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The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, ChinaDESIGN AND IMPLEMENTATION OF VIRTUAL SIMULATION TEACHING SYSTEMFOR UAV BASED ON WEBGLHe Yuanrong 1,2,Wang Xiaorong 1,*, Chen Qiujin 1, Leng Peng 11Collegeof Computer and Information Engineering, Xiamen University of Technology, Xiamen 361024, China2012112001@xmut.edu.cn, xrwang24@163.com, cqj0818@outlook.com, 2695424914@qq.com2Key Laboratory of Ecological Environment and Information Atlas (Putian University) Fujian Provincial University, ChinaCommission VI, WG VI/4KEY WORDS: WebGL, Unmanned aerial vehicle( UAV), Virtual simulation, VisualizationABSTRACT:With the advent of the 5G era of digital smart city, "UAV Application" is booming, and there is more and more demand for UAVremote sensing technology. How to cultivate high-tech application talents of UAV has become the primary problem to be solved inthe development process of UAV. Based on WebGL technology, this paper combines virtual reality and panoramic technology, andadopts lightweight B/S architecture to develop an open platform for virtual simulation teaching that integrates online display,teaching, practical training, assessment, communication and management of UAV. The platform realizes the "three-dimensionalteaching material, teaching platform, virtual exhibition hall" of the trinity teaching mode. Students can log in through the account tocarry out theoretical learning, flight control operation learning and other interfaces, which can meet the training needs of high-techapplication talents of UAV and strengthen students' understanding of theory and practice, simulation training has the advantages ofrepeated practice, without being limited by the space and time, and solve the problems of low interest, poor scalability and high costof traditional UAV training.1. INTRODUCTION1Unmanned aerial vehicles are intelligent high-techproducts that can be moved in the air under the networkenvironment and the products of high-tech in the informationage (Jin et al, 2019). Under the trend of intelligence, UAVapplication technology combined with hyperspectral remotesensing as an emerging high-tech means has become a researchhot spot at present, widely used in remote sensing mapping,geological survey, natural disasters, military applications,agriculture and forestry plant protection, power patrol, securityemergency, police law enforcement, film and television aerialphotography, environmental monitoring, medical care, weatherforecasting, garbage disposal, urban planning, logistics anddistribution, the era of digitalization of UAV has quietlyarrived. "UAV Application" is fully blossoming, and a largenumber of UAV technical talents are urgently needed.The UAV simulation teaching based on WebGL has highrequirements for practical ability. On the one hand, the fieldoperation process of UAV application covers a wide range ofknowledge points, which is a skill that requires repeatedpractice and operation. On the other hand, the operation ofUAV requires strict requirement on the training site, andimproper operation is easy to cause accidents. Therefore, it isurgent to introduce virtual simulation into the teaching of UAV,build a system-complete teaching system, and realize the virtualsimulation operation of UAV. Users can immerse themselves inthe scene and experiment or learn without limit of time, place ortimes, so as to improve their initiative, interest and practicalability. In modern teaching, virtual simulation experiment is animportant embodiment of the combination of theory andpractice. As a new type of teaching platform, the virtual* Corresponding author.E-mail address: xrwang24@163.com (Wang Xiaorong).simulation system provides new ideas for the problems existingin traditional teaching and has high application value. In recentyears, with the advent of the "Internet " era, more and moreteaching and training has been carried out in the form of virtualsimulation. Gatto used virtual simulation technology formodeling interaction of virtual control room (Gatto et al, 2013).Qiao applied the virtual simulation technology to the powersystem operation and development (Qiao et al, 2013). Lamdemonstrates the advantages of virtual reality technology formedical teaching experiments (Lam et al, 2014). Bhagat usedvirtual simulation for military fact-finding training (Bhagat et al,2016). Under the background of rapid development of virtualsimulation technology, people are increasingly aware of theimportance of introducing virtual simulation into teaching.The virtual simulation system is a new type of teachingplatform. The 720 panoramic 3D scene is used as the carrier ofthe virtual teaching of the UAV, which provides a stage for thetraining and teaching of the UAV. The maturity anddevelopment of virtual reality (VR) technology and