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International Journal of Advanced Computer Science, Vol. 2, No. 3, Pp.110-113, Mar. 2012.

Manuscript
Received:
20, Jun. 2011
Revised:
29,Sep., 2011
Accepted:
25,Feb., 2012
Published:
15,Apr., 2012
Keywords
Simulink,
6DOF
equation of
exterior
ballistics
Virtual
Reality
Abstract_ The course of simulation is
establishing mathematics model of exterior
ballistics, creating simulation platform
using Simulink and establishing 3D visual
scene using VRML (Virtual Reality
Modeling Language) and V-Realm Build
2.0. The input signal can be accepted by
output module of VR Sink, because of the
technology of combination of Simulink
and VRML. It can display the movement
of rocket in the way of virtual reality. The
flight trajectory reflects the flight state of
rocket. The technology of Virtual Reality
is significant for designers to design
exterior ballistics of rocket.
1.

Introduction
VRML (Virtual Reality Modeling Language) is often
used for describing virtual reality. The visual world of
compute system can be created and experienced by virtual
reality which generates 3D space. In the 3D space users can
intercommunicate with it. VRML has 6+1 DOF, so we
move and rotate images in three directions, also creates 3D
space hyperlink [1].
VRML files are text attribute of describing virtual
space, which is generated by text editor. The center of
browser is default origin. It is X, Y, Z axis positive direction
from origin point to right, up, down. If you want to create
objects that are in default position, you have to adjust the
position of origin.
Atypical VRML file includes head file, remark, nodes,
field, circumstance and route [2].
In the past, high level program language is introduced
to solve the traditional exterior ballistics calculation, which
emphasizes on the arithmetic of model [3], a great deal of
dates are come into being when the simulation ends; Now
by the technology of combination of Simulink and VRML,
users can not only get the simulation dates, but also observe
the virtual movement of rocket.

This work was supported by Bei Jing Institute of Technology.
Wei-Ling Yang and Chun-Lan Jiang are with Bei Jing Institute of
Technology, School of Mechatronical Engineering
(share.wish.happy@126.com; jiang.chunwh@bit.edu.cn)
2. 6DOF Equation of Exterior
Ballistic
All expressions of forces and moments are introduced
to general equation of rigid movement. The format of
6DOF equation has been got. This equation is so-called 6D
equation [4].
In this paper, we quote equations of exterior ballistics
from reference [4]. So, according to our demand we will
predigest these equations, and next steps to establish
platform of simulation.
A. Coordinate system
1) Ground coordinate system o xyz
Ground coordinate system linking with earth, which
origin is the point at which something begins to move is
right-hand right-angle coordinate system. Confirming
moving direction is positive, the positive direction of
ox -axis, oy -axis, oz -axis is confirmed by right-hand
principle.
2) Rocket coordinate system
'
o q,
Its origin locates at the center of mass of rocket.
Positive direction of
'
o -axis is along the positive
direction of axis of rocket.
'
oq -axis and
'
o, -axis are in
the plane which crosses center of mass of rocket and is
vertical to axis of rocket. This coordinate system is linked
with rocket and reflects space gesture of rocket.
3) Velocity coordinate system
2 2 2
o x y z
In velocity coordinate system, origin is the center of
mass of rocket, the direction of
2
ox -axis is the same as
velocity vector;
2
oy -axis is vertical to
2
ox -axis;
2
oz -axis is
confirmed by right-hand principle. This coordinate system
is also called natural coordinate system or ballistic
coordinate system.

The Realization of Virtual Reality of
Launching Rocket Based on Simulink and VRML
Wei-Ling Yang, & Chun-Lan Jiang
Yang et al.: The Realization of Virtual Reality of Launching Rocket Based on Simulink and VRML
International Journal Publishers Group (IJPG)

111
Fig.1 Relation between velocity coordinate system and rocket coordinate
system
B. Dynamic equation of movement of center of mass of
projectiles, rockets, missiles
2
x
F
dv
dt m
=
(Equ.1)
2
2
1
cos
a
y
d
F
dt mv
u

