Virtual reality model construction method for route guidance

Abstract

The invention discloses a virtual reality model construction method for route guidance, and relates to the technical field of virtual reality, and the method comprises the steps: constructing a navigation virtual space, and collecting a planned route of an unmanned aerial vehicle; performing data stream conversion on the planned route to obtain segmented route code elements, performing grouping marking and matrix combination to obtain an initial matrix, and performing internal conversion on the initial matrix to obtain a planned route matrix; performing simulation operation on the unmanned aerial vehicle in the navigation virtual space to obtain a virtual operation route, processing the obtained virtual operation route to obtain a virtual operation matrix, and obtaining a virtual-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix; performing state statistics on the virtual-real comparison matrix to obtain an abnormal matrix, and performing line matching on the abnormal matrix and the virtual running line to obtain an abnormal running section; the accuracy of the flight route of the unmanned aerial vehicle is improved, flight efficiency is improved, risks are reduced, and test cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of virtual reality, and in particular to a method for constructing a virtual reality model for route guidance. Background Art

[0002] A virtual reality model is a computer-generated simulated environment that creates an immersive experience through visual, auditory or other sensory input. In a virtual reality model, users can interact with the virtual environment as if they were in a real world.

[0003] Route guidance of drones refers to the use of various navigation and control technologies to make drones fly along a predetermined route or target. Existing drones often face communication problems when performing route guidance. If the communication with the ground control center or remote users is disturbed or interrupted, the drone may lose its way or lose control. At the same time, the navigation system used by the drone may have errors, which may cause the drone to deviate from the predetermined route and require additional adjustments and corrections. At the same time, complex routes are displayed in three-dimensional form, making it easier for users to understand and remember. Therefore, converting routes into virtual reality models for intelligent guidance has important theoretical and practical significance.

[0004] How to use virtual reality technology to build a navigation virtual space, convert the collected planned route into data streams, obtain segmented route code elements and process them to obtain the planned route matrix; simulate the operation of the UAV in the navigation virtual space, process the obtained virtual operation route, obtain the virtual operation matrix, and obtain the virtual-reality comparison matrix based on the virtual operation matrix and the planned route matrix; perform state statistics on the virtual-reality comparison matrix and match the route with the virtual operation route to obtain the abnormal operation segment, which is the problem we need to solve. To this end, a virtual reality model construction method for route guidance is provided. Summary of the invention

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A method for constructing a virtual reality model for route guidance comprises the following steps:

[0007] Step S1: constructing a navigation virtual space, wherein the navigation virtual space includes a collection subspace, a processing subspace, a simulation operation subspace, and a check subspace, and capturing the comprehensive flight data of the UAV through the collection subspace, wherein the comprehensive flight data includes a planned route, a flyable route, and UAV data, and performing a three-dimensional simulation conversion on the collected flyable route and UAV data to obtain a feasible virtual route and a virtual UAV;

[0008] Step S2: converting the planned route into a data stream by processing the subspace to obtain segmented route symbols, grouping and marking the segmented route symbols and performing matrix combination to obtain an initial matrix, and obtaining a planned route matrix by performing internal transformation on the initial matrix;

[0009] Step S3: simulate the operation of the virtual drone in the feasible virtual route through the simulated operation subspace to obtain the virtual operation route, group the obtained virtual operation route into intervals to obtain the virtual operation matrix, and obtain the virtual-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix;

[0010] Step S4: Perform state statistics on the virtual-real comparison matrix by checking the subspace to obtain a safety matrix and an abnormality matrix, match the obtained abnormality matrix with the virtual operation route, and obtain an abnormal operation segment.

[0011] The process of capturing comprehensive flight data of a drone through acquisition subspace includes:

[0012] Constructing a navigation virtual space, and setting a collection subspace, a processing subspace, a simulation operation subspace, and a checking subspace according to the constructed navigation virtual space;

[0013] Constructing transmission links among the acquisition subspace, processing subspace, simulation operation subspace, and inspection subspace;

[0014] A capture terminal is set up to capture the comprehensive data of the UAV through the capture terminal to obtain the flight comprehensive data, wherein the flight comprehensive data includes a planned route, a flyable route and UAV data.

