A method and system for constructing a moving track of a mobile object supporting scenario simulation

Abstract

The application provides a kind of support scene simulation mobile track construction method of motor object, the method comprises: S1, obtains the source data set of motor object in real scene movement, the data in the source data set has predetermined data structure, wherein the source data set includes multiple control point data and multiple source trajectory point data;S2, all control point data is discretized, and the trajectory point data of multiple discrete sampling time corresponding to control point is obtained;S3, all source trajectory point data and the trajectory point data of multiple discrete sampling time corresponding to control point are made into time ordered trajectory point data queue;S4, each trajectory point data in trajectory point data queue is converted into time position coordinate and speed in the coordinate system supporting scene simulation and generates motion trajectory, and each trajectory point in motion trajectory includes time position coordinate information and attitude information.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of scene virtualization, in particular, to the field of spatial motion model of virtualization nodes in scene rendering, more particularly, to the field of motion model rendering construction of mobile objects such as aircraft, ships, vehicles, etc., that is, a mobile object moving track construction method and system supporting scene simulation. BACKGROUND

[0002] Scene simulation of a virtual-real combination platform is often used for spatial situation analysis, motion route and track analysis of simulation objects, etc., to provide support for line strategy customization and analysis, etc., and plays an important role in route planning. The existing scene simulation of a virtual-real combination platform adopts virtual-real combination technology and distributed deployment, and performs virtualization on nodes by combining scene objects and real objects, to support scene object modeling and spatial situation analysis, provide scene deployment capability for protocol simulation and communication link simulation of a virtual-real combination platform, and realize simulation, simulation and testing of a virtual-real combination platform.

[0003] Motion object nodes of a scene simulation platform mainly include satellites, aircraft, missiles, ships and vehicles, etc. Among them, when a satellite object node reaches the first cosmic speed, it can orbit the earth without power, forming a satellite orbit without external force planning; while aircraft, missile, ship and vehicle objects, etc. need to be powered at all times and are called mobile objects or mobile nodes, so that the analysis of how to provide power and how to plan the route for mobile objects can be visualized by the scene simulation platform. The scene simulation platform can realize motion visualization of simulation objects by dynamically and efficiently rendering the moving track corresponding to the track data of the simulation mobile object, wherein the data format supporting simulation rendering must be the position geodetic coordinate (or Cartesian coordinate) and attitude four elements in time, which means that if scene simulation of mobile objects is to be realized, the corresponding track point data of mobile objects containing position geodetic coordinate and attitude four elements in time must be obtained.

[0004] The existing track point data in the motion track is mostly calculated by Vincent for position settlement, and the error level of the position of two points calculated by the Vincent ellipsoid calculation formula is in microns. Vincent realizes the direct solution and inverse solution between two points, the direct solution is to solve the distance and direction according to two points, and the inverse solution is to solve the position of another point according to the position of one point and the direction and distance of another point. However, the Vincent ellipsoid calculation formula does not simulate the motion track and attitude, nor does it generate track data adaptively from the data source, so the track point data obtained by Vincent for position settlement cannot be well applied to scene simulation of a virtual-real combination platform.

[0005] From the data source, the motion data source of the mobile object is mainly divided into two categories: trajectory data and control points, and these data cannot directly obtain the running state at any time, which causes the accuracy of the space situation analysis to be insufficient, can cause system analysis index error, and the integrity and accuracy of the data source cannot be guaranteed. According to the dynamic rendering format of the motion trajectory model directly output by the data, the running position and posture of the mobile object cannot be normally simulated, and the visual display effect of the scene simulation is poor.

[0006] At present, the traditional scene simulation platform is mainly desktop software, and such a tool has the following shortcomings:

[0007] 1. Cannot support large-scale simulation, and the moving track adopts great circle arc calculation, and the precision is not as high as Vincent;

[0008] 2. The supported data source is also relatively single, and does not support external discrete sampling data data source files such as civil aviation flight data, and the supported data source is control point parameter input;

[0009] 3. The process processing mode is relatively simple, and the height process processing all adopts direct transition.

[0010] Therefore, in order to adapt to the scene simulation demand of the mobile object, a method capable of solving the problems that Vincent method has no motion trajectory and posture simulation, data source is uncertain, and the visual display effect of the traditional simulation platform is poor, and capable of meeting the scene simulation characteristics of the virtual-real combination platform is needed to generate a motion trajectory model, so as to explore the position and posture of the mobile object in time, and provide analysis and dynamic rendering data meeting the requirements for the platform. SUMMARY

[0011] Therefore, the purpose of the present application is to overcome the defects of the prior art, and to provide a mobile object moving track construction method, system and scene simulation method supporting scene simulation.

[0012] According to a first aspect of the present application, a mobile object moving track construction method supporting scene simulation is provided, the method comprising: S1, acquiring a source data set of a mobile object moving in a real scene, the data in the source data set having a predetermined data structure, wherein the source data set comprises a plurality of control point data and a plurality of source trajectory point data; S2, performing trajectory discretization on all control point data to obtain a plurality of discrete sampled time trajectory point data corresponding to the control point;

[0013] S3. All source trajectory point data and multiple discretely sampled time trajectory point data corresponding to the control points are combined into a time-ordered trajectory point data queue; S4. Each trajectory point data in the trajectory point data queue is converted into the time position coordinate and speed in the coordinate system that supports scene simulation and a motion trajectory is generated. Each trajectory point in the motion trajectory contains the time position coordinate information and posture information.

