Dynamic Three-dimensional Scene Heterogeneous Sensor Fusion Perception

In the modern military and civilian fields,rotorcraft helicopters play a decisive role.However,rotorcraft helicopters missions generally pay special attention to timeliness,coupled with the complexities of the mission environment,which can easily pose a potential threat to rotorcraft helicopters,especially when rotorcraft helicopters are in a degraded visual environment such as rain,snow,fog,darkness and sandstorms.Operators may lose important visual reference clues,resulting in weakened situational awareness,increased pilot workload,reduced decision-making capacity,and endangering helicopter flight safety.Therefore,how to ensure that the helicopter still maintains normal situational awareness in the absence of visual cues has become a research hotspot and the starting point of this study.In this paper,based on the enhanced synthetic vision system as the technology,the heterogeneity sensor fusion processing technology is used to maximize scene-aware clues.In the absence of sensor data resources and limited hardware facilities,this paper based on visual simulation platform to complete the fusion perception of visual processing.Mainly studied the following work:(1)Analyze and study the existing solutions for degraded visual environments,especially the well-known solutions that enhanced synthetic visual system as background,and analyze the system architecture and technical implementation of these solutions,summarizing three core technologies for solving the problem of degraded visual environment are sensor sensing technology,sensor fusion technology,and enhanced synthetic vision technology.(2)Researched three-dimensional scene modeling technology,completed the construction of three-dimensional complex scenes,including the modeling of terrain database and obstacle database;studied the terrain database display processing solutions,and realized the grid processing,layer processing and grid-layer processing of the terrain database;Research on degraded visual environment simulation technology to achieve simulations of rain,snow,fog,night,dust storms,brown-out and white-out environments.(3)Emphasis was placed on the sensor imaging simulation technology,and the imaging simulations of forward-looking infrared sensors,laser radars,and millimeter-wave radars were realized.The virtual instrument modeling technology was studied and the degraded visual environment panel,sensor control panel,and virtual flight instrument were completed modeling;For different degraded visual environments,six kinds of heterogeneous sensor fusion schemes are proposed and designed in this paper.and then uses visual simulation platform to realize the visual perception processing of different fusion schemes.Finally,the fusion scheme designed in this paper is proved that it has important application value for specific flight environment.(4)Designed and implemented a comprehensive demonstration software for heterogeneous sensor fusion awareness processing,including integrated demonstration platform design,function module code organization,communication between OpenSceneGraph and instrumentation,display layout of each function module,and final fusion awareness visual comprehensive processing demonstration.