A method and device for three-dimensional display of spatial situation coverage beams

Abstract

This invention provides a method and apparatus for three-dimensional display of space situation coverage beams, relating to the field of three-dimensional situation display technology, including: establishing a beam body coordinate system with the satellite's beam origin P as the origin; and in the beam body coordinate system X... b O b Y b Z b Establish a spatial cone model; uniformly select n points P on the base circle of the spatial cone model. i Establish a global coordinate system ECEF with the Earth's center as the origin; map point P... i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i '; Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue; in the beam body coordinate system X b O b Y b Z b The beam geometry is drawn, and a queue is drawn based on the beam boundary vertices to draw the beam boundary; the beam is then displayed in the Earth coordinate system ECEF. This application draws the beam boundary, which can clearly represent the beam coverage range, thereby adapting to the ground coverage performance requirements under various operating conditions.

Description

Technical Field

[0001] This application relates to the field of three-dimensional situation display technology, and in particular to a method and apparatus for three-dimensional display of spatial situation coverage beams. Background Technology

[0002] Currently, traditional methods for mapping coverage beams typically involve using polygon primitives combined with semi-transparent 3D shading to create a cone-shaped beam of a specific length to simulate the satellite's communication area, based on the beam's location, direction, and beam angle on Earth. Figure 1 As shown in the figure. This drawing method can effectively represent the coverage area of ​​ground-oriented beams. The ground coverage area of ​​ground-oriented beams is generally circular, and its ground coverage outline is relatively clear. By observing the intersection of the three-dimensional graphic and the earth, trainees can accurately determine the ground coverage area of ​​this type of beam.

[0003] However, this method of representation has certain limitations. On the one hand, when the satellite beam pointing or the size of the satellite beam angle changes, such as with squinting, its beam coverage will exhibit various situations, including elliptical regions, partial coverage, full coverage, and no coverage. Figure 2 As shown, simply using the above rendering method cannot correctly display the corresponding coverage area and cannot meet the ground coverage performance requirements under various working conditions. On the other hand, because the effective number of bits of 32-bit floating-point numbers is limited in some GPUs, floating-point truncation errors will occur during the calculation process. Direct rendering will lead to rendering distortion, and the precision loss will change with the change of viewing angle, causing the beam position to be misaligned, which will appear as beam jitter in the 3D image. Summary of the Invention

[0004] The technical problem to be solved by this application is to propose a method and device for three-dimensional display of spatial situation coverage beams, addressing the above-mentioned shortcomings of the existing technology.

[0005] A method for three-dimensional display of spatial situation coverage beams includes:

[0006] Establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Z b ;

[0007] In the beam body coordinate system X b O b Y b Z b Below, a spatial cone model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial cone model is B, and the height l of the axis PB of the spatial cone model is the sum of the satellite height PE and the constant EB.

[0008] Select n points P evenly on the base circle of the spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are:

[0009] X i =rcos(2*Pi / n*i)

[0010] Y i =rsin(2*Pi / n*i)

[0011] Z i =l

[0012] Where r is the radius of the base circle of the spatial cone model, r = l*tan(α);

[0013] Establish an Earth coordinate system ECEF with the Earth's center as the origin;

[0014] Point P i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′ =M1*P i Where M1 is the beam body coordinate system X b O b Y b Z b The transition matrix to the Earth coordinate system ECEF;

[0015] Based on the generatrix vector of the spatial cone model Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue;

[0016] In the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary;

[0017] For the beam body coordinate system X b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

[0018] In one technical solution, the beam body coordinate system X b Ob Y b Z b The object being drawn in the lower beam is transformed, specifically as follows:

[0019] Using a 3D engine, the beam body coordinate system X is... b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

[0020] In one technical solution, the generatrix vector based on the spatial cone model... Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue, including:

[0021] Determine the number of intersections between the generatrix and the Earth's surface;

[0022] If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing queue.

[0023] If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, the corresponding coordinates of the tangent point are obtained as the boundary region drawing point and added to the vertex drawing queue.