[0015] The process of converting the collected flyable routes and drone data into three-dimensional simulation includes:

[0016] Performing three-dimensional simulation conversion on the obtained flyable route to obtain a feasible virtual route; performing three-dimensional simulation conversion on the obtained UAV data to obtain a virtual UAV, and uploading the obtained virtual UAV to the simulation operation subspace;

[0017] A route transfer point is set according to the obtained feasible virtual route, and nodes of the planned route are matched according to the set route transfer point to obtain a matching transfer point.

[0018] The process of obtaining the initial matrix includes:

[0019] Decomposing the planned route according to the obtained matching transfer points to obtain the planned segmented route;

[0020] Convert the obtained planned segmented route into a data stream to obtain segmented route code elements;

[0021] The obtained segmented route code elements are grouped into intervals to obtain segmented sub-code elements;

[0022] Marking the obtained segmented sub-code symbols in groups to obtain information code symbol groups and proofreading code symbol groups;

[0023] The obtained segment sub-symbols are matrix combined to obtain an initial matrix.

[0024] The process of obtaining the planned route matrix includes:

[0025] Obtaining an initial matrix and segmented sub-code symbols, and marking the information code element group in the initial matrix as an information code matrix according to the grouping mark of the segmented sub-code elements;

[0026] Marking the proofreading code element group in the initial matrix as a proofreading code matrix;

[0027] The proofreading code matrix in the initial matrix is ​​subjected to proofreading transformation and the information code matrix is ​​subjected to peer transformation to obtain the planned route matrix.

[0028] The process of obtaining the virtual-to-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix includes:

[0029] The obtained planned route is uploaded to the virtual drone in the simulation operation subspace;

[0030] The virtual UAV performs simulation operation on a feasible virtual route according to the obtained planned route to obtain a virtual operation route;

[0031] The obtained virtual running route is uploaded to the processing subspace, and the virtual running route is decomposed by the processing subspace according to the obtained route transfer points to obtain a segmented virtual route;

[0032] Performing data stream conversion on the obtained segmented virtual route to obtain virtual route code elements;

[0033] Performing interval grouping on the obtained virtual route code elements to obtain virtual sub-code elements;

[0034] Performing symbol matrixing on the obtained virtual sub-symbols to obtain a virtual operation matrix;

[0035] A virtual-to-real comparison matrix is ​​obtained according to the obtained virtual operation matrix and the planned route matrix.

[0036] The process of obtaining the abnormal operation segment includes:

[0037] The obtained virtual-to-real comparison matrix is ​​uploaded to the inspection subspace, and the state statistics of the obtained virtual-to-real comparison matrix are performed to obtain a safety matrix and an abnormality matrix;

[0038] Match the obtained safety matrix with the virtual operation route to obtain a safe operation section;

[0039] The obtained abnormal matrix is ​​matched with the virtual operation route to obtain the abnormal operation section.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows: constructing a navigation virtual space, setting a collection subspace, a processing subspace, a simulation operation subspace and a check subspace through the constructed navigation virtual space; processing the collected flight comprehensive data in the set different subspaces respectively, processing the collected planned routes into a planned route matrix, which is convenient for comparison with the virtual operation route of the virtual UAV to obtain the abnormal operation segment;

[0041] By converting data into binary code elements for matrix operations, abnormal operation segments are obtained, and route corrections are performed in the abnormal operation segments to guide the UAV to fly along the planned route. The UAV can be accurately guided to fly along the planned route in the virtual space, reducing the need for actual flight tests, avoiding waste of time and resources, and increasing the efficiency of route guidance for UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] like Figure 1 As shown, a method for constructing a virtual reality model for route guidance comprises the following steps:

[0046] Step S1: constructing a navigation virtual space, wherein the navigation virtual space includes a collection subspace, a processing subspace, a simulation operation subspace, and a check subspace, and capturing the comprehensive flight data of the UAV through the collection subspace, wherein the comprehensive flight data includes a planned route, a flyable route, and UAV data, and performing a three-dimensional simulation conversion on the collected flyable route and UAV data to obtain a feasible virtual route and a virtual UAV;

[0047] Step S2: converting the planned route into a data stream by processing the subspace to obtain segmented route symbols, grouping and marking the segmented route symbols and performing matrix combination to obtain an initial matrix, and obtaining a planned route matrix by performing internal transformation on the initial matrix;

[0048] Step S3: simulate the operation of the virtual drone in the feasible virtual route through the simulated operation subspace to obtain the virtual operation route, group the obtained virtual operation route into intervals to obtain the virtual operation matrix, and obtain the virtual-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix;

[0049] Step S4: Perform state statistics on the virtual-real comparison matrix by checking the subspace to obtain a safety matrix and an abnormality matrix, match the obtained abnormality matrix with the virtual operation route, and obtain an abnormal operation segment.

[0050] It should be further explained that, in the specific implementation process, the process of collecting comprehensive flight data includes:

[0051] Constructing a navigation virtual space, and setting a collection subspace, a processing subspace, a simulation operation subspace, and a checking subspace according to the constructed navigation virtual space;

[0052] Constructing a transmission link between the acquisition subspace, the processing subspace, the simulation operation subspace, and the inspection subspace, wherein the transmission link is used to transmit data information from one subspace to another subspace;

[0053] The acquisition subspace is used to capture the comprehensive flight data of the UAV;

[0054] The processing subspace is used to perform data stream conversion on the planned route to obtain segmented route code elements, perform grouping marking and matrix combination on the segmented route code elements to obtain an initial matrix, and obtain a planned route matrix by performing internal transformation on the initial matrix;

[0055] The model operation subspace is used to simulate the operation of the virtual UAV, obtain a virtual operation route, divide the obtained virtual operation route into interval groups, obtain a virtual operation matrix, and obtain a virtual-to-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix;

[0056] The inspection subspace is used to perform state statistics on the obtained virtual-real comparison matrix, obtain a safety matrix and an abnormality matrix, perform line matching between the obtained abnormality matrix and the virtual operation route, and obtain an abnormal operation segment;

[0057] The process of collecting the comprehensive flight data of the UAV in the acquisition subspace includes:

[0058] Set up a capture terminal to capture the comprehensive data of the drone and obtain the comprehensive flight data;

[0059] The comprehensive flight data includes a planned route, a flyable route, and drone data;

[0060] Furthermore, the planned route refers to a flight route pre-planned by the UAV before the flight, and the flyable route refers to an air route that can be flown within the divided area;

[0061] Uploading the obtained flyable routes and drone data to the navigation virtual space, performing three-dimensional simulation conversion on the obtained flyable routes, and obtaining feasible virtual routes;

[0062] Performing three-dimensional simulation conversion on the obtained UAV data to obtain a virtual UAV, and uploading the obtained virtual UAV to the simulation operation subspace;

[0063] It should be further explained that, in the specific implementation process, the three-dimensional simulation conversion is to convert the real flyable route into a virtual three-dimensional flyable route through three-dimensional modeling software, and display it in the navigation virtual space; the virtual drone is a virtual three-dimensional element capable of flying generated in the virtual space according to the drone data, and has the same function as the real drone;

[0064] Setting a route transfer point according to the obtained feasible virtual route, wherein the route transfer point is set according to the route length, including a route intersection point and a route turning point of the feasible virtual route;

[0065] Perform node matching on the planned route according to the set route transfer points to obtain matching transfer points;

[0066] The matching switching point and the line switching point have the same corresponding positions on the flyable route.