=
(Equ.2)
2 2
z
F
mv
d
dt

= (Equ.3)
1
M
C
d
dt
c
c
e
= (Equ.4)
2
.
..
2
1
tan
( )
D D
d
C
M
dt A A
A C
A
,
, , q q ,
, q
e
e e e e
| |
= + +

+
(Equ.5)
2
.
..
2
1
tan
( )
D D
d
C
M
dt A A
A C
A
,
, , q q ,
, q
e
e e e e
| |
= + +

+
(Equ.6)
C. Kinematics equation of movement of center of mass of
projectiles, rockets, missiles
2
cos cos
a
dx
v
dt
u = (Equ.7)
2
cos sin
a
dy
dt
v u = (Equ.8)
2
sin
dz
v
dt
= (Equ.9)
2
cos
a
d
dt
,
e

= (Equ.10)
2
d
dt
q

e = (Equ.11)
2
tan
d
dt
c ,

e e = (Equ.12)
D. Connection equation
2 2 2 2 2
sin cos sin sin cos .
cos( )
a a
o
u
=

(Equ.13)
1 2 2
sin cos sin( ) / cos
a a
o u o =
(Equ.14)
2 2
sin sin sin( ) / cos
a a
| u o = (Equ.15)
In above equations,
2
x
F ,
2
y
F and
2
z
F are the force
in the ground coordinate; v is initial velocity;
2
o and
1
o are orientation attack angel and high-low attack angel ;
is rotation orientation angel;
a
u and
2
are high-low
angle of velocity and orientation angel of velocity;
a
and
2
are high-low angle of projectile axes and
orientation angel of projectile axes;
c
e ,
q
e and
,
e are
rotation velocity in the projectile coordinate;
There are fifteen equations and fifteen variables.
When the parameters of structure, dynamics, shoot
condition, initial condition are given, we can solve the
movement trajectory by integral method. By predigesting
these equations, other format of equation of exterior
ballistics is given.
3. Create Simulink Simulation Model
The main function of Simulink is describing dynamics
characteristics of system, realizing dynamics modeling and
simulation [7]. The course of Simulink is system, modeling,
arithmetic, program design and displaying of simulation
results.
A. Establish 6DOF dynamics equation module and exterior
forces and moments based on Simulink Units
6DOF dynamics equation can be expressed by a group
of non-linear differential equations, the core of which is
dynamics equation and kinematics equation. The exterior
forces and moments can be expressed in the ground
coordination and in the rocket coordination separately. You
can create a module which exports speed, coordination
value, and rate of rolling, orientation cosine and Euler
angel.
The basal parameter of 6DOF dynamics equation
includes initial angel, initial speed, and curve of thrust,
aerodynamics parameter, mass and movement of inertia,
center of mass. After these parameters are confirmed and
simulation platform are established it can be simulated in
the way of visualization.
When complicated system occurs in the course of
modeling and simulation, the model is difficulty to be
described by single system. It is also divided into some
separate subsystems. In addition users can encapsulate
subsystems in a module [8]. In this paper there have 15
equations of exterior ballistics, so we need to encapsulate
them into two subsystems modules, as follows (see Fig.2
and Fig.3).
International Journal of Advanced Computer Science, Vol. 2, No. 3, Pp.110-113, Mar. 2012.
International Journal Publishers Group (IJPG)

112
Fig. 2 Model of exterior force and exterior moment

Fig.3 Model of 6DOF Equation
4. Encapsulation of visualization
simulation module
Visualization simulation module (see Fig.4) consists of
exterior forces and moments module, 6DOF dynamics
equation module, XY-Graph module, visualization module.
In order to modify variable parameter, all parameters are in
the same M-file [5]. The purpose is to increase readability.
Encapsulation of module has the advantage of
readability and transplant. According to concrete conditions,
adding other module make the result more closed to real
phenomenon.