[0014] Preferably, step S1 includes: S11, performing a rationality judgment on all source data to obtain reasonable source data; S12, extracting the corresponding information in each reasonable source data according to a unified trajectory point data structure to complete the acquisition of source data resources, wherein when there is no corresponding information in the source data, a default value is set to 0. In some embodiments of the present invention, the unified trajectory point data structure includes at least: time, longitude, latitude, altitude, vertical speed, distance, horizontal speed, and turning radius. In some embodiments of the present invention, source trajectory point data that simultaneously meets the following conditions is determined to be reasonable source data: time, longitude, latitude, and altitude information exist in the data; the data values ​​are valid, the time sequence is increasing in sequence, and the longitude and latitude are within the definition range of the geodetic coordinate system; the number of data points is greater than 1 and is not repeated. The control point data that meets the following conditions at the same time is determined to be reasonable source data, where the control point data includes at least the first point and the last point, and when the data volume is greater than 2, it also includes the intermediate points: the data contains longitude, latitude, altitude, and horizontal speed information; except for the last point, the horizontal speed in the other control point data is greater than 0; the longitude, latitude, and altitude information in the last point data is not the same as the longitude, latitude, and altitude information in any of the previous control point data.

[0015] Preferably, step S2 includes: S21, solving the turning parameters of the control point data to obtain the turning parameters of each control point, including the turning start point, the turning end point, the center of the circle, the turning advance distance and the turning radius; S22, generating a segmented discrete trajectory corresponding to the control point based on the solved turning parameters; S23, according to a preset sampling order, discretely sampling each segment on the segmented discrete trajectory according to a preset step size to obtain multiple discrete sampling trajectory point data.

[0016] In some embodiments of the present application, in the step S22, the piecewise discrete trajectory corresponding to the control points is generated by: S221, for the control points with a turning radius not equal to 0, performing a circular arc transition, and obtaining a circular arc turning start point, a circular arc turning end point, a circular arc center, a turning advance distance and a turning angle according to the parameters of the current point and the parameters of the previous and next points; or S222, for the control points with a turning radius equal to 0, performing a straight line transition, the turning start point, the turning end point and the center are all the current control point, and the turning advance distance and the turning angle are 0; S223, based on the processing of the step S221 or S222, generating a piecewise discrete trajectory composed of one or more straight line segments and / or one or more circular arc segments, wherein the start point of the straight line segment is the first control point or the turning end point of the previous circular arc segment, the end point of the straight line segment is the turning start point of the next circular arc or the last control point, and the start point of each circular arc segment is the turning start point of the control point where the circular arc is located, and the end point of the circular arc segment is the turning end point of the control point where the circular arc is located.

[0017] Preferably, the preset sampling sequence is a straight line segment + a circular arc segment.

[0018] In some embodiments of the present application, in the step S23, the horizontal sampling and the longitudinal height sampling are respectively performed on each straight line segment + circular arc segment on the piecewise discrete trajectory, wherein: the horizontal sampling includes straight line segment horizontal sampling and circular arc segment horizontal sampling, the longitude, the latitude, the distance, the flight time and the vertical speed of the discrete sampling trajectory point are obtained through the horizontal sampling, and the height of the discrete sampling trajectory point is obtained through the longitudinal height sampling. In some embodiments of the present application, the straight line segment horizontal sampling is implemented by: calculating the distance and the direction between the previous control point and the next control point of the current straight line segment by using the Vincent positive solution method; calculating the distance between the current sampling point and the previous control point of the current sampling point based on the sampling number of the current sampling point in the current straight line segment and the advance turning distance of the previous control point corresponding to the circular arc, wherein the distance between the current sampling point and the previous control point = the advance turning distance of the previous control point + the straight line segment sampling step length * the sampling number of the current sampling point; taking the previous control point of the current straight line segment as a reference point, calculating the longitude and the latitude of the current sampling point based on the direction between the previous control point and the next control point of the current straight line segment and the distance between the current sampling point and the previous control point by using the Vincent inverse solution method; wherein the distance of the current sampling point = the distance of the straight line segment sampling end point in the previous piecewise trajectory + the sampling step length * the sampling sequence number of the current sampling point, and the flight time of the current sampling point = the flight time of the straight line segment sampling end point in the previous piecewise trajectory + (the straight line segment sampling step length * the sampling number of the current sampling point) / the horizontal speed of the previous control point.

[0019] In some embodiments of the present application, the arc segment horizontal sampling is achieved by the following method: taking the center of the current arc segment as the reference point, calculating the turning start point direction and the turning end point direction of the current arc segment based on the turning start point coordinates and the turning end point coordinates of the current arc segment; calculating the direction of the current sampling point based on the turning start point direction of the current arc segment, the sampling number of the current sampling point, and the arc segment sampling step length, wherein the direction of the current sampling point = the turning start point direction + the arc segment sampling step length * the sampling number of the current sampling point; calculating the longitude and latitude of the current sampling point based on the angle of the current sampling point using the Vincent inverse solution formula, taking the turning center as the starting point and the turning radius as the distance; wherein the distance of the current sampling point = the straight line segment sampling end point distance in the same segmented trajectory + (the arc segment sampling step length * the sampling number of the current sampling point * the turning radius * π) / 180, and the flight time of the current sampling point = the straight line segment sampling end point time in the same segmented trajectory + (the arc segment sampling step length * the sampling number of the current sampling point * the turning radius * π) / (180 * the horizontal speed of the control point corresponding to the current arc segment).

[0020] In some embodiments of the present application, the longitudinal height sampling of each discrete sampling point after horizontal sampling is achieved by the following method: when the vertical speed of the previous control point of the current discrete sampling point is 0, the height of the current discrete sampling point is calculated by smooth transition, wherein the height of the current discrete sampling point = the height of the previous control point + (the distance from the current discrete sampling point to the previous control point / the distance between the previous control point and the next control point of the current discrete sampling point) * the height difference between the previous control point and the next control point of the current discrete sampling point; or when the vertical speed of the previous control point of the current discrete sampling point is not 0, the height of the current discrete sampling point is calculated by maneuvering transition, wherein the height of the current discrete sampling point = the turning point start point height of the previous control point of the current discrete sampling point + (the relative time difference between the current discrete sampling point and the turning start point of the previous control point / (the height difference between the previous control point and the next control point of the current discrete sampling point / the vertical speed of the previous control point)) * the height difference between the previous control point and the next control point of the current discrete sampling point.

