows: a. a three-dimensional virtual space is built, and a grenade body 3D model is constructed; b. the basic parameters of the grenade body are analyzed to obtain the initial flight state of the grenade body, and a trajectory equation under standard conditions is solved; c. the obtained grenade trajectory equation is solved by using a fourth-order Runge-Kutta method to obtain trajectory elements; d. the solved trajectory elements are input into a Unity3D simulation environment; and e. according to the basic parameters at least including grenade charge and shell thickness, a simulation explosion particle special effect is used to simulate a fragment cloud and a metal jet, and weapon trajectory simulation is completed. The training system comprises a control calculation subsystem, a virtual reality subsystem, a grenade rifle model, a communication subsystem, a host computer and a training management database. The application can improve the shooting simulation degree of the grenade rifle through the virtual reality technology.

Description

Technical Field

[0001] This invention relates to the field of military equipment, specifically to a simulation method for a grenade launcher based on virtual reality.

[0002] The present invention also relates to a training system based on the above simulation method. Background Technology

[0003] In small arms shooting training, grenade launcher shooting training is of paramount importance. However, grenade launcher shooting training has long faced challenges such as strict requirements for shooting ranges, high costs for live-fire training, and cumbersome organization. Furthermore, most existing grenade firing simulation equipment uses lasers to simulate projectile trajectories, which cannot simulate the trajectory of projectile-type suppression weapons, resulting in low simulation accuracy and significant limitations. Summary of the Invention

[0004] The purpose of this invention is to provide a virtual reality-based grenade launcher simulation method, which can improve the simulation level of grenade launcher shooting through virtual reality technology.

[0005] The present invention also relates to a training system based on the above simulation method, which is conducive to the overall design of the hardware and software of the simulation system, enabling trainees to obtain multi-sensory training and a more immersive experience, resulting in better training effects.

[0006] A simulation method for a grenade launcher based on virtual reality specifically includes the following steps:

[0007] a. Construct a three-dimensional virtual space and build a 3D model of the grenade body based on the actual physical data of the grenade body to realize the simulation of the basic object and environment;

[0008] b. Analyze the basic parameters of the grenade body to obtain the initial flight state of the body, and simultaneously establish the ballistic equations under standard conditions;

[0009] c. Solve the ballistic parameters using the fourth-order Runge-Kutta method on the obtained grenade trajectory equations;

[0010] d. Input the calculated ballistic parameters into the Unity3D simulation environment, and the three-dimensional model of the grenade in the virtual space will perform motion simulation based on the ballistic parameters;

[0011] e. Based on basic parameters including at least grenade charge and casing thickness, simulate explosion particle effects to simulate fragment clouds and metal jets, and complete weapon ballistic simulation.

[0012] As a further improvement to the simulation method of grenade launchers in virtual reality, in step b, the grenade trajectory equation is:

[0013]

[0014] The air resistance equation is

[0015] α=CH(y)G(v γ ,c s )v

[0016] In the formula: C is the ballistic coefficient, H(y) is the air density function, and G(v) is the air density function. γ ,c s ) is the air resistance function, v γ The velocity is the projectile velocity.

[0017] As a further improvement to the simulation method of grenade launchers based on virtual reality, the ballistic coefficient C is determined by the elastic coefficient, the projectile diameter, and the projectile mass, and is calculated as follows:

[0018]

[0019] In the formula: i is the elastic coefficient, d is the diameter of the projectile, and m is the mass of the projectile.

[0020] As a further improvement to the simulation method of grenade launchers based on virtual reality, the air resistance function G(v) is... γ ,c s In the context of ), we introduce a spurious velocity, and thus:

[0021]

[0022] In the formula: v τ Let c be the velocity of the projectile at a certain moment. s The speed of sound at the current position, c on Standard speed of sound on the ground

[0023] Thus, the expression for the air resistance function is derived:

[0024]

[0025] In the formula: C X0 This is the standard drag coefficient.

[0026] As a further improvement to the virtual reality-based grenade launcher simulation method, in step b, the acoustic and optical characteristics data generated by launching grenades in the physical world are input into the Unity3D engine.