[0024] If the generatrix does not intersect the Earth's surface, then the coordinate point P will be... i ′ is used as a boundary region drawing point and added to the vertex drawing queue.

[0025] In one technical solution, the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices, specifically drawing the beam boundary:

[0026] In the beam body coordinate system X b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

[0027] On the other hand, this application also provides a three-dimensional display device for spatial situation coverage beams, comprising:

[0028] The first coordinate system establishment module is used to establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Zb ;

[0029] The model building module is used to model the beam body coordinate system X. b O b Y b Z b Below, a spatial cone model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial cone model is B, and the height l of the axis PB of the spatial cone model is the sum of the satellite height PE and the constant EB.

[0030] The selection module is used to uniformly select n points P on the base circle of a spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are:

[0031] X i =rcos(2*Pi / n*i)

[0032] Y i =rsin(2*Pi / n*i)

[0033] Z i =l

[0034] Where r is the radius of the base circle of the spatial cone model, r = l*tan(α);

[0035] The second coordinate system establishment module is used to establish the Earth coordinate system ECEF with the Earth's center as the origin.

[0036] The coordinate transformation module is used to transform point P. i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′ =M1*P i Where M1 is the beam body coordinate system X b O b Y b Z b The transition matrix to the Earth coordinate system ECEF;

[0037] The queue generation module is used to generate queues based on the generatrix vector of the spatial conical model. Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue;

[0038] The drawing module is used to draw in the beam body coordinate system X. bO b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary;

[0039] The drawing object transformation module is used to transform the beam body coordinate system X. b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

[0040] In one technical solution, the drawing object transformation module is used to transform the beam body coordinate system X using a 3D engine. b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

[0041] In one technical solution, the drawing queue generation module is used to perform the following steps:

[0042] Determine the number of intersections between the generatrix and the Earth's surface;

[0043] If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing team.

[0044] If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, the corresponding coordinates of the tangent point are obtained as the boundary region drawing point and added to the vertex drawing team.

[0045] If the generatrix does not intersect the Earth's surface, then the coordinate point P will be... i ′ is used as a boundary region drawing point and added to the vertex drawing team.

[0046] In one technical solution, the drawing module is used to draw in the beam body coordinate system X. b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

[0047] On the other hand, this application also provides an electronic device, including:

[0048] processor;

[0049] Memory for storing the executable instructions of the processor;

[0050] The processor is configured to execute the instructions to implement the above-described spatial situation coverage beam three-dimensional display method.

[0051] On the other hand, this application also provides a computer-readable storage medium, which, when the instructions in the computer-readable storage medium are executed by the processor of an electronic device, performs the above-described spatial situation coverage beam three-dimensional display method.

[0052] The spatial situation coverage beam 3D display method provided in this application has the following technical effects: First, this application draws the beam boundary, which can clearly represent the beam coverage range, thereby adapting to the ground coverage performance requirements under multiple operating conditions. Second, the beam is drawn in the beam body coordinate system. The coordinate values ​​in the beam body coordinate system are on the order of magnitude and will not exceed the floating-point precision. Therefore, the drawing information in the volume coordinate system is passed to the GPU for rendering without precision error, resulting in more accurate drawing. Attached Figure Description

[0053] Figure 1 This is one of the schematic diagrams of the traditional method for drawing the coverage area of ​​satellite point beams in the background technology.

[0054] Figure 2 This is the second schematic diagram of the traditional method for drawing the coverage area of ​​satellite point beams in the background technology.

[0055] Figure 3 This is one of the flowcharts for the three-dimensional display method of spatial situation coverage beam in the embodiments of this application.

[0056] Figure 4 This is the second flowchart of the spatial situation coverage beam three-dimensional display method in the embodiments of this application.

[0057] Figure 5 This is a schematic block diagram of the spatial situation coverage beam three-dimensional display device in the embodiments of this application.

[0058] Figure 6 This is a schematic diagram illustrating the principle of the three-dimensional display method for spatial situation coverage beams in the embodiments of this application.