[0021] According to a second aspect of the present application, a system for constructing a moving trajectory model of a motorized object is provided, the system comprising: a data acquisition module configured to acquire a source data set of the motorized object moving in a real scene, and to pre-process all data in the source data set into a unified data structure to complete data resource acquisition, wherein the source data set comprises a plurality of control point data and a plurality of source trajectory point data; a data processing module configured to discretize the trajectory of all control point data to obtain a plurality of discrete sampling trajectory point data corresponding to the control point, and to group all source trajectory point data and the plurality of discrete sampling trajectory point data corresponding to the control point into a time-ordered trajectory point data queue, and to convert each trajectory point data in the queue into a position coordinate and a speed in a coordinate system supporting scene simulation in time; and a motion model configured to generate a moving trajectory based on the position coordinate and the speed of each trajectory point data in the trajectory point data queue, wherein each trajectory point in the moving trajectory comprises time position coordinate information and attitude information.

[0022] According to a third aspect of the present application, a method for simulating a virtual scene of a motorized object is provided, the method comprising: P1, acquiring a source data set of the motorized object moving in a real scene; P2, generating a moving trajectory of the motorized object by using the method according to the first aspect of the present application; P3, acquiring the position coordinate and the attitude information of a trajectory point corresponding to a probe time in the trajectory by using a time probe; and P4, rendering a simulation platform based on the position coordinate and the attitude information of all trajectory points acquired in step P3.

[0023] Compared with the prior art, the present application has the following advantages: by processing the position data and the speed data in time, the present application obtains the position in time and the speed supporting scene simulation of each trajectory point, and generates a moving trajectory, in scene simulation, according to the time probe technology of a virtual-real combined platform, after the probe with time enters the moving trajectory, the position and the attitude information of the time are automatically acquired, and the platform is dynamically rendered and analyzed. BRIEF DESCRIPTION OF DRAWINGS

[0024] The embodiments of the present application are further described below with reference to the accompanying drawings, in which:

[0025] Figure 1 A flowchart of a simulation scheme according to an embodiment of the present application is shown;

[0026] Figure 2 A flowchart of a method for constructing a moving trajectory of a motorized object supporting scene simulation according to an embodiment of the present application is shown;

[0027] Figure 3 A schematic diagram of a circular arc transition example according to an embodiment of the present application is shown;

[0028] Figure 4An example schematic diagram of a straight transition according to an embodiment of the present application;

[0029] Figure 5 An example schematic diagram of a segmented trajectory according to an embodiment of the present application;

[0030] Figure 6 An example schematic diagram of horizontal sampling of a straight segment according to an embodiment of the present application;

[0031] Figure 7 An example schematic diagram of horizontal sampling of an arc segment according to an embodiment of the present application;

[0032] Figure 8 An example schematic diagram of longitudinal height sampling according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] For the purpose of the present application, the technical solutions and advantages are more clearly and explicitly described below by means of specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] As described in the background, the motion trajectory in the prior art is mostly calculated by Vincent, without the trajectory discretization and attitude information output of the entire motion process, and the discrete trajectory is the data sampled in real time by the mobile object and the next motion point is planned by using image and GPS assistance, without virtualizing the real node to simulate the motion trajectory of the virtual node. The motion trajectory generated in this way cannot guarantee the integrity of the data, cannot accurately obtain the position and attitude information at the same time, and cannot well support the dynamic rendering visualization in scene simulation. Based on this, the inventors design a scheme for generating a motion trajectory by screening reasonable data and data discretization to generate a motion trajectory containing position and attitude at time, and obtain the position coordinates and attitude at time in the trajectory based on a time probe to perform dynamic rendering, as shown in Figure 1 The entire process mainly includes the following parts:

[0035] 1. Identify the source: based on the obtained mobile object moving source data in the real scene, the moving source data includes trajectory data and control point data.

[0036] 2. Directly extract data from the trajectory data and convert it into a preset standard trajectory data structure, and perform geodetic discretization on the control point data to obtain discrete trajectory points, and convert the discrete trajectory points into a preset standard trajectory data structure.

[0037] 3. Convert the trajectory data and discrete trajectory points into position and speed at time in the coordinate system supporting scene simulation, and generate a motion trajectory.

[0038] 4. Time probe is adopted, and a position and a posture on time are acquired based on input time for repeated rendering of a scene.

[0039] The application aims to solve the problem that the motion trajectory data generated by the prior art cannot meet the scene simulation requirements of a virtual-real combination platform, and proposes a new mobile trajectory construction method for supporting scene simulation of a mobile object, as shown in the figure. Figure 2 The method comprises steps S1, S2, S3 and S4, and each step is described in detail below.

[0040] In step S1, a source data set of a mobile object moving in a real scene is acquired, and the data in the source data set has a predetermined data structure, wherein the source data set comprises a plurality of control point data and a plurality of source trajectory point data.

[0041] In the scene simulation of the current virtual-real combination platform, the source of data is uncertain, so that the completeness of the existing data and the precision of discrete points cannot support the analysis and rendering of the simulation platform. The data of the existing mobile object is mainly divided into two categories: trajectory data and control point data, wherein the trajectory data is mainly a running trajectory position point with time, without attitude information; the control point data contains position, speed and turning information, without time (except the start time of the first point), without attitude data. These data cannot support the virtual node simulation running of the mobile object and the situation analysis in the scene of the scene simulation platform, and the position and attitude on time cannot be extracted through the time probe.

[0042] The data formats of different sources are not unified, and the data information formats are not consistent, which is not conducive to data compatibility and rapid analysis, in addition, the existence of unreasonable data will greatly affect the simulation effect. Therefore, a unified trajectory point data structure is designed in the application, and reasonable data resources in the source data are extracted and filled into the unified trajectory point data structure to facilitate the generation of the motion trajectory. According to an embodiment of the application, the unified trajectory point data structure is shown in Table 1:

[0043] Table 1

[0044]

[0045]

[0046] The time refers to the time of the current point; the longitude, latitude and height refer to the geodetic position information of the current point; the vertical speed refers to the motion speed of the current point in the vertical (height) direction, the control range refers to the vertical speed from the current point to the next point; the distance refers to the distance from the current point to the first point; the horizontal speed refers to the motion speed of the current point in the horizontal (lateral) direction, the control range refers to the horizontal speed from the current point to the next point; the turning radius refers to the turning process control of the current point, and the turning radius is 0 for straight line transition, otherwise for turning arc flight.