Fig.4 Visualization simulation
The modules concerning virtual reality toolbox consist
of core module, special module, special input module,
single module [8]. The core module includes VR Sink and
VR Source, VR Sink module supports the single from
Simulink to virtual reality and VR Source supports
interface technology from virtual reality to Simulink.
Virtual reality toolbox can work in two work environment
such as MATLAB interface technology, Simulink interface
technology. Rotation MATRIX2VR can transform
orientation cosine matrix to rotation vector. In this paper we
select Simulink interface technology and virtual reality
toolbox.
5. Establish 3D visual scene
3D visual scene (see Fig.5) consists of vehicle, rocket,
radar and background. VRML has difficult in constructing
more complicated 3D model because VRML is strict in
syntax-language and has better function. So in this paper
we can add the Object Library, which is the most important
part of V-Realm Builder, to visual scene, also add the object
that we create to Object Library.
The criterion of VRML is that father nodes have child
nodes and child nodes have child nodes. Each node consists
of field, which has specified value, all these values define
character of a scene.

Fig.5 3D Visual scene
6. Visual Simulation
In Figure 4, select the VR Sink module, in VR Sink
dialog box, Knock Browse button and select my .WRL
file see Fig.6 and open it. In the right youll see
directory tree, then select the rocket, in the subdirectory
tree, make a marker on center and rotation. When the model
is run, observers can view from different visual angles (see
Fig.8). We also get the movement curve by XY-Graph
module (see Fig.7).
Yang et al.: The Realization of Virtual Reality of Launching Rocket Based on Simulink and VRML
International Journal Publishers Group (IJPG)

113

Fig.6 VRML directory tree

Fig.7 Movement curve

Fig.8 The result of trajectory simulation
7. Conclusion
From Fig.7 we can get the top point of trajectory and
set up range table. So we can intercalate initialized
launching parameters according to needs of launching.
From Fig.8 we see the movement of rocket directly.
Visual simulation of weapon system is an important
research method in the field of weapon design [9] including
warhead evaluation visualization, interior ballistics
visualizationterminal ballistics visualizationvulnerability
visualization and so on.
It is easy to establish simulation model and decrease
amount of work and is also convenient for users to modify
any module in the method mentioned in this paper, so all
factors can be reflected in concrete way. Output result has
the characteristic of visualization.
In this paper visual simulation reflects trajectory of
rocket directly and characteristics of exterior ballistics. It
accords with real phenomenon of launching rocket basically.
Visual simulation is significant for designers to design
products.

References
[1] D.W. Long, "6-DOF motion SIMULINK for projectiles
based on MATALB/SIMULINK," (2009) Journal of
Chongqing Institute of Technology (Natural science), vol. 23,
no.4, pp. 146-147.
[2] ZH. JunMin, H. Y. Juan, "The incorporate simulation of the
missile trajectory based on MATALB/SIMULINK,"
(2003) Journal of Projectiles, Rockets, Missiles and
Guidance, vol. 21, no.36, pp. 134-138.
[3] M. Works, MATLAB the language of technical computing,
using MATLAB. Release, 2001.
[4] H.Z. Peng. "Exterior Ballistics of Projectiles, Rockets and
Missiles" (2008) Press of Beijing institute of Technology, pp.
141-143
[5] X.D. Yu, & CH.Y. Quan, "Technology and Application of
system simulation based on MATLAB/SIMULINK," (2006)
pp. 36-38
[6] H.H. Rosenbrock, Computer aided control systems design.
London: Academic Press (1973), pp. 442-448
[7] L. Hua, CH.W. Wei, Simulation of Trajectory Visualization
Based on VRML Language.
[8] H. Quebec, TEQSIM International. Power system block set,
for use with SIMULINK.
[9] ZH.J. Xiang, & L. XueShan. "The Plane Flying-off
Simulation Using Virtual Reality Toolbox of MATLAB,"
(2003) Compute Simulation, vol. 10, no. 34, pp. 168-173.

Wei-Ling Yang was born in
ShanDong province, China, in 1981.
He received the B.Sc. and M.Sc.
degrees from North University of
China in 2006 and Bei Jing Institute
of Technology in 2008, respectively.
He is the author or coauthor of more
than ten national and international
papers. He is with flight mechanics
Center Group, since 2006. He is
currently pursuing his Ph.D. degree in Bei Jing Institute of
Technology, School of Mechatronic Engineering. His
current research interests include explosion mechanics,
flight mechanics, engineering mechanics and Numerical
Simulation.