基于OpenGL的月球探测器可视化仿真
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摘要
随着计算机图形学和虚拟现实技术的深入发展，三维可视化技术已经在很多领域得到广泛应用，通过用三维图形实时互动地显示仿真过程和仿真结果，能给用户以更全面、更直观的信息，并为不同领域专家提供相互沟通和交流的平台。
本论文将月球探测器轨道动力学仿真与三维可视化技术相结合，设计了基于OpenGL三维动态显示技术的月球探测器可视化仿真系统，对探测器在不同飞行方案下的轨道进行仿真，直观地显示出探月飞行过程。本文所做的主要研究工作及所取得的研究成果如下：
1．阐述了月球探测器轨道动力学的基本原理，分析了二体轨道模型和月球探测器的轨道特性。
2．阐述了OpenGL的基本原理，详细分析了月球探测器仿真系统中涉及的可视化关键技术。采用了多种图形显示技术来增强可视化仿真系统的真实感。采用OpenGL双缓冲机制来实现动画效果。
3．在对计算机实时三维图形生成技术进行了系统研究和深入分析的基础上，开发了月球探测器的可视化仿真系统。在计算机上验证了各种方案的性能，采用基于OpenGL技术的可视化建模方法和显示方法，确定了切实可行的软件开发环境，有效使用多种图形算法解决了仿真过程中的实时性与逼真度的矛盾。
4．采用面向对象和模块化的设计方法，对可视化仿真系统的多种虚拟实体进行了类的封装，增强了仿真系统的可维护性和可扩展性。
5．实现了探测器、天体、星空的显示，地球大气效果的模拟，探测器惯性系轨迹、地球固连系轨迹、星下点轨迹的显示，测控信息和辅助信息的显示，探测器覆盖区域的显示，以及良好的人机交互功能。
该月球探测器可视化仿真系统不仅可使用户更加直观地了解探月飞行任务的进行情况，而且可以协助他们完成飞行方案的设计、验证、论证、筛选和确定，具有较好的实用价值，为系统的后续开发积累了经验，并对类似的航天器仿真系统的构建具有借鉴作用。
With the fast development of computer graphic technology and virtual reality technology, three dimension visualization technology has gained a vast range of application in many different fields, by displaying the simulation process and results in 3D realtime graphics interactively, user can understand the simulation comprehensively and intuitively, experts in different fields can also understand and communicate with each other more easily.
In this thesis, we combine the simulation of moon exploration probe with the 3D visualization technology, to design a OpenGL based moon exploration probe simulation and visualization system. This system can simulate different moon exploration scenarios, and visualize the process directly. The main research efforts made and the results get can be summarized as follows:
1. Expatiated the basic theory of moon exploration probe orbit dynamics, analysed the orbit characteristic of two-body problem and induced the moon exploration orbit property.
2. Introduced the principle of OpenGL, particularly analyzed the key technology of visualization in the simulation system. Many graphics display technology was utilized to enhance the simulation reality. OpenGL double-buffering technology was used to implement animation.
3. Constructed and developed the moon exploration probe simulation and visualization system. Different approach was tried to build the system, the OpenGL style modeling and visualization method was used. A literally feasible software development environment was built. Many graphic algorithm was devised to alleviate the tension between realtime and reality.
4. Adopted the object oriented design method, many virtual entity in the simulation system was encapsuled as class. Thus enhanced the maintainability and extensibility of the system.
5. Visualized the space probe, celestial body, starfield, atmosphere effect, probe fly orbit in inertial coordinate, probe orbit in earth fixed coordinate, substar orbit, control station, and probe covering range. Implemented a friendly user interface.