[0047] The current commonly used data sources are divided into track file data and control point data, but there may be some unreasonable data in the data, if the unreasonable data is not removed, it will cause the scene simulation distortion and affect the analysis effect, therefore, the application makes rationality judgment on the data source to remove the unreasonable data, and then extracts the data resource from the reasonable data and converts it into a unified track point data structure.

[0048] When the source data is identified as track file data (for example, when the analyzed mobile object is an airplane, the track file is the flight path data or simulation data from civil aviation), the time position information data is given in the data, with time, longitude, latitude and height information. First, the rationality of the file format is judged: 1) there are time, longitude, latitude and height data; 2) the value of the data is a valid value, the time sequence is sequentially increased, and the longitude and latitude meet the definition range of the geodetic coordinate system; 3) the number of data points is greater than 1 and not repeated. The data that does not meet any of the three conditions is judged as unreasonable. For reasonable track data, the time, longitude, latitude and height information is extracted from the data file and filled into the unified track point data structure shown in Table 1, wherein the vertical speed, horizontal speed, distance and radius are set to default value 0, the track data combined with the track point is generated, and the extraction of the track file data resource is completed.

[0049] When the source data is identified as control point data, the data rationality judgment is still performed before the data resource extraction. The control point data is designed according to the characteristics of the mobile object (airplane, missile, ship and vehicle), the control point input is designed, the motion process of the mobile object can be controlled according to the parameters of the control point, the motion direction, turning process, horizontal flight speed and vertical speed on the height are controlled. The general data structure of the control point is shown in Table 2, k, key, including: start time, longitude, latitude, height, turning radius and vertical speed, wherein, "√" must have, "○" is optional, "×" does not need parameter. It can be seen that the original data structure of the control point is different from the track point data, it needs to be converted into the track point data structure for subsequent processing.

[0050] Table 2

[0051]

[0052] The rationality judgment of the control point data includes the following aspects:

[0053] The first point parameter must contain start time, longitude, latitude, height, turning radius, horizontal speed, since the maneuvering object is moving, the horizontal speed of the object must be greater than 0, otherwise, it is invalid data, the first point of the control point can not consider the turning radius and vertical speed, if the current data is invalid data, end the motion trajectory construction.

[0054] If the number of input control points is greater than 2, in addition to the first point and the last point, the points are intermediate points, the parameters of the intermediate points must contain longitude, latitude, height and horizontal speed. Longitude, latitude, height and horizontal speed are valid values, longitude, latitude, height and the previously input control points cannot be equal at the same time, if they are equal at the same time, the current point is set as an invalid point, and the current point is removed. Horizontal speed less than or equal to 0 is invalid data, the current data is invalid data, and the motion trajectory construction is ended; turning radius and vertical speed are optional parameters, and the turning radius and longitudinal transition method are identified according to the input value.

[0055] The parameters of the last point must contain longitude, latitude, height, and longitude, latitude and height cannot be equal at the same time as the previously input control points, if they are equal at the same time, the current point is set as an invalid point, and the current point is removed. Since it is the last point, the turning radius, horizontal speed and vertical speed are not forced to be set, and will not be used in the calculation process.

[0056] For reasonable control point data, the parameters of the control point are filled into the unified trajectory point data structure shown in Table 1, and the parameters not set are set to default value 0, and the control point data resource acquisition is completed.

[0057] Through the above method, the application can adaptively identify the data source and perform unified data format conversion.

[0058] In step S2, the trajectory of all control point data is discretized, and a plurality of discrete sampling trajectory point data corresponding to the control point in time is obtained.

[0059] After the processing of step S1, all reasonable trajectory data and control point data have completed data resource extraction and conversion into a unified trajectory point data structure, which is equivalent to the control point data also being converted into trajectory point data. However, the control point data has no attitude data on the point except the start time of the first point, if directly used for the simulation platform, only the path connected by straight lines can be drawn, the evolution process of turning and height change cannot be simulated, and spatial visibility analysis and coverage analysis cannot be supported, therefore, the trajectory point data converted from the control point data needs to be discretely processed, and the sampling points containing attitude information are obtained through discrete sampling.

[0060] After data resource extraction is completed, the generated trajectory point data in a unified format is processed to obtain a trajectory point set. If the time data corresponding to the points in the trajectory point set is non-zero and increases sequentially, then the trajectory point set is converted from the trajectory file data in the source data and is not processed. If the time data corresponding to the points in the trajectory point set is 0 except for the first point, then the trajectory point set is converted from the control point data in the source data and needs to be discretized.

[0061] The purpose of discretizing the trajectory point data after the control point conversion is to obtain the posture information of the trajectory point to support platform rendering.

[0062] According to one embodiment of the present invention, step S2 includes:

[0063] S21. Calculate the turn parameters for each control point, including the turn start point, turn end point, circle center, turn lead distance, and turn radius. When there are only two control points, the sampling process is performed directly. When there are more than two control points, calculate the turn parameters first. After calculating the turn parameters, the calculated data for each control point includes the turn start point, turn end point, circle center, turn lead distance, and turn angle.

