3D Complex Environment Collaborative Sensing And Visualization

At present,drones and unmanned vehicles are widely put into practical applications,playing an increasingly important role.However,in the face of a complex three-dimensional environment,the success rate of performing tasks independently by drones and unmanned vehicles is low.Cooperative operations of unmanned systems are effective means to solve the above problems.Most of the current research is about the operation of a single drone or unmanned vehicle,and its ability to survive and adapt to the environment cannot meet the needs of performing tasks in complex environments.This thesis uses enhanced synthetic vision technology and land-air cooperative operating system to improve the survivability of unmanned systems.The thesis first discusses the applicability of various sensors to degraded visual environments.Then we studied the mutual fusion of different sensor images,and realized the combination of virtual military elements to enhance the perception and understanding of the environment during flight.Then designed the data frame format transmitted by the UAV,and realized the use of target recognition technology to process the data frame transmitted by the UAV.Finally,three types of terrain-air-air cooperative combat missions were designed to adapt to the challenges brought by different terrains.The main work of this paper is as follows:1.Studied the simulation of different degraded visual environment conditions such as rain,snow,fog,etc.The use of three-dimensional modeling technology to complete the establishment of the three-dimensional terrain model and obstacle model,the use of three-dimensional visual simulation technology to complete the terrain loading,to achieve a three-dimensional complex environment.2.Researched three-dimensional scene perception technology.The simulation of images of multi-source sensors(such as visible light,infrared,millimeter wave radar,lidar,etc.)and the fusion of different sensor information are studied.Using shader technology,the simulation of multi-source sensor images and the fusion of different sensor image effects are realized to meet the challenges of various complex weather environments.3.Research on enhanced synthetic vision technology.Using graphics drawing technology,it can realize the drawing of various virtual military elements such as air passages,safety lines and other elements,and dynamically integrate and display the virtual military elements with the three-dimensional scene to improve the situational awareness of the UAV in the complex three-dimensional environment.4.Researched the data frame processing technology and realized the storage and import of data frames of different sensors.The target recognition technology based on YOLOv3 is used to process the data frame image and complete the target marking of the visible light image.And import the processed data frame to complete the comprehensive demonstration of the application mode.5.Researched the simulation of UAV and unmanned vehicle cooperative perception system.The use of sensor perception technology and enhanced synthetic vision technology to realize the simulation of reconnaissance,strike,rescue and other tasks of UAVs and unmanned vehicle systems in various types of terrain can greatly improve the efficiency and safety of performing tasks.