This moon exploration probe simulation and visualization system, can not only
本论文将月球探测器轨道动力学仿真与三维可视化技术相结合，设计了基于OpenGL三维动态显示技术的月球探测器可视化仿真系统，对探测器在不同飞行方案下的轨道进行仿真，直观地显示出探月飞行过程。本文所做的主要研究工作及所取得的研究成果如下：
1．阐述了月球探测器轨道动力学的基本原理，分析了二体轨道模型和月球探测器的轨道特性。
2．阐述了OpenGL的基本原理，详细分析了月球探测器仿真系统中涉及的可视化关键技术。采用了多种图形显示技术来增强可视化仿真系统的真实感。采用OpenGL双缓冲机制来实现动画效果。
3．在对计算机实时三维图形生成技术进行了系统研究和深入分析的基础上，开发了月球探测器的可视化仿真系统。在计算机上验证了各种方案的性能，采用基于OpenGL技术的可视化建模方法和显示方法，确定了切实可行的软件开发环境，有效使用多种图形算法解决了仿真过程中的实时性与逼真度的矛盾。
4．采用面向对象和模块化的设计方法，对可视化仿真系统的多种虚拟实体进行了类的封装，增强了仿真系统的可维护性和可扩展性。
5．实现了探测器、天体、星空的显示，地球大气效果的模拟，探测器惯性系轨迹、地球固连系轨迹、星下点轨迹的显示，测控信息和辅助信息的显示，探测器覆盖区域的显示，以及良好的人机交互功能。
该月球探测器可视化仿真系统不仅可使用户更加直观地了解探月飞行任务的进行情况，而且可以协助他们完成飞行方案的设计、验证、论证、筛选和确定，具有较好的实用价值，为系统的后续开发积累了经验，并对类似的航天器仿真系统的构建具有借鉴作用。
With the fast development of computer graphic technology and virtual reality technology, three dimension visualization technology has gained a vast range of application in many different fields, by displaying the simulation process and results in 3D realtime graphics interactively, user can understand the simulation comprehensively and intuitively, experts in different fields can also understand and communicate with each other more easily.
In this thesis, we combine the simulation of moon exploration probe with the 3D visualization technology, to design a OpenGL based moon exploration probe simulation and visualization system. This system can simulate different moon exploration scenarios, and visualize the process directly. The main research efforts made and the results get can be summarized as follows:
1. Expatiated the basic theory of moon exploration probe orbit dynamics, analysed the orbit characteristic of two-body problem and induced the moon exploration orbit property.
2. Introduced the principle of OpenGL, particularly analyzed the key technology of visualization in the simulation system. Many graphics display technology was utilized to enhance the simulation reality. OpenGL double-buffering technology was used to implement animation.
3. Constructed and developed the moon exploration probe simulation and visualization system. Different approach was tried to build the system, the OpenGL style modeling and visualization method was used. A literally feasible software development environment was built. Many graphic algorithm was devised to alleviate the tension between realtime and reality.
4. Adopted the object oriented design method, many virtual entity in the simulation system was encapsuled as class. Thus enhanced the maintainability and extensibility of the system.
5. Visualized the space probe, celestial body, starfield, atmosphere effect, probe fly orbit in inertial coordinate, probe orbit in earth fixed coordinate, substar orbit, control station, and probe covering range. Implemented a friendly user interface.
This moon exploration probe simulation and visualization system, can not only