WebGLdevelopment provide technical support for virtual simulationteaching. Virtual reality technology is a new technology ofcomputer-generated virtual simulation environment, with whichusers can interact with perception and realize natural interactionwith three-dimensional scenes (Merians et al, 2011). It cancreate virtual scenes, simulate real-world environments,combine virtual and reality, and realize human-systeminteraction. At present, the traditional technology Web3D for3D visualization requires the installation of plug-ins to render3D scenes, and the visual effects of the screen are rough, whichis more and more difficult to meet people's needs. On this basis,the emerging WebGL technology accelerates the developmentprocess of 3D visualization (Yin et al, 2018). WebGL simplifiesthe implementation of virtual simulation system, reduces thehardware requirements, has a better visual interface, and has aThis contribution has been es-XLII-3-W10-1239-2020 Authors 2020. CC BY 4.0 License.1239

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, Chinastronger immersive experience effect, so that teaching is nolonger flat and boring, and it promotes the process of learning.In view of the above shortcomings, this paper adopts B/Sarchitecture, based on three.js three-dimensional engine,designing online display, teaching, training, assessment,communication and management in the integration of UAVvirtual simulation teaching platform, to construct a variety ofUAV model integration the scenario, solves the problem thatthe browser needs to install the plug-in to browse, and userinteraction with the UAV, the unmanned ship through theprocess of implementation, verify the validity of the virtualsimulation teaching system of UAV. It shows that the threedimensional scene of the system interactive and immersivefriendly, and has high teaching efficiency. It can well meet theneeds of users and make up for the shortcomings of traditionalteaching. UAV virtual teaching system achieved virtualsimulation to a large degree making the traditional teachingcourse into animation with virtual technology and moreinteractivity and facticity.2.SYSTEM ARCHITECTUREresource information, device information, 3D model data, andtrial balloon. The user login interface, server and model data areseparated into two parts: the front end and backgroundmanagement. The front end is responsible for browser pagedevelopment, simple and intuitive, flexible to use; the back endis responsible for server management development. Users,developers, and maintenance personnel perform their dutieswithout affecting each other, simplify system development andmaintenance, improve the flexibility, and realize theconstruction a 3D virtual scene rendering, further meeting userrequirements for model visualization, in the case of without anyplug-in installed browse and view the 3D model, and performinteractive operations such as scaling, rotating, splitcombination interactions, and so on to enhance visualperception and stimulate learning interest. The user only entersthe system through a browser that supports WebGL, issues arequest instructions at the browser end, and the server respondsto the request accordingly. Mysql database is installed on theserver to store a mount of data. The browser can interact withthe database through the Web server, ingeniously solving the3D interaction problem.2.1 System Architecture2.2 System overall framework design and developmentVirtual simulation teaching system for UAV based onWebGL uses WebGL technology combined with three.js threedimensional open source framework development. The three.jsframework is usually a combination of modules that arecommon to code, which is used in many fields. Most of the 3Dvisualization systems use the C/S architecture, which requireshigh software and hardware and is not lightweight enough.Therefore, the system adopts the B/S architecture (browser withWebGL parsing capabilities/web server ), the loading speed isfast, and the browser can be opened without installing the Flashplug-in, which greatly reduces the development difficulty.System architecture diagram is shown in Figure 1:Through long-term exploration and research on thetraining market of unmanned system, the existing traininginstitutions in the market failed to form a sound teachingsystem, and the traditional teaching mode could not meet theteaching needs. With the stable development of the industry, itis urgent to establish a standardized, systematic and professionaltraining system.The design purpose of UAV virtual simulation system is torealize equipment cognition, human-system interaction, virtualsimulation experiment operation, online assessment andcommunication without installing any plug-ins based onWebGL technology, mastering UAV theoretical knowledge andpractical skills, and realizing the integration of learning,practice