[0059] Figure 7 This is a schematic diagram of the satellite spot beam coverage area in an embodiment of this application. Detailed Implementation

[0060] The following are specific embodiments of this application, described in conjunction with the accompanying drawings, to further illustrate the technical solutions of this application. However, this application is not limited to these embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0061] It should be noted that, where there is no conflict, the embodiments and features described in this application can be combined with each other.

[0062] refer to Figure 3 This application provides a three-dimensional display method for space situation coverage beams, which can be used to draw and display the Earth coverage area of ​​satellite point beams with different orbital altitudes and beam angle intensities, including steps S301 to S308, which will be described in detail below with reference to the accompanying drawings.

[0063] Step S301: Establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Z b .

[0064] Step S302, in the beam body coordinate system X b O b Y b Z b Below, a spatial conical model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial conical model is B, and the height l of the axis PB of the spatial conical model is the sum of the satellite height PE and the constant EB.

[0065] Step S303: Select n points P evenly on the bottom circle of the spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are:

[0066] X i =rcos(2*Pi / n*i)

[0067] Y i =rsin(2*Pi / n*i)

[0068] Z i =l

[0069] Where r is the radius of the base circle of the spatial cone model, r = l * tan(α).

[0070] refer to Figure 6 In steps S301 to S303, a beam body coordinate system X is first established with the satellite's beam origin P as the origin. b O b Y b Z b In the beam body coordinate system X b O b Y b Z b Next, a spatial conical model is established. In this model, the satellite's beam origin P is the vertex, half the satellite antenna beamwidth is the semi-cone angle α, and the beam direction is axis PB. The height l of axis PB in the spatial conical model is the sum of the satellite's height PE and the constant EB, thus ensuring that the beam intersects with the Earth.

[0071] Furthermore, the O coordinate system of the beam body b Z b The axis is aligned with the axis PB of the spatial cone model; therefore, the Z-axis coordinate of the base circle of the spatial cone model is Z... i Let l be the number of points. Select n points P uniformly on the base circle of the spatial cone model. i Specifically, P1(X1,Y1), P2(X2,Y2), P3(X3,Y3), ... First, based on the height l and semi-cone angle α of the spatial cone model, calculate the radius r of the base circle, r = l * tan(α). Select several points P along the circumference of the base circle. i .

[0072] The beam body coordinate system X will be discussed below. b O b Y b Z b Point P below i The process is then converted to the ECEF (Earth Coordinate System) for further processing and calculation, and a vertex rendering queue is generated in the ECEF coordinate system.

[0073] Step S304: Establish the Earth coordinate system ECEF with the Earth's center as the origin.

[0074] Step S305, move point P i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′ =M1*P i Where M1 is the beam body coordinate system X b O b Y b Zb The transition matrix to the Earth coordinate system ECEF.

[0075] Step S306, based on the generatrix vector of the spatial cone model Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue.

[0076] refer to Figure 6 In steps S304 to S306, firstly, the Earth coordinate system ECEF is established, and then the beam body coordinate system X is... b O b Y b Z b Point P below i The coordinates are transformed to the Earth coordinate system ECEF. In the Earth coordinate system ECEF, for the generatrix vector... Point P i The coordinates of the beam origin P and the coordinates of the beam origin P are known, so the corresponding generatrix equation can be determined. This equation can then be used to calculate the intersection points of the generatrix and the Earth. These intersection points are then added to the vertex drawing queue to draw the beam boundary.

[0077] Specifically, the geocentric coordinate system ECEF is a geocentric coordinate system with the Earth's center as its origin, and it is a Cartesian coordinate system. The direction from the Earth's center to the Prime Meridian is the positive direction of the X-axis, the Z-axis is parallel to the Earth's axis and points towards the North Pole, and the Y-axis is perpendicular to the XOZ plane, forming a right-handed coordinate system.

[0078] Step S307, in the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary.

