Multi-turret collision prediction method based on simulation engine
Through the multi-turret collision prediction method based on simulation engines, the problem that the existing technology cannot effectively warn of high-speed rotating multi-turret collisions is solved, and high-precision and real-time collision warning is achieved, which improves the effectiveness of coordinated operations of multiple turrets.
Patent Information
- Application Number
- CN202411909666.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-04-18
AI Technical Summary
The existing multi-turret collision warning methods cannot effectively solve the problem of multi-turret collision warning under high-speed rotation and non-linear motion, resulting in the inability to fully utilize the firepower advantages of multi-turrets.
Using a multi-turret collision prediction method based on simulation engine, the three-dimensional digital model of the turret is imported into the simulation engine, a coordinate system and a prohibited sight area are built, and collision detection and database generation are carried out in real time to determine whether the turret attitude leads to collision.
It realizes high-precision and real-time multi-turret collision warning, which can effectively avoid collisions and improves the effectiveness of multi-turret coordinated combat.
Smart Images
Figure CN119849142A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of collision prediction, and in particular relates to a multi-turret collision prediction method based on a simulation engine. Background Art
[0002] Many countries have developed multi-turret weapons, but their coordination is mainly to avoid collisions by dividing the strike range through the firing range, which cannot give full play to their firepower advantage. With the needs of special combat scenarios such as urban combat and mountain combat, as well as anti-drone swarms, multi-turret coordinated combat has emerged. Since the multi-turrets are deployed at a close distance, interference is inevitable during the movement process. Multi-turret collision prediction technology has become the key to exerting the effectiveness of multi-turret coordinated combat.
[0003] The current collision warning methods mainly include radar perception warning, photoelectric perception warning, short-range single-point structured light ranging, digital modeling, etc. Radar perception warning method and photoelectric perception warning method are mostly used for collision warning of automobiles, short-range single-point structured light ranging method is mostly used for ranging warning of close-range targets on mobile devices, and digital modeling method is mostly used for collision warning in industrial fields such as robotic arms. The above methods are not suitable for high-speed rotation (non-linear motion) and high-real-time multi-turret collision warning. Summary of the invention
[0004] The purpose of the present invention is to design a multi-turret collision warning method with good real-time performance and high accuracy, which is suitable for multi-turret coordination of a weapon system with a multi-turret architecture.
[0005] The technical solution of the present invention is:
[0006] A multi-turret collision prediction method based on simulation engine, such as Figure 1 As shown, the following steps are included:
[0007] S1. Importing the three-dimensional digital models of all turrets into a simulation engine to obtain simulation models of all turrets;
[0008] S2. Deploy the simulation models of all turrets according to the required positions, build a coordinate system, and set the azimuth rotation center and elevation rotation center of each turret;
[0009] S3, controlling the turret to rotate through the simulation engine, obtaining the azimuth and elevation angle of the turret at any time, randomly selecting two turrets from all the turrets, obtaining the collision points of the two turrets through the collision detection of the simulation engine, and generating a collision database through the collision detection of all the turrets. The data format of the collision database is: turret posture, collision start, collision end; the turret postures within the entire time range of the collision start and collision end all result in a collision;
[0010] S4, using the obtained collision database, constructing a no-aiming area of each turret according to the posture of each turret that causes the collision, thereby obtaining no-aiming areas of all turrets;
[0011] S5. According to the deployment posture of the target turret and the obtained no-aiming area, it is determined whether the current deployment posture causes a collision.
[0012] Furthermore, in S3, the specific method for generating a collision database is:
[0013] For any two turrets selected, define the azimuth angle of the first turret as a1 and the elevation angle as e1; define the azimuth angle of the second turret as a2 and the elevation angle as e2; control the first turret and the second turret to rotate according to the azimuth rotation center and the elevation rotation center of the turret, define the movement period of the first turret as T1 and the movement period of the second turret as T2, then the azimuth angle and elevation angle of the first turret and the second turret at time t are expressed as:
[0014] a1=a1+2*PI*t / T1
[0015] e1=e1+int(t / T1)
[0016] a2=a2+2*PI*t / T2
[0017] e2=e2+int(t / T2)
[0018] Among them, PI is pi, int() means round down;
[0019] During the motion cycle, the first turret and the second turret are rotated according to the scale, and collision detection is performed in real time. The obtained collision start time and collision end time are used to obtain all azimuth angles and elevation angles of the first turret and the second turret within the collision time range, so as to obtain the turret posture when the collision occurs;
[0020] The collision database is generated by using the turret postures of all turrets and combining the time when the collision starts and ends.
[0021] Further, in S5, the specific method of determining whether the current deployment posture causes a sending collision is:
[0022] The collision function is generated by using the obtained no-aiming areas of each turret and combining the corresponding collision database data, which is expressed as:
[0023] f(a1,e1,a2,e2,..)=0 / 1
[0024] Among them, 0 means no collision, 1 means collision;
[0025] Bring the current turret deployment posture into the collision function, and determine whether a collision occurs based on the value of the collision function.
[0026] The beneficial effects of the present invention are that the present invention has the characteristics of simple and reliable process and high real-time application; the present invention can be applied to weapon systems with multi-turret architectures to provide collision warning support for multi-turret collaboration. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a schematic diagram of the multi-turret collision prediction process based on the simulation engine of the present invention.
[0028] Figure 2 This is a multi-turret coordinate system diagram of the present invention.