and examination. Based on these functions, the userinterface is designed by using HMTL5, CSS and Java Scripttechnology, and the display is integrated on the browser side.The whole system uses 3DMAX modeling, virtual realitytechnology combined with three.js framework to build the scene,and the 2D user interface and 3D virtual scene are integratedand released into the web browser to achieve virtualexperiments instead of actual operations. The system builds theenvironment to apply the centos7 operating system, and uses theTomcat application server to respond to HTML5 events,combined with the MySQL database to realize layerDatalayerUser personalized login interfaceJavaScriptHTML5CSSWeb serverUser informationteaching resource3D model datatest questions libraryequipment informationFigure 1. System architecture diagramIn the system architecture design and development,through the integration of the presentation layer, the controllayer and the data layer, the site.xml file is parsed to obtain thedata of the entire scene. The presentation layer uses JavaScript,HTML5, CSS programming, design and display the user logininterface and 3D virtual scene; The control layer as the linkbetween the presentation layer and the data layer, converting themodel data for loading; The data layer is responsible for thestorage of system data and focuses on the interacting with thedatabase. The database includes user information, teaching3. MODULE DESIGNThe design of UAV virtual simulation system is based onthe principles of verisimilitude, practicability, openness, highefficiency, integrity and reliability to achieve the best effect ofvirtual simulation. On the theoretical basis, the development ofvirtual simulation teaching, using modular design, it is easy todevelop and expand system. The main modules of the systemare: online tutorial, simulation training, online assessment, usermanagement, and data management.Online tutorials in the virtual exhibition hall: equipmentcognition and animation display; Simulation training includesall kinds of practical training: data processing, equipmentassembly, and actual operation; Online assessment is used totest learning effectiveness, communicate and interact with eachother, share dynamic information, promote learning; UserThis contribution has been es-XLII-3-W10-1239-2020 Authors 2020. CC BY 4.0 License.1240

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, Chinamanagement changes the Settings of user login, role conversion,password, etc. Data management the management of the datastored in the resource repository involves the updating andOnline tutorialsSimulation trainingDesign of UAV virtualsimulation systemmanagement of resources. The overall design of the system isshown in figure 2:Equipment cognitiveBasic knowledgeAnimated showData processingVirtual Exhibition HallEquipment assemblyUAVData processingUnmanned shipsEquipment assemblyThree-dimensional laserHands on operationRandom algorithmDifferent contentDifferent typesOnline assessmentFreedom group volumeDifferent devicesStudentUser loginTeacherUser managementUser roleAdministratorUser listVisitorQuestion bank resource managementAddText updateData managementDeleteUpdate of simulation experimentEditing3d animation updateResource managementFigure 2. System overall framework3.1 Online Teaching Module3.1.1Online Course BasicsThe online course module is an important part of thesystem. Diversified virtual simulation teaching, includinggraphic, audio and video, MG animation, virtual simulationexperiment, detachable mold of 3D printing display andpractical operation, containing UAV system, unmanned shipsystem, data processing combine multiple knowledge pointswith applications, virtual and real, combined with online andoffline teaching to stimulate students' interest in learning andguide students to change their learning concepts. The onlinecourses focus on the learning of basic knowledge of UAV, andcultivate professional ability of the students. By restoring thereal environment, creating a virtual classroom scene, embeddingthe device model of the multi-source unmanned remote sensingsystem, accurately and realistically restoring the appearancestructure of the device, optimizing the details, combining withthe application examples of scanning the two-dimensional codedisplay, the virtual exhibition hall zooming and 720 degreerotation, increasing interest and improving learning efficiency.Let students have a certain degree of cognition of the basicknowledge of equipment.Users can learn relevant knowledgeand applications according to their own needs. The Phantom 4PRO knowledge display is shown in Figure 3. Figure 4 showsthe DJI M600 Pro. The QR code is placed, and the user canscan the code to view the application examples for learning.This contribution has been es-XLII-3-W10-1239-2020 Authors 2020. CC BY 4.0 License.1241