[0079] Step S308, for the beam body coordinate system X b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

[0080] Specifically, in steps S307 to S308, in the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue of vertices based on the vertices obtained in step S306, in the beam body coordinate system X. b O b Y b Z b Draw the beam boundary below.

[0081] Furthermore, the beam body coordinate system X b O b Y b Z b Below, draw the beam geometry and draw the queue based on the beam boundary vertices. Specifically, draw the beam boundary in the beam body coordinate system X. b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

[0082] In some embodiments, the beam body coordinate system X b O b Y b Z b The drawing object of the lower beam is transformed, specifically by transforming the beam body coordinate system X through the 3D engine. b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

[0083] Specifically, using the beam body coordinate system X b O b Y b Z b Using a reference coordinate system, a triangular primitive drawing method is employed to render the beam geometry. A queue is drawn based on the beam boundary vertices, and a closed curve primitive drawing method is used to render the beam boundaries. When the 3D engine is OpenSceneGraph, the rendered leaf nodes `osg::Geode` are added to the scene as child nodes of the matrix transformation node `osg::PositionAttitudeTransform`. Since `osg` supports double-precision calculations, ECF coordinate driving via the matrix transformation node on the CPU side does not result in precision loss, thus effectively solving the jitter problem when drawing beams in large coordinates.

[0084] refer to Figure 4 In some implementations, step S306, based on the generatrix vector of the spatial cone model... The intersection of the generatrix and the Earth is calculated as the boundary region drawing point, and a vertex drawing queue is generated, including steps S401 to S404.

[0085] Step S401: Determine the number of intersections between the generatrix and the Earth's surface.

[0086] Step S402: If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing queue.

[0087] Step S403: If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, then obtain the corresponding coordinates of the tangency point as the boundary region drawing point and add it to the vertex drawing queue.

[0088] Step S404: If the generatrix does not intersect the Earth's surface, then set the coordinate point P... i ′ is used as a boundary region drawing point and added to the vertex drawing queue.

[0089] Specifically, in steps S401 to S404, if the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are taken and added to the vertex drawing queue as a boundary region drawing point. Otherwise, it is further determined whether the generatrix is ​​tangent to the Earth. If tangent, the coordinates of the tangency point are calculated and added to the vertex drawing queue. If not tangent, i.e., the generatrix does not intersect the Earth's surface, then P... i The coordinates of the point are added to the vertex drawing queue.

[0090] Plot the beam in the beam body coordinate system X b O b Y b Z b Below, beam body coordinate system X b O b Y b Z b Since the lower coordinate values ​​are on the order of magnitude small and will not exceed floating-point precision, passing the volume coordinate system drawing information to the GPU for rendering will not result in precision errors and can be accurately drawn in the volume coordinate system. However, the entire beam ultimately needs to be displayed in the ECF coordinate system. Therefore, the osg::PositionAttitudeTransform node is used as the position-driven node to perform position and attitude driving. Since osg supports double-precision arithmetic, this node will not produce precision errors when performing double-precision position calculations on the CPU. Then, the beam drawing node osg::Geode node is used as a child node of this transformation node. This matrix cascading method ensures that the beam can be displayed in the ECF coordinate system and ensures drawing accuracy, avoiding beam jitter.

[0091] This application provides a method for three-dimensional visualization of spatial situational coverage beams. (Reference) Figure 7This application renders the beam boundaries, clearly representing the beam coverage area, thus adapting to the ground coverage performance requirements under various operating conditions. Furthermore, the beam is rendered in the beam body coordinate system. The coordinate values ​​in the beam body coordinate system are on the order of magnitude small and will not exceed floating-point precision. Therefore, passing the rendering information in the volume coordinate system to the GPU for rendering will not result in precision errors, leading to more accurate rendering.

[0092] refer to Figure 5 This application embodiment also provides a spatial situation coverage beam three-dimensional display device, including: a first coordinate system establishment module 501, a model establishment module 502, a selection module 503, a second coordinate system establishment module 504, a coordinate transformation module 505, a drawing queue generation module 506, a drawing module 507, and a drawing object transformation module 508.