[0067] The obtained planned route is uploaded to the processing subspace, and the planned route is processed by the processing subspace to obtain the planned route matrix. The specific process includes:

[0068] Decomposing the planned route according to the obtained matching transfer points to obtain the planned segmented route;

[0069] Convert the obtained planned segmented route into a data stream to obtain segmented route code elements, wherein the data stream is composed of a number of binary code elements;

[0070] The obtained segmented route code elements are grouped into intervals to obtain segmented sub-code elements;

[0071] It should be further explained that, in the specific implementation process, the interval grouping is to group the segment route codewords into 7 binary codewords, which are recorded as segment sub-codewords. If the last segment sub-codeword is less than 7 binary codewords, the end of the segment sub-codeword less than 7 binary codewords is padded with 0 until the number of binary codewords of the segment sub-codeword is 7;

[0072] Marking the obtained segmented sub-code symbols in groups to obtain information code symbol groups and proofreading code symbol groups;

[0073] Furthermore, the grouping mark is to mark the first 4 binary code elements of the segment sub-code element as information code elements, and mark the last 3 binary code elements of the segment sub-code element as proofreading code elements;

[0074] The obtained segment sub-code elements are marked as i=1, i=2, i=3, i=4, i=5, i=6, i=7, where i=1, i=2, i=3, i=4 are information code elements, and i=5, i=6, i=7 are proofreading code elements;

[0075] Perform matrix combination on the obtained segment sub-code elements to obtain an initial matrix, and mark the obtained initial matrix as C;

[0076] The initial matrix is ​​a 3×7 matrix formed by grouping three segment sub-symbols. Further, if there are still remaining after grouping the three segment sub-symbols as a group, the remaining segment sub-symbols are recombined with the previous segment sub-symbols to obtain the initial matrix;

[0077] The initial matrix is ​​internally transformed according to the obtained information symbol group and the proofreading symbol group to obtain the planned route matrix, and the obtained planned route matrix is ​​marked as ;

[0078] It should be further explained that, in the specific implementation process, the internal transformation process includes:

[0079] Obtain an initial matrix and segmented sub-code symbols, and mark the information code symbol group in the initial matrix as an information code matrix according to the grouping mark of the segmented sub-code symbol, and record it as X, where X is a 3×4 matrix consisting of i=1, i=2, i=3, and i=4 as a group;

[0080] The check code element group in the initial matrix is ​​marked as the check code matrix, denoted as J, where J is composed of i=5, i=6, i=7 as a group to form another 3×3 matrix; then the initial matrix can be expressed as [X┆J];

[0081] Performing calibration transformation and peer transformation on the obtained initial matrix to obtain a planned route matrix;

[0082] The proofreading transformation is to perform modulo 2 addition on the obtained initial matrix until the proofreading code matrix in the initial matrix is ​​converted into a unit matrix. The same line transformation is to perform modulo 2 addition on the proofreading code matrix to convert it into a unit matrix while performing the same modulo 2 addition on the information code matrix, and record the final modulo 2 addition result to form a planned route matrix, which is ,but =[X'┆E], where X' is the information code matrix after modulo-2 addition transformation, and E represents the unit matrix after modulo-2 addition transformation of the check code matrix.

[0083] The obtained planned route is uploaded to the virtual drone in the simulation operation subspace;

[0084] The virtual UAV performs simulation operation on a feasible virtual route according to the obtained planned route to obtain a virtual operation route;

[0085] The obtained virtual running route is uploaded to the processing subspace, and the virtual running route is decomposed by the processing subspace according to the route transfer points of the obtained virtual running route to obtain a segmented virtual route;

[0086] Performing data stream conversion on the obtained segmented virtual route to obtain virtual route code elements;

[0087] Performing interval grouping on the obtained virtual route code elements to obtain virtual sub-code elements;

[0088] The obtained virtual sub-symbols are matrixed to obtain a virtual operation matrix, and the obtained virtual operation matrix is ​​marked as , where n is the number of the virtual sub-code element in the virtual route code element, n=1, 2, 3, ..., v1, v1 is a positive integer, and the elements in the virtual operation matrix are marked as a=1, a=2, a=3, a=4, a=5, a=6, a=7;

[0089] The virtual-to-real comparison matrix is ​​obtained based on the obtained virtual operation matrix and the planned route matrix, and the obtained virtual-to-real comparison matrix is ​​marked as ,in, = · T , Trepresents the transpose of the planned route matrix, then the virtual-real comparison matrix is ​​obtained by multiplying the virtual operation matrix and the transpose of the planned route matrix and performing modulo 2 addition, and the obtained virtual-real comparison matrix is ​​a matrix of 1 row and 3 columns, that is, a 1×3 matrix.