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, Chinadata preparation3DMAX modelingPanorama exhibition hall andequipment model makingModeling, Loading, animationOutput model dataVirtualExhibitionHallThree.Js loadingInteractive function implementationUI interface designWebGL renderingFigure 3. Phantom 4 PRO knowledge showRendering, mappingIntegrated publishingto the web sideFigure 5. Virtual showroom development processFigure 4. DJI M600 Pro knowledge showThe page of online exhibition hall provides users with anentrance to the virtual online 3D exhibition hall, through whichthey can browse different scenes in the virtual exhibition hall.The virtual exhibition hall system displays the virtual teachingenvironment and equipment exhibition hall with 720 panoramic technology; At the same time, a variety of unmannedremote sensing system devices are presented by online threedimensional display technology; The users can perform threedimensional viewing of the device through the network,disassemble the device, and understand understand the structureof the device. The specific process is shown in Figure 5.3.1.33.1.2Virtual Exhibition HallCompared with traditional teaching, the virtual exhibitionhall teaching development has more characteristics, and itssimulation and interactive further. 3DMax is one of the mostwidely used 3D design software, with perfect 3D productionand powerful rendering output ability, and simple to flexibleand operate, which is the key to the establishment of 3D virtualreality model (Zhang et al, 2018). Based on the data andpictures collection, and modeling on 3DMAX, with obj or fbxas 3D data export format, three.js load the UAV model into thescene through Load() function, using WebGL rendering andgraphics integration, combined the technology of VR panorama,using JavaScript language to make Web interactive 3D scenes,integrated display in the browser, make the teachingenvironment, giving learners an immersive experience, bringingreal fuck the sense, as it were, is helpful to enrich the teachingcontent, improve students' innovative and practical ability.Based on the real teaching environment, we will create virtualclassrooms, embed 3D models and basic knowledge of variousunmanned remote sensing system devices, accurately andobjectively restore the appearance and parameters of the actualequipment, and combine with the data processing applicationtutorials at the later stage. students can have a preliminarycognition of the equipment and work process.animation displayDisassembling the combined animation display is animportant part of the immersive experience. Because OBJformat supports only static model of storage, so through theeditable poly in the 3DMAX UAV paddles, batteries andfuselage modeling, respectively, to export in FBX formatintroduced FBXLoader() function and inflate.min.js plug-inimports into three.js, parsing model animations, throughanimation to implement disassembly and combination. TheUAV can be moved, rotated and dismantled in 3D environment.Firstly, the initial frame position and final frame position of thepaddle are set, then the interactive program is written forcontrol, and the disassembly and combination display in thebrowser perfectly realizes the 3D animation display of the UAV,and the user can browse and learn the components and details ofthe UAV.3.2 Training Simulation Module3.2.1Establishment of 3D modelThe number of 3D models is increasing rapidly along withthe development of multimedia, animation, WebGL, 3D MAXand CAD technologies. It is very important that the 3D model isbuilt in the virtual environment. The fidelity of the 3D modeldetermines the immersive experience in the 3D scene. Due tothe complicated drawing process of HTML5 Canvas tag, 3DMAX software with powerful modeling ability and drawingcapabilities is used to make 3D model of UAV. (Huang et al,2013) 3DMax is one of the most widely used 3D designsoftware, with perfect 3D modeling and rendering outputcapabilities, which is the key to build a virtual reality 3D model.3D MAX has a high degree of modeling and simulation, and theThis contribution has been es-XLII-3-W10-1239-2020 Authors 2020. CC BY 4.0 License.1242

