Simulating the Sensor Environment in Real-Time

Enhanced vision and augmented reality are two closely related topics in recent pilot assistant technology. When combined with sensor fusion from sensors like millimeter wave radar or flash ladar. In order to develop such systems extensive flight test are necessary. However, modern computer simulations allow to keep expensive flight tests to a minimum. DLR has combined its expertise in the field of high performance sensor simulation with the visual simulation for its generic cockpit simulator. The result is a comprehensive sensor simulation suite consisting of modules for simulating a broad variety of lidar and ladar sensors, millimeter wave radar, 3D radar and infrared in real-time. Sensor simulation is mainly based on the application of high performance functions of modern computer graphics hardware (vertex and fragment shaders). All simulations may include the simulation of drop shadows, blooming, side lobes and similar effects. On a standard workstation performances of over 60 frames per second are achievable. The simulations are flexibly parametrized so that they can be easily adapted to every existing and even not yet existing sensor type. For example, it is possible to simulate high performance, high resolution 3D radar sensors even if those systems are not yet available. The paper presents implementation ideas of the sensor simulators as well as the architecture of simulation software and hardware