[0027] As a further improvement to the simulation method of grenade launchers based on virtual reality, the fourth-order Runge-Kutta method in step c solves the differential equation by using Taylor expansion to find the variables, and the formula is as follows:

[0028]

[0029] In the formula: y n+1 For the next value, yn is the current value, h is the time interval, k1 is the slope at the beginning of the time interval, k2 is the slope at the midpoint of the time interval, k3 is also the slope at the midpoint, and k4 is the slope at the end of the time interval.

[0030] As a further improvement to the simulation method of grenade launchers based on virtual reality, when the three-dimensional model of the grenade performs motion simulation based on ballistic parameters in step d, the Position variable in the Transform component of the grenade body model Gameobject in the Unity3D engine should correspond to and be equal to the X, Y, and Z coordinates of the projectile in the ballistic parameters, and the Rotation variable in the Transform component should be consistent with the lateral roll angle and longitudinal pitch angle of the projectile in the ballistic parameters.

[0031] As a further improvement to the simulation method of grenade launchers based on virtual reality, the average damage radius of the grenade projectile to the target in step e is as follows: when the target has no armor, the explosion damage radius is 3m; when the target armor thickness is 7mm, the explosion damage radius is 1m; when the target armor thickness is 12mm, the explosion damage radius is 0.75m; and when the target armor thickness is 25mm, the explosion damage radius is 0.5m.

[0032] For a training system based on the above simulation method, it includes:

[0033] VR headsets are used to perform image display operations;

[0034] The control and calculation subsystem includes a ballistic calculation module, a drive control module, and a three-dimensional ballistic simulation module to generate real-time ballistic data and input it into a VR head-mounted display for display.

[0035] The virtual reality subsystem includes a virtual scene display module, an explosion effect display module, and a shooting sound effect simulation module to generate scene data, explosion effect data, and shooting sound effect data in real time and input them into the VR head-mounted display and its built-in headphones.

[0036] The grenade launcher model includes a trigger position sensor, a grenade launcher body model, and a pose angle sensor to convert the trainee's real-time movements into trainee motion data.

[0037] The communication subsystem receives data transmitted from the control computing subsystem, the virtual reality subsystem, and the grenade launcher model.

[0038] The main control computer interacts with the communication subsystem and is operated by the instructors.

[0039] The training management database interacts with the main control computer.

[0040] This invention provides a comprehensive design for the hardware and software of the simulation system. By using virtual reality technology, it enhances the simulation of grenade launcher shooting, enabling trainees to receive multi-sensory training and a more immersive experience, resulting in better training outcomes. Attached Figure Description

[0041] Figure 1 The following is a detailed structural diagram of the system in the example embodiment. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] Example 1

[0045] A simulation method for a grenade launcher based on virtual reality specifically includes the following steps:

[0046] a. First, real-time data acquisition is performed using an Ardunio microcontroller as the core. Second, since continuously changing analog quantities and data volumes (elevation and azimuth angles) need to be acquired and detected, a suitable analog-to-digital converter chip must be selected. Through the input interface, sensor signals and trigger signals are sent to the microcontroller. The Kalman filter program written in Ardunio is used to calculate the firing attitude of the signals, and the encoded data is sent to the graphics computer to complete the data acquisition work.

[0047] b. In this embodiment, real geographic data was used in the research. After obtaining the elevation data model of the real terrain using geographic information system mapping technology, the terrain was created based on the data. After the high-precision virtual terrain was created, some details were also optimized.

[0048] c. First, use ARCGIS software to obtain the DEM elevation image data of the required terrain. Then, import the data into Blender modeling software and install the BlenderGIS plugin to convert the DEM data into a basic terrain model. Next, use the Gaia plugin to draw terrain textures and colors. In the Stamper script under the Inspetor window, select the corresponding 2D base model in Blender and add it as the terrain.

[0049] d. Pre-calculated lighting improves rendering performance by pre-calculating lightmaps. It is suitable for static or slightly variable scenes. Overall, pre-calculated lighting is more appropriate for system stability and simulation training. Adjust the appropriate light color, light intensity, light source type, and shadow angle in the Unity3D Light Resource Manager window to meet the requirements of combat training.