[0064] S22. Generate a discrete segmented trajectory corresponding to the control point based on the calculated turning parameters. According to one embodiment of the present invention, the present invention uses the turning radius parameter as a judgment mark. When the turning radius is not 0, such as Figure 3 The control point 2 shown in the figure has an arc transition during the turning process. According to the parameters of the current point and the parameters of the previous and next points, the turning start point, turning end point, circle center, turning advance distance and turning angle are calculated and output; when the radius is 0, such as Figure 4 As shown in the control point 2, the turning process is a straight-line transition, the starting point of the straight-line transition turning is control 2, the ending point of the turning is control 2, the center of the circle is control 2, the turning advance distance is 0, and the turning angle is 0. Through the processing of the turning process, a segmented discrete trajectory of straight line segment + arc segment + straight line segment + arc segment + ... + arc segment + straight line segment is generated, wherein the starting point of the straight line segment is the first control point or the turning end point of the previous arc segment, the ending point of the straight line segment is the turning starting point of the next arc or the last control point, the starting point of each arc segment is the turning starting point of the control point where the arc is located, and the ending point of the arc segment is the turning end point of the control point where the arc is located. As shown Figure 5As shown, the generated segmented trajectory by control point 1, control point 2, control point 3, control point 4 is a straight line segment + an arc segment + a straight line segment + an arc segment + … + an arc segment + a straight line segment, according to an embodiment of the present application, the present application controls the process change according to the control point parameter and outputs the control point turning parameter, for the simplified and reused discrete method, the sampling sequence is a straight line segment + an arc segment, and the discrete sampling is performed according to the sequence of the straight line segment sampling and the arc segment sampling for each straight line segment + arc segment.

[0065] S23, according to the preset sampling sequence, each segment on the segmented discrete trajectory is discretely sampled according to the preset step length, and a plurality of discrete sampling trajectory point data are obtained. Figure 5 As shown, the generated segmented trajectory is a straight line segment + an arc segment + a straight line segment + an arc segment + … + an arc segment + a straight line segment, according to an embodiment of the present application, the present application controls the process change according to the control point parameter and outputs the control point turning parameter, for the simplified and reused discrete method, the sampling sequence is a straight line segment + an arc segment, and the discrete sampling is performed according to the sequence of the straight line segment sampling and the arc segment sampling for each straight line segment + arc segment.

[0066] Among them, the discrete sampling is mainly divided into horizontal sampling and longitudinal sampling, the horizontal sampling is the sampling of the turning process, and the longitudinal sampling is the sampling of the height change process.

[0067] Each straight line segment + arc segment sampling is first horizontally sampled, that is, the position of the geodetic projection is discretely sampled, and then the longitudinal height is sampled. The following will be described in detail.

[0068] a) The horizontal sampling is divided into straight line segment sampling and arc segment sampling:

[0069] Line segment sampling includes: using the Vincent forward solution method to calculate the distance and direction between the previous control point and the next control point of the current line segment; calculating the distance between the current sampling point and its previous control point based on the sampling number of the current sampling point in the current line segment and the advance turning distance of the arc corresponding to the previous control point of the current line segment, wherein the distance between the current sampling point and its previous control point = the advance turning distance of the previous control point + the line segment sampling step length * the sampling number of the current sampling point; using the previous control point of the current line segment as a reference point, using the Vincent inverse solution method to calculate the longitude and latitude of the current sampling point based on the direction between the previous control point and the next control point of the current line segment and the distance between the current sampling point and the previous control point; wherein the distance of the current sampling point = the distance to the end point of the line segment sampling in the previous segmented trajectory + the sampling step length * the sampling sequence number of the current sampling point; the flight time of the current sampling point = the flight time to the end point of the line segment sampling in the previous segmented trajectory + (the line segment sampling step length * the sampling number of the current sampling point) / the horizontal speed of the previous control point; the vertical speed of the sampling point is consistent with the vertical speed of the previous control point of the current line segment.

[0070] According to an example of the present invention, Figure 6 As shown, assuming that the straight line segment between control point 2 and control point 3 is sampled, the flight direction of the current straight line segment is the distance and direction between the two control points calculated by calling Vincent's direct solution formula based on the longitude and latitude of the previous control point 2 and the next control point 3. If the distance and direction of control point 2 and control point 3 are dis_23 and angle23, and the horizontal speed of control point 2 is speed2, the discrete end point time and distance of the straight line segment in the previous segmented trajectory of the current straight line segment are divided into time_pre and dis_pre, and the sampling step is step. Calculate the longitude and latitude of the sampling point p on the current straight segment. The sampling point p is on the nth sampling of the current straight segment. aheadDis is the advance distance of the turn. The distance between point p and control point 2 is aheadDis+step*n. Using control point 2 as the reference point, direction angle23 and the distance between point p and control point 2, call the Vincent inverse formula to calculate the longitude and latitude of the discrete point p. The distance of the discrete point p is dis_pre+step*n. The flight time of the discrete point p is time_pre+(step*n) / speed2. The vertical speed of the discrete point p is consistent with the vertical speed of control point 2.

[0071] Arc segment sampling includes: using the center of the current arc segment as a reference point, and calculating the direction of the turning start point and the direction of the turning end point of the current arc segment based on the coordinates of the turning start point and the turning end point of the current arc segment; calculating the direction of the current sampling point based on the direction of the turning start point of the current arc segment, the number of sampling times of the current sampling point, and the arc segment sampling step, wherein the direction of the current sampling point = the direction of the turning start point + the arc segment sampling step * the number of sampling times of the current sampling point; using the turning center as the starting point and the turning radius as the distance, and calculating the longitude and latitude of the current sampling point based on the angle of the current sampling point using the Vincent inverse solution formula; wherein the distance of the current sampling point = the distance to the end point of the straight segment sampling in the same segmented trajectory + (arc segment sampling step * the number of sampling times of the current sampling point * the turning radius * π) / 180, and the flight time of the current sampling point = the time to the end point of the straight segment sampling in the same segmented trajectory + (arc segment sampling step * the number of sampling times of the current sampling point * the turning radius * π) / (180 * the horizontal speed of the control point corresponding to the current arc segment). The vertical velocity of the sampling point is consistent with the vertical velocity of the control point corresponding to the arc where it is located.