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, Chinalighting and materials are close to reality, and the effect isrealistic. Its scalability makes the it easy to load and import 3Dmodels into the virtual environment, and the compatibilitymakes it perfectly matched with other software.The UAV modeling process is complex and requiresconstant optimization of the details to achieve the desired modelstate. Before modeling, the UAV is firstly photographed anddrawn, and 3DMAX is used to model according to the obtainedmaterials. The details are corrected by Photoshop, and polygonmodeling is used. The large shape details are firstly stretchedand adjusted, and then local stitching is applied to further adjustand optimize the details. In order to make the model realisticand natural, without affecting the normal display of the model,minimize the model surface and vertex number optimizationmodel to ensure that the model is not distorted, and try toreduce the resolution and reduce the number of textures withoutaffecting the rendering resolution display cases. The twotextures are combined into one texture to reduce the memoryusage and improve the system operation efficiency. After themodeling is completed, the model is optimized by the software'sown optimization command, exported in OBJ data format, andloaded into the 3D virtual scene. To provide users with a goodinteractive experience. The three-dimensional modeling of thedrone is shown in Figure 6:Figure 6. 3D modeling of UAV3.2.2Rendering ProcessingWebGL, as a drawing standard to achieve 3D effect inbrowser, has good compatibility and has been widely used in3D visualization. WebGL comes with a new javascriptAPI thatmakes it easy to render 3D graphics without loading any Flashplug-ins to render the 3D graphics to be displayed in thebrowser. The immersive effect is better (Lee et al, 2011).WebGL is used to render 3D graphics, and the specificrendering process is shown in figure 7: The vertex shaderdetermines the shape, and the fragment shader determines thetexture. Get the WebGL context through the DOM objectassociated with the canvas element of HTML5, call thecanvas.getContext function to get the WebGLRenderingContext,specify the viewport, initialize the viewport, create a vertexarray, and the model view matrix (modelview martrix)determines the graphics in the 3D coordinate system. The vertexarray is projected into the 3D space, the vertex shader performsvertex buffering, the primitive assembly into the fragmentshader texture buffer, and after rasterization processing, thegraphics are drawn.Data Preparation StageVertex buffersVertex shadershapeprimitive assemblyTexture bufferfragment shadercharacterrasterizationWebGL graphic plottingFigure 7. Rendering processing flow chart3.2.3Construction of virtual scenesVR based 3D virtual scene pay attention to the trainingeffect of UAV, which requires the virtual scene to be highlysimilar to the real environment and realistic. The 3D scene ofWebGL is mainly composed of scene, camera, renderer and 3Dmodels (Zhao et al, 2015). The scene is a container, usingThis contribution has been es-XLII-3-W10-1239-2020 Authors 2020. CC BY 4.0 License.1243

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLII-3/W10, 2020International Conference on Geomatics in the Big Data Era (ICGBD), 15–17 November 2019, Guilin, Guangxi, Chinacanvas in HTML5 as the rendering container, and containingdata of all 3D objects. The camera controls the position,rotation and perspective (Xiang et al, 2018). It uses aperspective camera (THREE.PerspectiveCamera), which isclose to reality and fits the human visual experience. Therenderer determines how the object appears in the scene. Afterthe scene is built, the model is loaded and rendered in the scene.As a lightweight 3D engine, Three.js makes it easy to addscenes, cameras, renderers and more. Firstly, 3D virtual space isconstructed according to field measurements, and immersivespace is tailored. Then the perspective camera is set up as theperspective observation. the 3D models of UAV are created by3D MAX software into the three.js in OBJ format and MTLformat data, andthe THREE.OBJLoader() andTHREE.OBJMTLLoader() auxiliary functions are used to toimport the 3D models of the UAV into the virtual scene throughthe loading command. Rendering through the Render() function,rendering the scene in the renderer to render a 3D virtualexperience scene on the web page.3.2.4Interaction designThe system mainly realizes user interaction with scene andmodel through mouse events. Human interaction is realizedthrough the communication center, which not only provides aplatform for users to communicate and learn, but also provides arealistic training scene. User interaction with virtual scenesthrough mouse events, resulting in a higher level of immersiveexperience. Human-computer interaction is mainly reflected inzooming, moving, and rotating events. In the scene, the sceneinterface is zoomed by scrolling the wheel, and the left mousebutton is dragged to realize the 720 movement rotation of thescene. For the model, the mouse wheel controls the zooming ofthe model, the left mouse button is held down and dragged toachieve the rotation of the 3D model, and the right mousebutton is clicked to drag the model.3.3 Resource Management ModuleResource management includes integrated management ofresources such as data management, user management, andonline assessment. Data is updated and optimized by interactingwith a web browser. The system