[0050] After constructing a three-dimensional virtual space and realizing the simulation environment, the basic parameters of the grenade body are analyzed to obtain the initial flight state of the grenade body, and the ballistic equations under standard conditions are solved simultaneously.

[0051] The obtained grenade trajectory equations are fed into the fourth-order Runge-Kutta function to solve for the trajectory parameters;

[0052] The calculated ballistic parameters are sent into the Unity3D simulation environment, and the three-dimensional model of the grenade in the virtual space performs motion simulation based on the ballistic parameters.

[0053] Based on basic parameters such as grenade charge and casing thickness, simulate the special effects of explosive particles, simulate fragment clouds and metal jets, and complete weapon ballistic simulation.

[0054] The ballistic equations under standard conditions in the initial flight state are:

[0055]

[0056] The equation for air resistance is:

[0057] α=CH(y)G(v γ ,c s )v

[0058] Where: C is the ballistic coefficient, H(y) is the air density function, and G(v) is the air density function. γ ,c s ) is the air resistance function, and v is the projectile velocity.

[0059] The ballistic coefficient C is determined by the elastic modulus, projectile diameter, and projectile mass, and is calculated as follows:

[0060]

[0061] in:

[0062] i is the elastic modulus, d is the diameter of the projectile, and m is the mass of the projectile.

[0063] H(y) is a function describing air density, which depends on the corresponding temperature conditions. This data can be obtained by consulting relevant tables.

[0064] G(v γ ,c s Let be the air resistance function, and introduce a spurious velocity v. τ ,have:

[0065]

[0066] in:

[0067] v is the velocity of the projectile at a certain moment, c s The speed of sound at the current position, c on It is the standard speed of sound on the ground.

[0068] Thus, the expression for the air resistance function is derived:

[0069]

[0070] in:

[0071] In the formula: C X0 The standard drag coefficient can be obtained from the drag law of 1943.

[0072] Step b inputs the acoustic and optical characteristics generated by launching grenades in the physical world into the Unity3D engine.

[0073] The fourth-order Runge-Kutta method in step c solves the differential equation by using Taylor expansion to find the variables, and the formula is as follows:

[0074]

[0075] When the grenade's 3D model undergoes motion simulation based on ballistic parameters in step d, the Position variable in the Transform component of the grenade's GameObject model in the Unity3D engine should correspond to and be equal to the X, Y, and Z coordinates of the projectile in the ballistic parameters. Furthermore, the Rotation variable in the Transform component should be consistent with the lateral roll angle and longitudinal pitch angle of the projectile in the ballistic parameters.

[0076] In step e, the average damage radius of the grenade projectile to the target is as follows: when the target has no armor, the damage radius is 3m; when the target armor thickness is 7mm, the damage radius is 1m; when the target armor thickness is 12mm, the damage radius is 0.75m; and when the target armor thickness is 25mm, the damage radius is 0.5m.

[0077] Topography Fragmentation hit count Effective kill rate flat land 140 93％ slope 90 60％ Mountain terrace 40 26.7％

[0078] Furthermore, the influence of different terrain factors on the fragmentation kill radius is shown in Table 1:

[0079] Table 1

[0080] Example 2

[0081] like Figure 1 As shown, a training system based on the simulation method described in Embodiment 1 includes:

[0082] VR headsets are used to perform image display operations;

[0083] The control and calculation subsystem includes a ballistic calculation module, a drive control module, and a three-dimensional ballistic simulation module to generate real-time ballistic data and input it into a VR head-mounted display for display.

[0084] The virtual reality subsystem includes a virtual scene display module, an explosion effect display module, and a shooting sound effect simulation module to generate scene data, explosion effect data, and shooting sound effect data in real time and input them into the VR head-mounted display and its built-in headphones.

[0085] The grenade launcher model includes a trigger position sensor, a grenade launcher body model, and a pose angle sensor to convert the trainee's real-time movements into trainee motion data.

