A shipboard antenna equipment obscuration three-dimensional real-time detection and visualization system

Abstract

The present application relates to a kind of shipborne antenna equipment shelter three-dimensional real-time detection and visualization system, mainly for the real-time calculation and visualization of shipborne radar equipment shelter condition, for the monitoring judgment and corresponding working condition adjustment of each radar equipment tracking shelter condition provide technical support.This method applies three-dimensional real-time rendering technology, through the construction of large-scale dynamic seawater scene, the construction and import of accurate three-dimensional model of ship body and radar equipment, complete the initialization of simulation scene.On this basis, according to the ship environment shelter element, the corresponding collision body is constructed, according to the radar beam generation model, the radar beam collision body is constructed, and the radar tracking dynamic is simulated by real-time acquisition of ship motion, radar azimuth pitch attitude and other measurement data, in this process, the collision of radar beam and ship body and other equipment is detected in real time by using physical engine, realize the real-time calculation and visualization of radar equipment tracking shelter condition.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of sea-based spaceflight control and measurement, and relates to a three-dimensional real-time detection and visualization system for shielding of a shipborne antenna device. BACKGROUND

[0002] A sea-based spaceflight control and measurement platform is an organic combination of a ship and a special system including control and measurement and communication equipment. Various large test devices are densely arranged along the bow and stern line of the ship, and electromagnetic signals are easily shielded and reflected by the antenna covers and the ship body structures such as chimneys and masts, thereby affecting the signal strength, causing interference, and further affecting the measurement accuracy.

[0003] Device shielding is an important consideration factor for task measurement working condition design, and is also an important problem that is continuously concerned during the execution of a control and measurement task. Control and measurement devices are densely arranged, and the shielding relationship between devices is complex. In order to meet the needs of variable heading measurement, the shielding condition needs to be analyzed in real time to develop corresponding avoidance measures to maintain the target all-weather visibility and smooth communication and to ensure the smooth completion of the task.

[0004] During the execution of a control and measurement task, signal shielding between devices caused by the limited space of the ship body is an important problem affecting the task, and a series of work has been carried out by relevant scheme and software developers. Scheme personnel have summarized a simple calculation method for shielding angles, and software personnel have also designed a corresponding shielding angle graphical display interface on the monitoring software.

[0005] 1. Current shielding angle calculation method

[0006] This method considers that the shielding area is related to the position, height, width of the shielding object and the geometric relationship between them. It is assumed that the shielding object is in a stationary state, and from the perspective of the shielded device, the shielding shadow will appear when the azimuth angle and the elevation angle of the shielded device satisfy a certain relationship, so the shielding relationship can be regarded as a function of the azimuth angle x and the elevation angle y.

[0007] Figure 1 Both the azimuth angle x and the elevation angle y use the deck coordinate system, in which the azimuth angle x is [0, 360] and the elevation angle y is [0, 90], and the shadow part describes the shielded area of the device. When the azimuth and elevation angle coordinates (x, y) of the device are in the shadow area, the device is shielded, and when the coordinates are outside the shadow area, the signal of the device is not shielded. For the devices on the ship, the shielding shadow generally appears on the bow and stern line, i.e. distributed on both sides of x=0 degrees and x=180 degrees, and the shadow area decreases with the increase of the elevation angle y value.

[0008] 2. Shielding relationship visualization

[0009] The current ship sheltering margin real-time monitoring software is a two-dimensional display interface, which processes and displays the sheltering data of the equipment. The sheltering data is a set of azimuth-elevation coordinates describing the sheltering boundary of the equipment, which is obtained by the overall personnel in the ship body field experiment. The processing process and display method are as follows: in the preprocessing stage, the software first reads the related configuration file to obtain the sheltering data of all radar equipment on the ship. The software generates the sheltering area for each device according to the information Figure 1 The processing process and display method are as follows: in the preprocessing stage, the software first reads the related configuration file to obtain the sheltering data of all radar equipment on the ship. The software generates the sheltering area for each device according to the information Figure 2 The processing process and display method are as follows: in the preprocessing stage, the software first reads the related configuration file to obtain the sheltering data of all radar equipment on the ship. The software generates the sheltering area for each device according to the information Figure 3 The processing process and display method are as follows: in the preprocessing stage, the software first reads the related configuration file to obtain the sheltering data of all radar equipment on the ship. The software generates the sheltering area for each device according to the information

[0010] The sheltering relationship analysis in the above monitoring and display software adopts a static estimation model, which cannot reflect the changes of the sheltering relationship under the dynamic tracking conditions of each device. The sheltering relationship monitoring interface designed based on this adopts a two-dimensional display form, which cannot intuitively display the tracking posture and spatial sheltering relationship of each radar device. SUMMARY

[0011] The technical problem to be solved by the present application is to provide a shipborne antenna equipment sheltering three-dimensional real-time detection and visualization system which can be applied to sheltering situation analysis of different ship types and equipment, to realize accurate spatial analysis and more intuitive three-dimensional display of the sheltering situation.

