The Study Of Visualization Techniques In Monitor-Control Platform For Micro Unmanned Aerial Vehicle

Recently, mini-UAV(Unmanned Aerial Vehicle) has become one of the popular research subjects. It has a wide application in military area, electric wire examination, terrain measurement, search and rescue and acrobatic film photography. The control system of mini-UAV is a complex system bases on computer control, which involves system modeling, software simulation, flight control, hardware and software design and integration.This paper mainly concerns with a subsystem in mini-UAV independent control system, which concentrates on mini-UAV simulation and on-land supervision. In the first chapter of this paper, the classification and developing trend of UAV flight simulation was briefly introduced. In the second and third chapter, the principle of computer graphics and OpenGL and the method of realizing animation were introduced, mainly concerns with the basic conception of graphics and the transforming technology of 3D graphs, including diversified reference frame and the transform among them, also the transform and projection and so on. Only through the study on computer graphics and mastery of basic knowledge of three-dimensional cartoon, the lucubration of visualized simulation is possible. OpenGL is a implement of 3D graphic exploiture, and is also the research emphasis in this paper. In this paper, the projection and texture are discussed in this paper. In the forth chapter, an expatiation on general kinetic model of model helicopter was presented. Accurate mathematical model is the precondition of the simulation of real flight, and visualized simulation is a method to gain and validate the model. In the fifth chapter, firstly, the constitution of on-land simulating and supervising platform was introduced. Then, the paper gives a detailed dissertation on the modeling method of the model helicopter and the basic scene, network communication, multithreading technology, the transaction of the angle of view, and so on. Multithreading and Windows Sockets technology was integrated to enhance the reliability of the system and give an in-time performance. The flight state of the mini-UAV was represented real-timely under the VC programming environment using OpenGL technology. Through the on-vehicle sensor signal gained from the wireless network, the corresponding database was founded. And using the history data in the database, the flight procession can reappear, and the off-line analysis and the validating of control arithmetic are realizable. And the system test proves that the supervising platform can fulfillthe applying demand in both validity and real-time performance.