[0072] According to an example of the present invention, Figure 7 As shown, assume that the arc corresponding to control point 2 is discretely sampled with a sampling step of arcStep. Based on the parameters output by the turning process solution, the direction from the center of the circle to the turn start point and the direction from the turn end point are calculated, with the turn center 0 as the reference point. Because Vincent's solution calculates the direction and reverse direction of two points using geodetic arcs, the calculated distances from the start and end points to the circle center are not the input radius. To achieve a smooth transition between straight segments and circular segments, the present invention re-optimizes the algorithm, calculating the distance between the two points based on the circle center and the turn start point and updating the turning radius parameter to R. According to the arc sampling step arcStep and the number of times the current sampling point is on the current arc segment n, the direction of the discrete point P' is calculated as turn_begin_angle+arcStep*n, and the longitude and latitude of the discrete point P' are calculated by calling the Vincent inverse formula with the center of the turning circle as the starting point, the turning radius R as the distance and the calculated angle. Assuming that the end point distance and time of the straight segment sampling in the same segmented trajectory are line_end_dis and line_end_time respectively, the distance of the arc discrete point P' is solved as line_end_dis+(arcStep*n*R*π) / 180, and the flight time is line_end_time+(arcStep*n*R*π) / (180*speed2), where speed is the horizontal speed of control point 2.

[0073] b) Longitudinal height sampling

[0074] After each discrete point is discretized horizontally, the height of the discrete point is obtained based on longitudinal sampling. During the horizontal discretization process, after the longitude and latitude of the discrete point are output, sampling in the height direction is performed. If the vertical velocity of the previous control point of the current discrete sampling point is 0, the height of the current discrete sampling point is calculated using a smooth transition method, where the height of the current discrete sampling point = the height of the previous control point + (the distance from the current discrete sampling point to the previous control point / the distance between the previous control point and the next control point of the current discrete sampling point) * the height difference between the previous control point and the next control point of the current discrete sampling point; if the vertical velocity of the previous control point of the current discrete sampling point is not 0, the height of the current discrete sampling point is calculated using a maneuvering transition method, where the height of the current discrete sampling point = the height of the turning point starting point of the previous control point of the current discrete sampling point + (the relative time difference between the turning starting point of the current discrete sampling point and the previous control point / (the height difference between the previous control point and the next control point of the current discrete sampling point / the vertical velocity of the previous control point)) * the height difference between the previous control point and the next control point of the current discrete sampling point.

[0075] During the smooth transition, the center point of the turning arc of the previous control point of the current discrete point to the center point of the turning arc of the next control point is highly linearly transitioned. According to an example of the present invention, Figure 6 For example, Figure 8 As shown in (a) and (b), the height of the control point is at the midpoint of the turning arc (such as the control point height h1 and h2). The change in height is interpolated based on the height difference and distance between the two points to calculate the center point of the starting control point (that is, the center point of the previous control point of the current discrete point, for example, Figure 8 (a) the center point of control point 2) and the center point of the end control point (that is, the center point of the control point after the current discrete point, for example, Figure 8 The distance (expressed as Length) and the height difference Δh of the center point of the control point 3 in (b) are Figure 8 (a) The distance (Length) is halfArcLength2+disLine+halfArcLength3, where halfArcLength2 is half the length of the arc of control point 2, disline is the length of the straight line between control point 2 and control point 3, and halfArcLength3 is half the length of the arc of control point 3. The height of the current discrete point p = the height of the previous control point + (s / Length)*Δh, thus completing the longitudinal height sampling. Where s is the distance from the current discrete point to the starting control center point (such as Figure 8the distance between the center point of the control point 2 in (a) and the center point of the control point 3 in (b), s is calculated in different ways for different discrete point distributions: if the current discrete sampling point p is on the straight line segment (the straight line segment between the control point 2 to the control point 3), s = halfArcLength2 + disLine p , where disLine p is the distance from the current discrete point p to the turning start point, disLine p is the distance from the current discrete point p to the turning start point of the control point 2 when the current discrete point is on the straight line segment, if the current discrete sampling point p is on the previous arc segment (the arc segment from the center point of the control point 2 to the turning end point of the control point 2), s = disLine p - halfArcLength2, disLine p is the distance from the current discrete point p to the turning start point of the control point 2 when the current discrete point is on the previous arc segment, if the current discrete sampling point is on the next arc segment (the arc segment from the turning start point of the control point 3 to the center point), s = halfArcLength2 + disLine + disArc p , disArc p is the distance from the current discrete point p to the turning start point of the control point 3 when the current discrete point is on the next arc segment.

[0076] The height of the control point during the maneuver transition is at the start position of the turning arc, the height transition is performed, and the height is kept unchanged after reaching the height of the next control point, the height transition of the current control point is completed, and the height difference Δh between the two points is used to change the height. For example Figure 8 As shown in (c) and (d), the time t required during the longitudinal maneuvering change is obtained according to the height difference Δh divided by the vertical speed, and the sampling point height is the turning point height of the previous control point + (Δt / t)*Δh according to the relative time difference Δt of the discrete point and the turning start point, Δt / t is at most 1, and the longitudinal height sampling replication is completed.

[0077] According to the above method, the discrete sampling of each straight line segment + arc segment segmented trajectory is completed, and a plurality of discrete sampling trajectory point data corresponding to the control points are obtained,

[0078] In step S3, all source trajectory point data and time trajectory point data corresponding to the plurality of discrete samplings of the control points are combined to form a time-ordered trajectory point data queue.

[0079] In step S4, each trajectory point data in the trajectory point data queue is converted into a time position coordinate and a speed in a coordinate system supporting scene simulation, and a motion trajectory is generated, and each trajectory point in the motion trajectory includes time position coordinate information and attitude information.

[0080] The sampling step size for maneuvering objects is relatively small compared to that for satellite objects. During turns, the sampling step size can reach the order of seconds. During level flight, the sampling step size can be longer than during turns. However, the data volume during this entire process is enormous, making it impossible to calculate it one by one using other tools. Furthermore, in spatial situational analysis for scenario simulation, such as visibility and coverage analysis, it's impossible to predict when an object will be visible or covered. These require detection by analytical detectors, which use time probes to capture the object's operational status. Therefore, methods for detecting the object's position and attitude over time are essential.

[0081] After generating a motion trajectory from trajectory point data obtained through processing externally input data, temporal trajectory point information can be obtained. However, this data does not yet contain attitude information, making flight attitude simulation impossible on a virtual-reality integrated scene platform. To support rendering on a virtual-reality integrated scene platform, the output of Earth-Fixed Coordinate System (ECEF) position information and the four elements of the frame attitude are required. Therefore, after generating the motion trajectory, the present invention converts the processed trajectory point data into temporal position and velocity in the J2000 geocentric celestial coordinate system. This includes processing both temporal position data and temporal velocity data.