[0012] The technical scheme adopted by the present application to solve the above problems is: a shipborne antenna equipment sheltering three-dimensional real-time detection and visualization system, the system comprises three modules of simulation scene initialization, task process simulation, sheltering calculation and visualization; wherein the simulation scene initialization completes the construction and rendering of large-scale dynamic sea surface, ship body and equipment model; the task process simulation realizes real-time motion simulation of the tracking state of the ship body and the shipborne radar equipment; the sheltering calculation and visualization apply the physical engine of the simulation platform to calculate the sheltering relationship and visualize the sheltering state.

[0013] Preferably, the simulation scene initialization comprises the following specific contents:

[0014] 1) Construct a precise three-dimensional geometric model of the ship and radar equipment in the modeling tool, and organize the ship body and each radar object in layers, with the ship body model as the parent node and each radar object as the child node of the ship body model;

[0015] 2) Design a shading material based on the PBR shader template provided by the Unreal Engine to control the color, fluctuation form and reflection characteristics of the sea water, realize real-time visualization of a high-fidelity dynamic sea surface, and complete the construction and rendering of a large-scale dynamic sea surface;

[0016] 3) Load the ship body model in the three-dimensional rendering engine, and obtain the nodes of the ship body and each radar equipment in the hierarchical structure of the model.

[0017] Preferably, designing a shading material based on the PBR shader template provided by the Unreal Engine specifically includes the following contents:

[0018] 1) Apply the physical-based rendering material template of the Unreal Engine to set the physical properties of the sea water, and realistically represent the appearance of the sea water;

[0019] 2) Apply the vector perturbation method to realize a dynamic fluctuation effect on the plane geometry, set the vertex normal of the plane geometry by introducing a sea surface fluctuation normal map and using UV animation to sample it, and realize the fluctuation light and shadow effect on the surface of the geometry after light calculation.

[0020] Preferably, the task process simulation specifically realizes as follows:

[0021] 1) After collecting the state data of the ship body and each radar equipment, use the UDP multicast form to send the data to each corresponding group address;

[0022] 2) In the simulation initialization stage, establish a UDP socket for each group address, set the socket to bind the local address and port and join the above group address, and create a data receiving thread to complete the reception and dimension conversion processing of the data in the socket;

[0023] 3) Design the motion and attitude control algorithm of the ship body and the radar through the matrix and quaternion space transformation interface provided by the engine, and realize the motion and attitude simulation of the ship body and the ship-borne radar equipment under the tracking state.

[0024] Preferably, the simulation of the ship body movement and the ship rolling is as follows: use the received ship body position information to construct a translation matrix; the quaternion control model rotates in the x, y and z axes of the local coordinate system, uses the received ship body roll and pitch data to construct a quaternion describing the attitude of the ship body, and converts the quaternion into a rotation matrix; multiplies the displacement matrix and the rotation matrix to obtain a control matrix; finally, sets the space transformation of the object with the matrix to realize the simulation of the ship body displacement and the ship rolling.

[0025] Preferably, the radar object inherits the motion of the ship body object as a child node of the ship body object, and the simulation of the tracking attitude of the radar object is realized on the basis of the motion, and the realization process is as follows: a quaternion describing the motion of the radar attitude is constructed using the received deck system radar azimuth and pitch attitude data; the quaternion is converted into a rotation matrix, and the matrix is used to set the spatial transformation of the radar object to realize the simulation of the tracking attitude of the radar object.

[0026] Preferably, the occlusion calculation and visualization are completed by applying the Unreal Engine physics module to perform collision analysis of the beam and the occlusion elements in the ship environment, and the specific work flow is as follows: firstly, collision bodies are constructed according to the geometric structure of the occlusion elements and the shape of the radar beam, wherein the collision body is an envelope of the object geometric structure and is a calculation input of the physics module in the engine; the object channel is defined to optimize the collision rule design of the physics module, and the beam and the occlusion object are respectively included in different object channels; during the simulation running, the engine physics module is applied to calculate the occlusion relationship of the objects in the channel, and the occlusion condition is visualized and displayed.