forms a perfect teaching systemunder the continuous optimization and updating of resources.The data management module involves the updating andmanagement of data. One part contains the three-dimensionalteaching materials and virtual resources independentlydeveloped, and the other part contains the high-qualityresources discovered by users in the process of using andteaching. Data management can update question bank resources,text information, 3D animation and simulation experiment,according to the actual teaching needs, and keep pace with thetimes. Data management can update the question bank resources,text information, 3D animation, simulation experimentsaccording to the actual teaching needs, and keep pace with thetimes.Support to add, delete and edit the contents of thequestion bank. The template is imported into test question bank.you can freely group and publish test papers, through the title,question type, classification and other conditions for quickquery.The user management module is mainly used for settinguser login, user list and user roles (students, teachers, touristsand administrators). User login can modify personalinformation and set permissions, including the addition,deletion and modification of resources.The online assessment module is used to test theoreticallearning results and promote UAV learning. Online assessmentincludes course exercise assessment with different content,different types of questions (single choice, multiple choice andjudgment questions) and different equipment. According to theoperation process of students, automatic evaluation, accordingto the accuracy of the operation process, quantitative assessmentresults.4. APPLICATION EXAMPLES4.1 Simulation experimentThe UAV virtual simulation system is a platform forstudents to learn and practice independently. The simulationexperiment is the key module of the system. The traditionalexperimental teaching is limited by environment, weather andinsufficient equipment and other problems, which results infewer actual operations and less experience, so it is unable toachieve the effect of skilled operation of UAV. The mainpurpose of the simulation experiment is to help users master theoperation methods and specification requirements, and cultivatepractical operation ability. Training time can be reducedthrough simulation and training. Users can experiment in thevirtual environment without worrying about the impact of theenvironment. They not limited to time and space, practice in anunlimited number of times until they become proficient, whichimproves the learning efficiency and enables students to changefrom passive learning to independent learning. The simulationexperiment carries out the assessment of the student's operationprocess in real time and evaluates the score according to theoperation accuracy. Through the online virtual simulationexperiment, the real experimental process is simulated, and themethod of solving the problem is mastered on the basis ofmultiple experimental operations, thereby improving the abilityof students to solve problems in practice. The virtual simulationexperiment interface based on WebGL is shown in Figure 8:UAV virtual simulation interactive interface as shown in thefigure, The UAV rocker has two modes: American hand andJapanese hand. The user selects a rocker mode selection by theremote controller to perform a simulation exercise. Thekeyboard WASD controls the left joystick and the IJKL controlsthe right joystick. W stands for left rocker pushing up, A for leftrocker pushing to the left, S represents the left rocker pushingdown, D for left rocker pushing to the right. I stands for rightrocker pushing up, J for right rocker pushing to the left, K forright rocker pushing down, L for right rocker pushing to theright. Press the keys SD and JK at the same time to form "innereight" to start the UAV. Currently the American hand remotesensing mode, pushing the right rocker up, that is, pressing theW, the UAV will fly upward, and the system interface willrecord the flight altitude. The UAV winding pile "S" type cantrain the basic operation of UAV up, down, forward, backward,left-handed and right-handed effectively, scoring in real time,and the total score is 100 points. Through the simulation ofUAV operation, the UAV is controlled to move forward andbackward, up and down, and to rotate left and right, practicingindefinitely until you are proficient in UAV operation.This contribution has been peer-r

Unmanned aerial vehicle( UAV), Virtual simulation, Visualization ABSTRACT: With. the. advent of the 5G era of digital smart city, "UAV Application" is booming, and there is more and more demand for UAV remote sensing technology. How to cultivate high-tech application talents of UAV has become the primary problem to be solved in

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