[0082] The temporal position data processing is based on the trajectory point data, and linear interpolation is performed on the earth according to the input time to calculate the geodetic coordinates (longitude, latitude, altitude) at the current time. The geodetic coordinate system is converted into the three-axis positions x, y, and z under the J2000 framework. The conversion process is the conversion method from geodetic coordinates to J2000: geodetic coordinates - ENU (Northeast Celestial Coordinate System) - ECEF (Earth-Centered Coordinate System) - J2000. The temporal speed data processing is based on the trajectory point data, and the speed is calculated according to the input time and converted to the universal J2000 coordinate framework. This is because when the data source is a trajectory file, the speed is not directly given. The previous embodiment can extract the point position coordinates with time, so the speed can be calculated based on the position and time of the two points to obtain the trajectory point of the temporal position and speed. That is to say, according to the input time, a query is performed to obtain the previous and next trajectory points of the current time. Based on the position and time of the previous and next trajectory points, the scalar value of the velocity and the direction of the velocity are calculated. The positions of the previous and next trajectory points are converted into the ECEF coordinate system. Vector operations are performed on the two positions to find the direction of the unit value of the velocity. The space vector of the velocity is calculated in combination with the velocity scalar and converted to the universal J2000 coordinate framework.

[0083] Through the position data processing and speed data processing in time, the position in time and speed of each trajectory point in the support scene simulation are obtained, and the motion trajectory is generated.

[0084] As shown in Table 3, according to the time probe technology, the position and attitude information in time can be quickly obtained after entering the motion trajectory generated by the application.

[0085] Table 3

[0086]

[0087] As can be seen from the above embodiments, according to the different data sources of the mobile object, the virtual node moving motion trajectory can be generated, the position and attitude information of the node can be output, and the model display and space situation analysis of the scene can be supported. The trajectory of the control point is discretized by high-precision discretization and algorithm fast adaptation, the turning process of the discretization is smooth, and the height transformation process is free of mutation. The generation design of the motion trajectory with different data sources can quickly and conveniently generate the motion trajectory, can quickly extract the running state of the mobile object at any time, can ensure that the time, position and attitude of the mobile object are quickly output, and can support the analysis and rendering of the platform.

[0088] It should be noted that although the above describes each step in a specific order, it does not mean that each step must be performed in the above specific order, and in fact, some of the steps can be executed concurrently or even in a changed order, as long as the required function can be achieved.

[0089] The application can be a system, a method and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions loaded thereon, which are used to enable a processor to implement various aspects of the application.

[0090] A computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves.

[0091] Embodiments of the application have been described above, with the understanding that these embodiments are exemplary only, and are not restrictive, in terms of the scope of the embodiments disclosed. Many modifications and variations of the described embodiments are possible, in light of the above teachings, without departing from the scope and spirit of the described embodiments. The choice of words in this document is intended to best explain the principles of the embodiments, practical application, or technical improvement in the art, or to enable others skilled in the art to utilize the embodiments disclosed herein.

Claims

1. A method for constructing a moving trajectory of a motorized object supporting scene simulation, characterized in that: The method comprises: S1. Acquire a source data set of a motorized object moving in a real scene, wherein the data in the source data set has a predetermined data structure, wherein the source data set includes a plurality of control point data and a plurality of source trajectory point data; S2. Discretize all control point data into trajectories to obtain trajectory point data corresponding to multiple discrete samples in time; S3, forming a temporally ordered trajectory point data queue by combining all source trajectory point data and a plurality of discretely sampled temporal trajectory point data corresponding to the control points; S4. Convert each trajectory point data in the trajectory point data queue into temporal position coordinates and speed in a coordinate system supporting scene simulation and generate a motion trajectory, wherein each trajectory point in the motion trajectory includes temporal position coordinate information and posture information.

2. The method according to claim 1, characterized in that The step S1 comprises: S11. Conduct rationality judgment on all source data to obtain reasonable source data; S12. Extract corresponding information from each reasonable source data according to the unified trajectory point data structure to complete the acquisition of source data resources. When there is no corresponding information in the source data, a default value is set to 0.

3. The method according to claim 2, characterized in that The unified trajectory point data structure at least includes: Time, longitude, latitude, altitude, vertical speed, distance, horizontal speed, turning radius.

4. The method according to claim 3, characterized in that In step S12, source trajectory point data that simultaneously meets the following conditions is determined to be reasonable source data: The data contains time, longitude, latitude and altitude information; The data values ​​are valid, the time sequence is increasing, and the longitude and latitude are within the definition range of the geodetic coordinate system; The number of data points is greater than 1 and there is no duplication.

5. The method according to claim 3, characterized in that In step S12, the control point data that simultaneously meets the following conditions is determined to be reasonable source data, wherein the control point data includes at least the first point and the last point, and when the amount of data is greater than 2, also includes the intermediate points: The data contains longitude, latitude, altitude, and horizontal speed information; Except for the last point, the horizontal velocity in the data of other control points is greater than 0; The longitude, latitude, and altitude information in the last point data are not the same as the longitude, latitude, and altitude information in any of the previous control point data.

6. The method according to claim 5, characterized in that The step S2 comprises: S21, performing a turning parameter calculation on the control point data to obtain the turning parameters of each control point, including a turning start point, a turning end point, a circle center, a turning advance distance, and a turning radius; S22. Generate a segmented discrete trajectory corresponding to the control point based on the calculated turning parameters; S23 . According to a preset sampling order, discrete sampling is performed on each segment of the segmented discrete trajectory according to a preset step length to obtain a plurality of discrete sampling trajectory point data.