[0027] Preferably, the process of applying the engine physics module to calculate the occlusion relationship of the objects in the channel and visualizing and displaying the occlusion condition is specifically realized as follows:

[0028] 1) According to the geometric structure of the ship occlusion element, a discrete oriented bounding box thereof is constructed in the Unreal Engine, which is submitted to the physics engine as a rigid body model to participate in real-time collision detection;

[0029] 2) In the modeling tool, according to the occurrence shape of each radar beam, a bounding box model of each radar beam is constructed;

[0030] 3) During the simulation initialization stage, the collision calculation is optimized by setting the collision rule of the Unreal Engine physics module, and the specific process is as follows: two object channels of the beam and the beam occlusion body are added, the collision response of the two is set to cover and a cover event is generated, the collision calculation of the two with other object channels is set to be ignored, and the calculation efficiency is further improved; the beam object is added to the beam object channel, and the occlusion element is added to the occlusion body object channel;

[0031] 4) During the simulation running, the geometric body intersection test algorithm of the engine PhysicsX module is applied to perform intersection test on the collision bodies of the objects in the above two channels, and the occlusion condition is calculated and returned in real time.

[0032] Compared with the prior art, the advantages of the present application are as follows:

[0033] The application utilizes the advantages of three-dimensional technology in object space structure and position relation expression, researches on the basis of accurate modeling of a ship body and equipment, realizes three-dimensional visualization of ship body movement and radar tracking state in a task through design of simulation algorithms of ship body movement, equipment tracking and radar beam generation. In the movement simulation model of the radar beam, a collision detection algorithm of the radar beam and the ship body and other equipment is designed, and real-time calculation and visualization of the radar equipment shielding condition under dynamic conditions are completed. The scheme can realize real-time accurate calculation and intuitive display of the shielding relation. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a schematic diagram of the relation between the shielding shadow and the shielding allowance.

[0035] Figure 2 It is a schematic diagram of the real-time shielding.

[0036] Figure 3 It is a schematic diagram of the single equipment shielding view and the pointing projection.

[0037] Figure 4 It is a real-time running effect diagram of the application. DETAILED DESCRIPTION

[0038] The application is further described in detail below in combination with the embodiment of the drawings.

[0039] The embodiment provides a three-dimensional real-time detection and visualization system for shipborne antenna equipment shielding, and the system comprises the following specific contents.

[0040] 1. Simulation scene initialization.

[0041] A sea area scene is constructed in a three-dimensional rendering engine, and an accurate ship three-dimensional model is loaded, so that the construction of a basic simulation scene is completed. The following specific contents are included.

[0042] (1) An accurate three-dimensional geometric structure model of a ship and radar equipment is constructed in a modeling tool, and a ship body and each radar object are organized in layers, so that the ship body model is taken as a parent node, and each radar object is taken as a child node of the ship body model. In simulation running, the layered organization form supports each radar object to inherit the ship body movement, and meanwhile, the equipment tracking attitude is independently controlled.

[0043] (2) Design the shading material based on the PBR shader template provided by Unreal Engine, realize the control of the color, fluctuation form and reflection characteristics of the sea water, realize the real-time visualization of the high-fidelity dynamic sea surface, and complete the construction and rendering of the large-scale dynamic sea surface. The specific implementation is as follows: in the construction of the dynamic sea surface, the physical properties such as the color, reflectivity and smoothness of the sea water are set by applying the physical-based rendering (PBR) material template of Unreal Engine, and the appearance of the sea water is realistically presented. 2. Apply the vector perturbation method to realize the dynamic fluctuation effect on the plane geometry. That is, by introducing the sea surface fluctuation normal map and using UV animation to sample it to set the vertex normal of the plane geometry, the fluctuation light and shadow effect of the geometry surface is realized through lighting calculation. Compared with the real-time generation of sea surface grid, this method greatly improves the system running efficiency, and can dynamically set the sea wave length and wave height by adjusting the UV tiling and perturbation vector intensity, and adjust the sea surface form.

[0044] (3) Load the ship model in the three-dimensional rendering engine, and get the nodes of the ship and each radar device in the hierarchical structure of the model. The node contains the spatial transformation data such as the geometry and position, pose of the object. During the simulation running, the real-time position and pose of the object are controlled using the spatial transformation data, and the motion simulation and real-time rendering of the object are finally realized by combining the geometry and its material.

[0045] 2. Ship and device tracking state simulation based on real-time data.