[0093] The first coordinate system establishment module 501 is used to establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Z b ;

[0094] Model building module 502 is used to establish the beam body coordinate system X. b O b Y b Z b Below, a spatial cone model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial cone model is B, and the height l of the axis PB of the spatial cone model is the sum of the satellite height PE and the constant EB.

[0095] Select module 503 to uniformly select n points P on the base circle of the spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are:

[0096] X i =rcos(2*Pi / n*i)

[0097] Y i =rsin(2*Pi / n*i)

[0098] Z i =l

[0099] Where r is the radius of the base circle of the spatial cone model, r = l*tan(α);

[0100] The second coordinate system establishment module 504 is used to establish the Earth coordinate system ECEF with the Earth center as the origin.

[0101] Coordinate transformation module 505 is used to transform point P i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′ =M1*P i Where M1 is the beam body coordinate system X b O b Y b Z b The transition matrix to the Earth coordinate system ECEF;

[0102] The queue generation module 506 is used to generate queues based on the generatrix vector of the spatial conical model. Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue;

[0103] Drawing module 507 is used to draw in the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary;

[0104] The drawing object transformation module 508 is used to transform the beam body coordinate system X. b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

[0105] In some embodiments, the drawing object conversion module 508 is used to convert the beam body coordinate system X using a 3D engine. b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

[0106] In some implementations, the drawing queue generation module 506 is used to perform the following steps:

[0107] Determine the number of intersections between the generatrix and the Earth's surface;

[0108] If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing team.

[0109] If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, the corresponding coordinates of the tangent point are obtained as the boundary region drawing point and added to the vertex drawing team.

[0110] If the generatrix does not intersect the Earth's surface, then the coordinate point P will be... i ′ is used as a boundary region drawing point and added to the vertex drawing team.

[0111] In some embodiments, the drawing module 507 is used to draw in the beam body coordinate system X. b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

[0112] The spatial situation coverage beam 3D display device provided in this embodiment is used to realize the aforementioned spatial situation coverage beam 3D display method and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0113] This application also provides an electronic device, including: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to realize the above-described spatial situation coverage beam three-dimensional display method.

[0114] This application also provides a computer-readable storage medium, which, when the instructions in the computer-readable storage medium are executed by the processor of an electronic device, performs the above-described spatial situation coverage beam three-dimensional display method.

[0115] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0116] It should be understood that there is no strict order of execution for the above steps, and all foreseeable changes that do not affect the realization of the function should be within the scope of protection of this invention.

[0117] The methods described above according to the embodiments of this application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or implemented as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium after being downloaded via a network. Thus, the methods described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as ASIC or FPGA).

[0118] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

Claims

1. A method for three-dimensional display of spatial situation coverage beams, characterized in that, include: Establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Z b ; In the beam body coordinate system X b O b Y b Z b Below, a spatial cone model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial cone model is B, and the height l of the axis PB of the spatial cone model is the sum of the satellite height PE and the constant EB. Select n points P evenly on the base circle of the spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are: X i =rcos(2*Pi / n*i) Y i =rsin(2*Pi / n*i) Z i ＝l Where r is the radius of the base circle of the spatial cone model, r = l*tan(α); Establish an Earth coordinate system ECEF with the Earth's center as the origin; Point P i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′=M1*P i Where M1 is the beam body coordinate system X b O b Y b Z b The transition matrix to the Earth coordinate system ECEF; Based on the generatrix vector of the spatial cone model Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue; In the beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary; For the beam body coordinate system X b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

2. The spatial situation coverage beam three-dimensional display method according to claim 1, characterized in that, The beam body coordinate system X b O b Y b Z b The object being drawn in the lower beam is transformed, specifically as follows: Using a 3D engine, the beam body coordinate system X is... b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

3. The spatial situation coverage beam three-dimensional display method according to claim 1, characterized in that, The generatrix vector based on the spatial cone model Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue, including: Determine the number of intersections between the generatrix and the Earth's surface; If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing queue. If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, the corresponding coordinates of the tangent point are obtained as the boundary region drawing point and added to the vertex drawing queue. If the generatrix does not intersect the Earth's surface, then the coordinate point P will be... i ′ is used as a boundary region drawing point and added to the vertex drawing queue.