7. The method according to claim 6, characterized in that In step S22, the segmented discrete trajectory corresponding to the control point is generated in the following manner: S221. Perform arc transition for the control point whose turning radius is not 0, and obtain the arc turning start point, arc turning end point, arc center, turning advance distance and turning angle according to the parameters of the current point and the parameters of the previous and next points; or S222: Perform a straight-line transition for the control point with a turning radius of 0, with the turning start point, turning end point, and circle center all being the current control point, and the turning advance distance and turning angle being 0; S223. Based on the processing of step S221 or S222, a segmented discrete trajectory consisting of multiple straight line segments and multiple arc segments is generated, wherein the starting point of the straight line segment is the first control point or the turning end point of the previous arc segment, the ending point of the straight line segment is the turning starting point of the next arc or the last control point, the starting point of each arc segment is the turning starting point of the control point where the arc is located, and the ending point of the arc segment is the turning end point of the control point where the arc is located.

8. The method according to claim 7, characterized in that The preset sampling order is the order of straight line segment sampling and arc segment sampling.

9. The method according to claim 8, characterized in that In step S23, horizontal sampling and vertical height sampling are performed on each straight line segment + arc segment on the segmented discrete trajectory, wherein: Horizontal sampling includes horizontal sampling of straight segments and arc segments. The longitude, latitude, distance, flight time, and vertical speed of discrete sampling trajectory points are obtained through horizontal sampling. The height of discrete sampling trajectory points is obtained through longitudinal height sampling.

10. The method according to claim 9, characterized in that Horizontal sampling of straight line segments is achieved as follows: Use Vincent's direct solution method to calculate the distance and direction between the previous control point and the next control point of the current straight line segment; The distance between the current sampling point and its previous control point is calculated based on the sampling number of the current sampling point in the current straight line segment and the advance turning distance of the arc corresponding to the previous control point of the current straight line segment. The distance between the current sampling point and its previous control point = the advance turning distance of the previous control point + the sampling step size of the straight line segment * the sampling number of the current sampling point; Taking the previous control point of the current straight segment as the reference point, the longitude and latitude of the current sampling point are calculated using the Vincent inverse method based on the direction between the previous and next control points of the current straight segment and the distance between the current sampling point and the previous control point. The distance of the current sampling point = the distance to the end point of the straight segment sampling in the previous segmented trajectory + the sampling step length * the sampling sequence number of the current sampling point. The flight time of the current sampling point = the flight time to the end point of the straight segment sampling in the previous segmented trajectory + (the sampling step length of the straight segment * the number of sampling times of the current sampling point) / the horizontal speed of the previous control point.

11. The method according to claim 10, characterized in that Horizontal sampling of arc segments is achieved in the following way: Taking the center of the current arc segment as the reference point, the direction of the turning start point and the direction of the turning end point of the current arc segment are calculated based on the coordinates of the turning start point and the turning end point of the current arc segment; The direction of the current sampling point is calculated based on the direction of the turning start point of the current arc segment, the number of sampling times of the current sampling point, and the arc segment sampling step size. The direction of the current sampling point = the direction of the turning start point + the arc segment sampling step size * the number of sampling times of the current sampling point. Using the turning circle center as the starting point and the turning radius as the distance, the longitude and latitude of the current sampling point are calculated based on the angle of the current sampling point using the Vincent inverse formula. The distance of the current sampling point = the distance to the end point of the straight segment sampling in the same segmented trajectory + (arc segment sampling step length * number of sampling points of the current sampling point * turning radius * π) / 180. The flight time of the current sampling point = the time to the end point of the straight segment sampling in the same segmented trajectory + (arc segment sampling step length * number of sampling points of the current sampling point * turning radius * π) / (180 * horizontal speed of the control point corresponding to the current arc segment).

12. The method according to claim 11, characterized in that The vertical height sampling is achieved for each discrete sampling point that completes horizontal sampling in the following way: When the vertical velocity of the previous control point of the current discrete sampling point is 0, the height of the current discrete sampling point is calculated in a smooth transition manner, where the height of the current discrete sampling point = the height of the previous control point + (the distance from the current discrete sampling point to the previous control point / the distance between the previous control point and the next control point of the current discrete sampling point) * the height difference between the previous control point and the next control point of the current discrete sampling point; or When the vertical velocity of the previous control point of the current discrete sampling point is not 0, the height of the current discrete sampling point is calculated by a maneuvering transition method, where the height of the current discrete sampling point = the height of the turning point starting point of the previous control point of the current discrete sampling point + (the relative time difference between the current discrete sampling point and the turning starting point of the previous control point / (the height difference between the previous control point and the next control point of the current discrete sampling point / the vertical velocity of the previous control point)) * the height difference between the previous control point and the next control point of the current discrete sampling point.

13. A system for constructing a motion trajectory model of a maneuverable object, characterized in that: The system comprises: a data acquisition module, configured to acquire a source data set of a motorized object moving in a real scene, and pre-process all data in the source data set and convert it into a unified data structure to complete data resource acquisition, wherein the source data set includes a plurality of control point data and a plurality of source trajectory point data; The data processing module is used to discretize all control point data to obtain multiple discrete sampling trajectory point data corresponding to the control points, and to form a temporally ordered trajectory point data queue with all source trajectory point data and multiple discrete sampling trajectory point data corresponding to the control points, and to convert each trajectory point data in the queue into temporal position coordinates and velocity in a coordinate system that supports scene simulation; The motion model is used to generate a motion trajectory based on the position coordinates and speed of each trajectory point data in the trajectory point data queue. Each trajectory point in the motion trajectory contains time position coordinate information and posture information.

14. A method for virtualizing and simulating a mobile object scene, characterized in that: The method comprises: P1. Obtain source data sets of maneuverable objects moving in real scenes; P2. Generate a moving trajectory of a maneuverable object using the method according to any one of claims 1 to 12; P3, using the time probe to obtain the position coordinates and posture information of the trajectory point corresponding to the probe time in the trajectory; P4. Perform simulation platform rendering based on the position coordinates and posture information of all trajectory points obtained in step P3.

15. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer program can be executed by a processor to implement the steps of any one of the methods of claims 1 to 12.

16. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the steps of the method according to any one of claims 1 to 12.

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