[0046] After the state data of the ship and each radar device is collected, it is sent in the form of UDP multicast to each corresponding group address. In the simulation initialization stage, a UDP socket is established for each group address, the socket is set to bind the local address and port and join the above group address, and a data receiving thread is created to complete the reception and dimension conversion of the position and pose data in the socket and other processing.

[0047] The ship and radar motion and attitude control algorithm is designed by the matrix, quaternion and other spatial transformation interface provided by the engine, and the motion and attitude simulation of the ship and shipborne radar equipment in tracking state is realized. The simulation method of ship movement and ship rolling is as follows: the received ship position information is used to construct the translation matrix matTrans; the quaternion can control the rotation of the model in the local coordinate system x, y, z three axes, the received ship roll and pitch data is used to construct the quaternion describing the ship attitude, and the quaternion is converted into the rotation matrix matRot; the displacement matrix and the rotation matrix are multiplied to obtain the control matrix matTotal, and finally the matrix is used to set the spatial transformation of the object to realize the simulation of ship displacement and ship rolling. The radar object as a child node of the ship object inherits the motion of the ship, and needs to realize the simulation of its tracking attitude on this basis, and the implementation process is as follows: the received deck system radar azimuth, pitch attitude data is used to construct the quaternion describing the radar attitude motion; the quaternion is converted into the rotation matrix, and the matrix is used to set the spatial transformation of the radar object to realize the simulation of its tracking attitude.

[0048] 3. Occlusion relationship calculation and occlusion visualization.

[0049] In the simulation environment, the Unreal Engine physics module is applied to complete the collision analysis of the beam and the occlusion elements in the ship environment. The workflow is as follows: first, the collision body is constructed according to the geometric structure of the occlusion element and the shape of the radar beam, wherein the collision body is the envelope of the object geometric structure, which is the input of the physics module calculation; the object channel is defined to optimize the collision rule design of the physics module, and the beam and the occlusion object are respectively included in different object channels; during the simulation running, the engine physics module is applied to calculate the occlusion relationship of the objects in the channel, and the occlusion situation is visualized. The specific implementation is as follows:

[0050] (1) According to the geometric structure of the ship occlusion element, a discrete oriented bounding box is constructed in the Unreal Engine, which is submitted to the physics engine for real-time collision detection as a rigid body model. The discrete oriented bounding box is constructed as a collision body, which can better approximate the entity, and at the same time, the collision detection efficiency is improved by simplifying the entity structure. And through the scaling of the bounding box, the redundancy of the occlusion calculation is controlled, which has strong flexibility.

[0051] (2) In the modeling tool, according to the occurrence shape of each radar beam, the bounding box model of each radar beam is constructed. Because the ship radar transmits columnar beam, the cylindrical structure enveloping the radar cover surface is used as the bounding box of the beam. After the bounding box is imported into the simulation scene and connected to the corresponding radar node, it is submitted to the PhysicsX module for collision calculation during running. Through the modeling of the radar beam bounding box, the accurate quantization of the beam emission range is realized.

[0052] (3) In the simulation initialization stage, the collision calculation is optimized by setting the collision rules of the Unreal Engine physics module, and the specific process is as follows: two object channels of beam and beam occluder are added, the collision response of the two is set to cover and the cover event is generated, the collision calculation of the two with other object channels is ignored, and the calculation efficiency is further improved; the beam object is added to the beam object channel, and the occlusion element is added to the occluder object channel. During the simulation running, the geometric body intersection test algorithm of the application engine PhysicsX module is used to test the intersection of the collision bodies of the objects in the above two channels, and the occlusion condition is calculated and returned in real time. At the same time, based on the material template of the Unreal Engine, a dynamic material is designed to display the radar beam profile. In the case of beam occlusion, adjust the material parameters to highlight the profile. Further, the corresponding radar center is used as a camera viewpoint to obtain the view using the render-to-texture technology, and the view is used on the UI interface to visually display the occlusion body and occlusion details.

[0053] In addition to the above-mentioned embodiments, the present application also includes other embodiments, and any technical solutions formed by equivalent transformation or equivalent replacement shall fall within the protection scope of the claims of the present application.