[0029] Figure 3 Schematic diagram of the forbidden sighting area of the present invention. DETAILED DESCRIPTION
[0030] The present invention is described in detail below with reference to the accompanying drawings and embodiments.
[0031] The multi-turret collision prediction method based on a simulation engine of the present invention first generates a multi-turret no-aiming area offline through a three-dimensional digital model simulation engine, and then calculates the multi-turret collision situation online, which can be described as the following steps:
[0032] 1. Import the 3D digital model of the physical object into the simulation engine.
[0033] 2. Establish a multi-turret coordinate system, such as Figure 2 As shown, let O1 be the azimuth rotation center of turret 1, O2 be the elevation rotation center of turret 1, O3 be the azimuth rotation center of turret 2, O4 be the elevation rotation center of turret 2, and so on. The azimuth and elevation zero positions of the turret can be specified arbitrarily.
[0034] 3. Collision collection of multi-turret forbidden aiming areas, such as Figure 3 , let the azimuth angle of turret 1 be a1, the elevation angle be e1, the azimuth angle of turret 2 be a2, the elevation angle be e2, and so on. Let the movement period of turret 1 be T1,
[0035] a1=a1+2*PI*t / T1;
[0036] e1=e1+int(t / T1);
[0037] Assume that the motion period of turret 2 is T2,
[0038] a2=a2+2*PI*t / T2;
[0039] e2=e2+int(t / T2);
[0040] The turret is controlled to rotate by the simulation engine, and the collision points are obtained by the collision detection of the simulation engine to generate a collision database. The data format of the collision database is: the posture of each gun, the start of the collision, and the end of the collision.
[0041] 4. The data processing method of the multi-turret no-aiming area uses the collision database to generate the collision function f(a1, e1, a2, e2, ..) = 0 / 1; a collision occurs between the start and end of the collision; 0 means no collision, and 1 means collision.
[0042] 5. Multi-turret collision prediction method, given any turret posture, determine whether a collision occurs based on f(a1, e1, a2, e2, ..).
[0043] Example
[0044] This example includes the following execution steps:
[0045] 1. Convert the 3D digital model of the multi-turret into IGS format using 3D modeling software.
[0046] 2. Import the converted digital model into the Unity project, select any two turrets from the turrets, and adjust the position and zero position of the double guns to make them consistent with the design.
[0047] 3. Design a program to make Gun 1 rotate one circle clockwise in azimuth as a period, and Gun 1 pitch increase by 1 scale per period. Gun 2 rotates one scale clockwise in azimuth with the period of Gun 1 pitch rotation, and Gun 2 pitch increase by 1 scale per period with the period of Gun 1 rotating one circle in azimuth, and so on.
[0048] 4. Use the collision detection function of the Unity engine to obtain the postures of Cannon 1, Cannon 2, and Cannon N during collision and store them as a collision database.
[0049] 5. Obtain the forbidden aiming areas of gun 1, gun 2, and gun n through data processing.
[0050] 6. For each given gun posture, determine whether there is a collision.
Claims
1. A multi-turret collision prediction method based on a simulation engine, characterized in that: The following steps are involved: S1. Importing the three-dimensional digital models of all turrets into a simulation engine to obtain simulation models of all turrets; S2. Deploy the simulation models of all turrets according to the required positions, build a coordinate system, and set the azimuth rotation center and elevation rotation center of each turret; S3, controlling the turret to rotate through the simulation engine, obtaining the azimuth and elevation angle of the turret at any time, randomly selecting two turrets from all the turrets, obtaining the collision points of the two turrets through the collision detection of the simulation engine, and generating a collision database through the collision detection of all the turrets. The data format of the collision database is: turret posture, collision start, collision end; the turret postures within the entire time range of the collision start and collision end all result in a collision; S4, using the obtained collision database, constructing a no-aiming area of each turret according to the posture of each turret that causes the collision, thereby obtaining no-aiming areas of all turrets; S5. According to the deployment posture of the target turret and the obtained no-aiming area, it is determined whether the current deployment posture causes a collision.
2. The multi-turret collision prediction method based on a simulation engine according to claim 1, characterized in that: In S3, the specific method of generating a collision database is: For any two turrets selected, define the azimuth angle of the first turret as a1 and the elevation angle as e1; define the azimuth angle of the second turret as a2 and the elevation angle as e2; control the first turret and the second turret to rotate according to the azimuth rotation center and the elevation rotation center of the turret, define the movement period of the first turret as T1 and the movement period of the second turret as T2, then the azimuth angle and elevation angle of the first turret and the second turret at time t are expressed as: a1=a1+2*PI*t / T1 e1=e1+int(t / T1) a2=a2+2*PI*t / T2 e2=e2+int(t / T2) Among them, PI is pi, int() means round down; During the motion cycle, the first turret and the second turret are rotated according to the scale, and collision detection is performed in real time. The obtained collision start time and collision end time are used to obtain all azimuth angles and elevation angles of the first turret and the second turret within the collision time range, so as to obtain the turret posture when the collision occurs; The collision database is generated by using the turret postures of all turrets and combining the time when the collision starts and ends.
3. The multi-turret collision prediction method based on a simulation engine according to claim 2, characterized in that: In S5, the specific method of determining whether the current deployment posture causes a sending collision is: The collision function is generated by using the obtained no-aiming areas of each turret and combining the corresponding collision database data, which is expressed as: f(a1,e1,a2,e2,..)=0 / 1 Among them, 0 means no collision, 1 means collision; Bring the current turret deployment posture into the collision function, and determine whether a collision occurs based on the value of the collision function.