引文
[1] 郗晓宁，曾国强，任萱，赵汉元．月球探测器轨道设计[M]．国防工业出版社．2001．5
[2] 曹建国，王恒霖．航天仿真综述．计算机仿真[J]．1997，14(1)
[3] 徐庚保，曾莲芝．航天仿真．计算机仿真[J]．2003，20(10)
[4] 黄葵，朱兴动．应用OpenGL再现三维航迹，计算机应用[J]．第22卷第4期．2002．4．48～49
[5] 胡峰，孙国基．航天仿真技术的现状及展望．系统仿真学报[J]．1999．11(2)：83～85
[6] David Rogers．计算机图形学的算法基础[M]．北京：机械工业出版社 2002
[7] 刘正林．面向对象程序设计[M]，华中科技大学出版社，2001
[8] 和平鸽工作室．OpenGL高级编程与可视化系统开发[M]．中国水利水电出版社，2002
[9] 怀进鹏，李波等．虚拟现实研究概况．计算机研究与发展，1996．7
[10] 毛朝阳．卫星监测中三维可视化图形技术应用．计算机应用，1999
[11] 何江华．计算机仿真导论．北京：科学出版社，2001．3
[12] 王惠刚等．计算机仿真原理及应用(第二版)．北京：国防科技大学出版社，2000．4
[13] 李勇．航天器运动可视化分析系统的设计与实现．武汉：华中科技大学图书馆，2002
[14] 吴家铸，党岗，刘华锋等．视景仿真技术及应用．西安：电子科技大学出版社，2001．7
[15] 徐青．地形三维可视化技术．武汉：测绘出版社，2000．8
[16] 康凤举．现代仿真技术与应用．国防工业出版社，2001．9
[17] 汪成为，高文，王行仁．虚拟现实技术的理论、实现及应用．北京：清华大学出版社，广西：广西科学出版社， 1996
[18] Jackie Neider, Tom Davis, Mason Woo. OpenGL Programming Guide. Addison-Wesley Publishing Company, First Printing, 1993
[19] 汪地，陈一民，方明伦．VC环境下OpenGL的开发应用．
[20] 强大再，陆长德，余隋怀，何卫平．基于OpenGL的三维仿真实现，机械科学与技术，1999，Vol．18，No．5
[21] Stytz M, Distributed virtual environments, IEEE Computer Graphics andApplication, 1996, 16(3): 19～31
[22] 廖朵朵，张华军．OpenGL三维图形程序设计[M] 北京：星球地图出版社，1996
[23] 陆品，朱根兴，李婷婷．基于OpenGL的三维仿真系统开发．计算机应用，2002．5
[24] 孙波．OpenGL 编程实例学习教程[M]．北京：北京大学出版社，2000．6
[25] 袁绪龙，张宇文，刘乐华．基于openGL的弹道视景仿真系统设计．《电脑与信息技术》，1995
[26] 夏云庆．Visual C＋＋6.0 数据库高级编程．北京希望出版社．2002．
[27] 成思源 张群瞻编著．计算机图形学[M]．北京：冶金工业出版社，2003．103～131．
[28] 徐晓云、李俊峰、罗苏鹏．小卫星轨道姿态控制系统仿真软件平台．清华大学学报．2003年43(2)P234～P237．
[29] 王昆杰，王跃虎，李征行．卫星大地测量学．北京：测绘出版社，1990．
[30] 王侠，于相慧，赵明晶．人造卫星轨道要素的计算．吉林地质，1999，18(2)
[31] 王五生．摄动力对静止卫星轨道根数的影响．陕西师范大学学报(自然科学)
[32] J A Joines, R. R Barton, K Kang and A Fishwick, eds. A model-based approach forcomponent simulation development[C]. Proceedings of the 2000 Winter Simulation Conference, 2000:1831～1840
[33] Wu An-Ming, Xu Xiaohui, Ni Wei-Tou. Orbit Design and Analysis for ASTROD Mission Concept. International Joumal of Modem Physics D. 2000, 9(2): 201～214
[34] Mark E. Campbell, Thomas Schetter. Formation Flying Mission for the UW Dawgstar Satellite. 0-7803-5846-5/00 2000 IEEE
[35] Crockett, Gregg A. (Boeing-SVS, Inc. ), Brunson, Richard L. Visualization Tool for Advanced Laser System Development, Proceedings of SPIE - The International Society for Optical Engineering, 2002, 4724(5): 69～77
[36] 秦大国，陈星．STK及其在卫星组网仿真演示中的应用研究．指挥技术学院学报，2001，12(4)：66～69
[37] STK User's Manual Version 4. 0. 5 for PCS. Analytical Graphics, NC(AGI), 1998
[38] Thomas A. Funkhouser and Carlo H. Sequin, Adaptive Display Algorithm for Interactive Frame Rates During Visualization of Complex Virtual Environments, Computer Graphic Processings, Annual Conference Series, 1993
[39] Turk Greg, Retiling Polygonal Surface, Computer Graphics Proceedings, 1992: 55-64.
[40] Mark Pence, History of Virtual Reality Modeling language, http:// webspace .sgi.com
[41] Car Machover, 3D graphics through the Internet, Computer Graphics, ACM Press, August 1995.