Claims

1. A three-dimensional real-time detection and visualization system for shipborne antenna equipment obstruction, characterized in that: The system includes three modules: simulation scene initialization, task process simulation, occlusion calculation, and visualization. The simulation scene initialization completes the construction and rendering of large-scale dynamic sea surface, ship hull and equipment models; the mission process simulation realizes the real-time motion simulation of the tracking status of the ship hull and shipborne radar equipment; the occlusion calculation and visualization application simulation platform physics engine performs occlusion relationship calculation and occlusion status visualization. The simulation scene initialization includes the following specific contents: 1) Construct accurate three-dimensional geometric models of ships and radar equipment in the modeling tool, and organize the hull and radar objects in layers, with the hull model as the parent node and each radar object as the child node of the hull model. 2) Based on the PBR shader template provided by Unreal Engine, the shaded materials are designed to control the color, wave pattern and reflection characteristics of seawater, realize the real-time visualization of high-fidelity dynamic sea surface, and complete the construction and rendering of large-scale dynamic sea surface. 3) Load the hull model into the 3D rendering engine and obtain the nodes of the hull and each radar device in the hierarchical structure of the model; The design of shaded materials based on the PBR shader templates provided by Unreal Engine includes the following: 1) Apply Unreal Engine's physically based rendering material templates to set the physical properties of seawater, realistically representing the appearance of seawater; 2) Applying the vector perturbation method, a dynamic wave effect is achieved on a planar geometry. By introducing the sea surface wave normal map and using UV animation to sample it, the vertex normals of the planar geometry are set, and the light and shadow effect of the wave on the surface of the geometry is achieved through lighting calculation. The specific implementation method of the task process simulation is as follows: 1) After the status data of the hull and each radar equipment is collected, it is sent to the corresponding group address using UDP multicast; 2) During the simulation initialization phase, UDP sockets are established for each group of addresses. The sockets are bound to the local address and port and added to the above group of addresses. A data receiving thread is created to complete the reception and unit conversion processing of the data in the socket. 3) Design motion and attitude control algorithms for the hull and radar through the matrix and quadrupole spatial transformation interfaces provided by the engine, and realize motion and attitude simulation of the hull and shipborne radar equipment under tracking conditions.

2. The three-dimensional real-time detection and visualization system for shipborne antenna equipment obstruction according to claim 1, characterized in that: The simulation method for ship movement and rolling is as follows: a translation matrix is ​​constructed using the received ship position information; a quadruple control model rotates along the x, y, and z axes of the local coordinate system; a quadruple describing the ship's attitude is constructed using the received ship roll and pitch data, and the quadruple is converted into a rotation matrix; the translation matrix and rotation matrix are multiplied to obtain the control matrix; finally, this matrix is ​​used to set the spatial transformation of the object to simulate the ship's displacement and rolling.

3. The three-dimensional real-time detection and visualization system for shipborne antenna equipment obstruction according to claim 1, characterized in that: The radar object, as a child node of the hull object, inherits the motion of the hull. Based on this, the simulation of its tracking attitude is realized. The implementation process is as follows: the received deck-mounted radar azimuth and pitch attitude data are used to construct a quadruple describing the radar attitude motion; the quadruple is converted into a rotation matrix, and the matrix is ​​used to set the spatial transformation of the radar object to realize the simulation of its tracking attitude.

4. The three-dimensional real-time detection and visualization system for shipborne antenna equipment obstruction according to claim 1, characterized in that: Occlusion calculation and visualization utilizes the Unreal Engine physics module to perform collision analysis between the beam and occlusion elements in the ship environment. The specific workflow is as follows: First, a collision body is constructed based on the geometry of the occlusion elements and the shape of the radar beam. The collision body is the envelope of the object's geometry and serves as the calculation input for the physics module in the engine. The collision rule design of the physics module is optimized by defining object channels, and the beam and occlusion objects are included in different object channels. During simulation, the engine physics module is used to calculate the occlusion relationship between objects within the channels and to visualize the occlusion situation.

5. A three-dimensional real-time detection and visualization system for shipborne antenna equipment obstruction according to claim 4, characterized in that: The application engine's physics module calculates the occlusion relationships of objects within a channel and visualizes the occlusion situation. The specific implementation of this process is as follows: 1) Construct discrete oriented bounding boxes in Unreal Engine based on the geometric structure of ship occlusion elements, and submit them as rigid body models to the physics engine for real-time collision detection. 2) In the modeling tool, construct the bounding box model of each radar beam according to the generation pattern of each radar beam; 3) During the simulation initialization phase, collision calculations are optimized by setting the collision rules of the Unreal Engine physics module. The specific process is as follows: Add two object channels, beam and beam occlusion, set their collision response to coverage and generate coverage events, and set them to ignore collision calculations with other object channels to further improve calculation efficiency; add the beam object to the beam object channel and the occlusion element to the occlusion object channel. 4) During simulation, the geometry intersection test algorithm of the PhysicsX module of the application engine is used to perform intersection tests on the collision bodies of the objects in the two channels mentioned above, and the occlusion status is calculated and returned in real time.

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