4. The spatial situation coverage beam three-dimensional display method according to claim 1, characterized in that, The beam body coordinate system X b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices, specifically drawing the beam boundary: In the beam body coordinate system X b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

5. A spatial situation coverage beam three-dimensional display device, characterized in that, include: The first coordinate system establishment module is used to establish the beam body coordinate system X with the satellite's beam origin P as the origin. b O b Y b Z b ; The model building module is used to model the beam body coordinate system X. b O b Y b Z b Below, a spatial cone model is established with the satellite's beam origin P as the vertex, half the width of the satellite antenna beam as the half-cone angle α, and the beam direction as the axis PB. The center of the base of the spatial cone model is B, and the height l of the axis PB of the spatial cone model is the sum of the satellite height PE and the constant EB. The selection module is used to uniformly select n points P on the base circle of a spatial cone model. i P i In the beam body coordinate system X b O b Y b Z b The coordinates in the middle are: X i =rcos(2*Pi / n*i) Y i =rsin(2*Pi / n*i) Z i ＝l Where r is the radius of the base circle of the spatial cone model, r = l*tan(α); The second coordinate system establishment module is used to establish the Earth coordinate system ECEF with the Earth's center as the origin. The coordinate transformation module is used to transform point P. i Transform the coordinates to the Earth coordinate system ECEF to obtain the coordinates P in the Earth coordinate system ECEF. i ′;P i ′=M1*P i Where M1 is the beam body coordinate system X b O b Y b Z b The transition matrix to the Earth coordinate system ECEF; The queue generation module is used to generate queues based on the generatrix vector of the spatial conical model. Calculate the intersection of the generatrix and the Earth as the boundary region drawing point, and generate a vertex drawing queue; The drawing module is used to draw in the beam body coordinate system X. b O b Y b Z b Next, draw the beam geometry and draw the queue based on the beam boundary vertices to draw the beam boundary; The drawing object transformation module is used to transform the beam body coordinate system X. b O b Y b Z b The drawing object of the lower beam is transformed and the beam is displayed in the Earth coordinate system ECEF.

6. The spatial situation coverage beam three-dimensional display device according to claim 5, characterized in that, The drawing object conversion module is used to convert the beam body coordinate system X using a 3D engine. b O b Y b Z b The drawing object of the lower beam is transformed; the 3D engine supports double-precision position calculation on the CPU.

7. The spatial situation coverage beam three-dimensional display device according to claim 5, characterized in that, The drawing queue generation module is used to perform the following steps: Determine the number of intersections between the generatrix and the Earth's surface; If the generatrix intersects the Earth's surface at two points, the coordinates of the first intersection point are obtained as the boundary region drawing point and added to the vertex drawing team. If the generatrix is ​​tangent to the Earth's surface and forms an intersection point, the corresponding coordinates of the tangent point are obtained as the boundary region drawing point and added to the vertex drawing team. If the generatrix does not intersect the Earth's surface, then the coordinate point P will be... i ′ is used as a boundary region drawing point and added to the vertex drawing team.

8. The spatial situation coverage beam three-dimensional display device according to claim 5, characterized in that, The drawing module is used to draw in the beam body coordinate system X. b O b Y b Z b Below, the beam geometry is drawn using a triangular primitive drawing method, and the queue is drawn based on the beam boundary vertices. The beam boundary is drawn using a closed curve primitive drawing method.

9. An electronic device, characterized in that, include: processor; Memory for storing the executable instructions of the processor; The processor is configured to execute the instructions to implement the spatial situation coverage beam three-dimensional display method as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the spatial situation coverage beam three-dimensional display method as described in any one of claims 1-4 is performed.

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