Vehicle Dynamics in the Virtual Proving Ground (VPG) Synthetic Environment Integrated Testbed (SEIT)

摘要

The Synthetic Environment Integrated Testbed (SEIT) links individual test centers' computer simulations of battlefield elements for distributed virtual testing. One such simulation is vehicle dynamics via the Vehicle Dynamics Mobility Server (VDMS). VDMS, a model developed at the United States Army Research Development and Engineering Command (RDECOM), simulates vehicle dynamic response to terrain and driver inputs such as brake, throttle and steering. The response is sent out through Distributed Interactive Simulation (DIS) Protocol Data Units (PDU) in the form of linear position and angular orientation relative to the Geocentric Cartesian Coordinate frame. The VDMS simulation response can be integrated in sensor models to test sensor response to vehicle position, orientation and vibration. This paper discusses the challenges that were overcome when integrating the VDMS simulation into SEIT. The issues included solving equations of motion in real time, transforming coordinate systems and sending DIS PDU packets for networked communications.