本文選題：滑雪　切入點：虛擬現(xiàn)實　出處：《北京交通大學》2017年碩士論文

【摘要】：北京-張家口冬奧會的臨近使滑雪運動在中國迅速升溫,滑雪運動高費用、高風險等特點阻礙了其在中國的普及�；┠M器作為一種替代方案,可以解決上述問題。但已有的滑雪模擬器模擬效果不真實,與滑雪者感官的交互較為單一,無法產(chǎn)生令滑雪者身臨其境的感受。因此本文提出了一種3RPS機器人和虛擬現(xiàn)實技術結(jié)合的全新滑雪模擬器方案,可以模擬滑雪者俯仰、偏轉(zhuǎn),速降三個維度的運動,滿足滑雪者模擬真實滑雪的需要。本文的工作除虛擬現(xiàn)實場景的實現(xiàn)均由作者獨立完成,其內(nèi)容主要分為三部分:第一,借助四元數(shù)、方向余弦矩陣等數(shù)學方法,分析、建模并實現(xiàn)了滑雪模擬器的控制系統(tǒng),解決了滑雪者重心空間與滑雪臺驅(qū)動空間的相互映射問題;第二,通過構(gòu)造傳遞函數(shù)使運動曲線平滑化及Z變換、δ變換使信號離散化,實現(xiàn)了滑雪模擬器信號預處理系統(tǒng),解決了過程中輸入信號不連續(xù)與滑雪臺運動行程空間有限的問題;第三,通過對常用協(xié)議的優(yōu)選實現(xiàn)和對ADS通信原理的分析,實現(xiàn)了滑雪模擬器的通信系統(tǒng),解決了滑雪模擬器子系統(tǒng)間的相互通信問題。本文的驗證過程主要分為兩部分:子系統(tǒng)單元測試和系統(tǒng)集成測試。本文在對子系統(tǒng)進行單元測試的過程中,通過正反解算法互為逆運算的性質(zhì)驗證了控制系統(tǒng)的正確性;通過滑雪臺信號預處理系統(tǒng)的輸入、輸出信號的對比,驗證了其有效性;通過對滑雪模擬器通信系統(tǒng)抓包測試,驗證了其實時性;通過對虛擬現(xiàn)實生成系統(tǒng)的前后場景對比,驗證了滑雪者視角和場景運動的方向一致性。最后,本文對滑雪模擬器的協(xié)調(diào)性進行整體驗證。經(jīng)驗證,可以滿足滑雪者模擬真實滑雪的需要。
[Abstract]:Beijing-the proximity of the Zhangjiakou Winter Olympics has led to a rapid rise in skiing in China, with high costs and high risks hampering its popularity in China. Can solve the above problem. But the simulation effect of the existing ski simulator is not real, and the interaction with the skier's senses is relatively simple. Therefore, this paper proposes a new skiing simulator scheme combining 3RPS robot and virtual reality technology, which can simulate the skier's motion in three dimensions: pitching, deflection and speed down. The work of this paper, except the realization of virtual reality scene, is accomplished by the author independently. The content is divided into three parts: first, with the help of quaternion, direction cosine matrix and other mathematical methods, analysis, The control system of ski simulator is modeled and realized, which solves the mapping problem between the center of gravity space of skier and the driving space of ski table. Secondly, the motion curve is smoothed and Z transformed by constructing transfer function, and the signal is discretized by 未 transformation. The signal preprocessing system of ski simulator is implemented, which solves the problems of the discontinuity of input signal and the limited travel space of ski table. Thirdly, through the optimization of common protocols and the analysis of ADS communication principle, The communication system of ski simulator is realized. The verification process of this paper is divided into two parts: subsystem unit test and system integration test. The correctness of the control system is verified by the properties of the forward and inverse algorithms. The validity of the control system is verified by comparing the input and output signals of the ski platform signal preprocessing system. Through the contrast of the scene before and after the virtual reality generation system, it verifies the consistency of the skier's angle of view and the direction of scene motion. Finally, this paper verifies the coordination of the ski simulator as a whole. It can meet the needs of skiers to simulate real skiing.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP391.9;TP242;TS952.6

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