[0086] The communication subsystem receives data transmitted from the control computing subsystem, the virtual reality subsystem, and the grenade launcher model.

[0087] The main control computer interacts with the communication subsystem and is operated by the instructors.

[0088] The training management database interacts with the main control computer.

[0089] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several equivalent substitutions or obvious modifications can be made without departing from the concept of the present invention, and all such modifications, achieving the same performance or purpose, should be considered within the scope of protection of the present invention.

Claims

1. A method for simulating a virtual reality based grenade launcher, characterized by: Specifically comprising the following steps: a. Building a three-dimensional virtual space, constructing a 3D model of the grenade body according to the real physical data of the grenade body, realizing the simulation of the basic object and the environment; b. Analyzing the basic parameters of the grenade to obtain the initial flight state of the projectile, and simultaneously solving the trajectory equation under standard conditions; c. Using the fourth-order Runge-Kutta method to solve the trajectory elements of the obtained grenade trajectory equation; d. Inputting the solved trajectory elements into the Unity3D simulation environment, and the three-dimensional model of the grenade in the virtual space moves according to the trajectory elements; e. According to the basic parameters including at least the grenade charge and the shell thickness, simulate the explosion particle special effect to simulate the fragment cloud and metal jet, and complete the weapon trajectory simulation; In the b step, the grenade trajectory equation is: The air resistance equation is where: is the ballistic coefficient, is the air density function, is the air resistance function, is the projectile velocity; Ballistic coefficient The ballistic coefficient is determined by the coefficient of elasticity, the diameter of the projectile and the mass of the projectile and is calculated as follows: wherein: is the elastic coefficient, is the projectile diameter, is the projectile mass; Air resistance function In the middle, a false speed is introduced There is: In the formula: is the velocity of the projectile at a certain time, is the current position speed of sound, is the standard speed of sound on the ground Thus, the air resistance function expression is obtained: wherein: C D is the standard drag coefficient, In the b step, the sound and light characteristic data generated by the grenade in the physical world are input into the Unity3D engine; In the c step, the fourth-order Runge-Kutta method is used to solve the differential equation to obtain the trajectory elements, and the formula is: where: is the next value, is the present value, is the time interval, is the slope at the beginning of the time period, is the slope at the midpoint of the time period, is also the slope at the midpoint, is the slope at the end of the time period.

2. The method of simulating a virtual reality based grenade launcher according to claim 1, characterized in that When the three-dimensional model of the grenade in the d step moves according to the trajectory elements, the Position variable in the Transform component of the grenade body model GameObject in the Unity3D engine should be equal to the X, Y and Z coordinates of the trajectory elements, and the Rotation variable in the Transform component should be consistent with the lateral roll angle and longitudinal pitch angle of the trajectory elements.

3. The method of simulating a virtual reality based grenade launcher according to claim 2, characterized in that In the e step, the average damage radius of the grenade projectile to the target is: when the target has no armor, the explosion damage radius is 3m; when the target armor thickness is 7mm, the explosion damage radius is 1m; when the target armor thickness is 12mm, the explosion damage radius is 0.75m; when the target armor thickness is 25mm, the explosion damage radius is 0.5m.

4. A training system based on the simulation method of claim 1, characterized in that It includes: A VR head-mounted display to perform picture display operations; A control computing subsystem including a trajectory solving module, a driving control module, and a three-dimensional trajectory simulation module to generate real-time trajectory data and input it into the VR head-mounted display for display; A virtual reality subsystem including a virtual scene display module, an explosion effect display module, and a shooting sound effect simulation module to generate scene data, explosion effect data, and shooting sound effect data in real time and input them into the VR head-mounted display and its built-in earphones; A grenade rifle model including a trigger position sensor, a grenade rifle body model, and a pose angle sensor to convert the real-time actions of the student into student action data; A communication subsystem that receives data transmitted by the control computing subsystem, the virtual reality subsystem, and the grenade rifle model; A host computer that interacts with the communication subsystem data and is operated by an instructor; A training management database that interacts with the host computer data.

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