[42] Waters K. A Muscle, Model for Animation Three-dimension Facial Expression, Computer Graphic, 1987,21(4): 17-23
[43] Gerald N Pitts and Daniel Cornell, Using Object Peripherally-Based level Of Detail Switching For Real-Time 3D Graphics Simulations, Department of Computer Science Trinity University, 1997,277-280
[2] 曹建国，王恒霖．航天仿真综述．计算机仿真[J]．1997，14(1)
[3] 徐庚保，曾莲芝．航天仿真．计算机仿真[J]．2003，20(10)
[4] 黄葵，朱兴动．应用OpenGL再现三维航迹，计算机应用[J]．第22卷第4期．2002．4．48～49
[5] 胡峰，孙国基．航天仿真技术的现状及展望．系统仿真学报[J]．1999．11(2)：83～85
[6] David Rogers．计算机图形学的算法基础[M]．北京：机械工业出版社 2002
[7] 刘正林．面向对象程序设计[M]，华中科技大学出版社，2001
[8] 和平鸽工作室．OpenGL高级编程与可视化系统开发[M]．中国水利水电出版社，2002
[9] 怀进鹏，李波等．虚拟现实研究概况．计算机研究与发展，1996．7
[10] 毛朝阳．卫星监测中三维可视化图形技术应用．计算机应用，1999
[11] 何江华．计算机仿真导论．北京：科学出版社，2001．3
[12] 王惠刚等．计算机仿真原理及应用(第二版)．北京：国防科技大学出版社，2000．4
[13] 李勇．航天器运动可视化分析系统的设计与实现．武汉：华中科技大学图书馆，2002
[14] 吴家铸，党岗，刘华锋等．视景仿真技术及应用．西安：电子科技大学出版社，2001．7
[15] 徐青．地形三维可视化技术．武汉：测绘出版社，2000．8
[16] 康凤举．现代仿真技术与应用．国防工业出版社，2001．9
[17] 汪成为，高文，王行仁．虚拟现实技术的理论、实现及应用．北京：清华大学出版社，广西：广西科学出版社， 1996
[18] Jackie Neider, Tom Davis, Mason Woo. OpenGL Programming Guide. Addison-Wesley Publishing Company, First Printing, 1993
[19] 汪地，陈一民，方明伦．VC环境下OpenGL的开发应用．
[20] 强大再，陆长德，余隋怀，何卫平．基于OpenGL的三维仿真实现，机械科学与技术，1999，Vol．18，No．5
[21] Stytz M, Distributed virtual environments, IEEE Computer Graphics andApplication, 1996, 16(3): 19～31
[22] 廖朵朵，张华军．OpenGL三维图形程序设计[M] 北京：星球地图出版社，1996
[23] 陆品，朱根兴，李婷婷．基于OpenGL的三维仿真系统开发．计算机应用，2002．5
[24] 孙波．OpenGL 编程实例学习教程[M]．北京：北京大学出版社，2000．6
[25] 袁绪龙，张宇文，刘乐华．基于openGL的弹道视景仿真系统设计．《电脑与信息技术》，1995
[26] 夏云庆．Visual C＋＋6.0 数据库高级编程．北京希望出版社．2002．
[27] 成思源 张群瞻编著．计算机图形学[M]．北京：冶金工业出版社，2003．103～131．
[28] 徐晓云、李俊峰、罗苏鹏．小卫星轨道姿态控制系统仿真软件平台．清华大学学报．2003年43(2)P234～P237．
[29] 王昆杰，王跃虎，李征行．卫星大地测量学．北京：测绘出版社，1990．
[30] 王侠，于相慧，赵明晶．人造卫星轨道要素的计算．吉林地质，1999，18(2)
[31] 王五生．摄动力对静止卫星轨道根数的影响．陕西师范大学学报(自然科学)
[32] J A Joines, R. R Barton, K Kang and A Fishwick, eds. A model-based approach forcomponent simulation development[C]. Proceedings of the 2000 Winter Simulation Conference, 2000:1831～1840
[33] Wu An-Ming, Xu Xiaohui, Ni Wei-Tou. Orbit Design and Analysis for ASTROD Mission Concept. International Joumal of Modem Physics D. 2000, 9(2): 201～214
[34] Mark E. Campbell, Thomas Schetter. Formation Flying Mission for the UW Dawgstar Satellite. 0-7803-5846-5/00 2000 IEEE
[35] Crockett, Gregg A. (Boeing-SVS, Inc. ), Brunson, Richard L. Visualization Tool for Advanced Laser System Development, Proceedings of SPIE - The International Society for Optical Engineering, 2002, 4724(5): 69～77
[36] 秦大国，陈星．STK及其在卫星组网仿真演示中的应用研究．指挥技术学院学报，2001，12(4)：66～69
[37] STK User's Manual Version 4. 0. 5 for PCS. Analytical Graphics, NC(AGI), 1998
[38] Thomas A. Funkhouser and Carlo H. Sequin, Adaptive Display Algorithm for Interactive Frame Rates During Visualization of Complex Virtual Environments, Computer Graphic Processings, Annual Conference Series, 1993
[39] Turk Greg, Retiling Polygonal Surface, Computer Graphics Proceedings, 1992: 55-64.
[40] Mark Pence, History of Virtual Reality Modeling language, http:// webspace .sgi.com
[41] Car Machover, 3D graphics through the Internet, Computer Graphics, ACM Press, August 1995.
[42] Waters K. A Muscle, Model for Animation Three-dimension Facial Expression, Computer Graphic, 1987,21(4): 17-23
[43] Gerald N Pitts and Daniel Cornell, Using Object Peripherally-Based level Of Detail Switching For Real-Time 3D Graphics Simulations, Department of Computer Science Trinity University, 1997,277-280
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