[0090] The obtained virtual-real comparison matrix is ​​uploaded to the inspection subspace, and the obtained virtual-real comparison matrix is ​​analyzed to obtain the abnormal operation segment;

[0091] Perform state statistics on the obtained virtual-real comparison matrix to obtain a safety matrix and an abnormality matrix;

[0092] It should be further explained that, in the specific implementation process, the process of status statistics includes:

[0093] According to the obtained virtual-real comparison matrix being a 1×3 matrix, the states of the obtained virtual-real comparison matrix are

[000] ,

[001] ,

[010] ,

[011] ,

[100] ,

[101] ,

[110] ,

[111] . When the state of the virtual-real comparison matrix is ​​

[000] , it is recorded as a safe matrix. When the state of the virtual-real comparison matrix is ​​

[001] ,

[010] ,

[011] ,

[100] ,

[101] ,

[110] or

[111] , it is recorded as an abnormal matrix.

[0094] Match the obtained safety matrix with the virtual operation route to obtain a safe operation section;

[0095] Match the obtained abnormal matrix with the virtual operation route to obtain the abnormal operation section;

[0096] It should be further explained that, in the specific implementation process, the line matching is to first obtain the virtual sub-code element corresponding to the virtual-to-real comparison matrix, and match the obtained virtual sub-code element according to the corresponding position of the virtual route code element before the interval grouping, to obtain the matching virtual sub-code element, perform data stream conversion according to the segmented virtual route, obtain the matching virtual route corresponding to the matching virtual sub-code element, and obtain the security matrix and abnormal matrix according to the state statistics of the virtual-to-real comparison matrix, obtain the matching virtual route corresponding to the security matrix, recorded as the safe operation segment, and obtain the matching virtual route corresponding to the abnormal matrix, recorded as the abnormal operation segment;

[0097] By checking the subspace, a correction warning instruction is issued to the abnormal operation segment obtained, and correction guidance is provided to the abnormal operation segment;

[0098] It should be further explained that, in the specific implementation process, the correction warning instruction is to match the line transfer point corresponding to the abnormal operation segment with the matching transfer point of the planned route to obtain the abnormal matching segment of the planned route, indicating that the simulated operation of the virtual drone under the planned route has deviated, and the deviated virtual drone needs to be corrected in route so that the flight route of the virtual drone in the abnormal operation segment is the same as the planned route, and the corrected abnormal operation segment is checked. If the virtual-to-real comparison matrix of the abnormal operation segment is a safety matrix, the repair is successful. Otherwise, the route correction of the abnormal operation segment continues.

[0099] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for constructing a virtual reality model for route guidance, characterized in that: The following steps are involved: Step S1: constructing a navigation virtual space, wherein the navigation virtual space includes a collection subspace, a processing subspace, a simulation operation subspace, and a check subspace, and capturing the comprehensive flight data of the UAV through the collection subspace, wherein the comprehensive flight data includes a planned route, a flyable route, and UAV data, and performing a three-dimensional simulation conversion on the collected flyable route and UAV data to obtain a feasible virtual route and a virtual UAV; Step S2: converting the planned route into a data stream by processing the subspace to obtain segmented route symbols, grouping and marking the segmented route symbols and performing matrix combination to obtain an initial matrix, and obtaining a planned route matrix by performing internal transformation on the initial matrix; Step S3: simulate the operation of the virtual drone in the feasible virtual route through the simulated operation subspace to obtain the virtual operation route, group the obtained virtual operation route into intervals to obtain the virtual operation matrix, and obtain the virtual-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix; Step S4: Perform state statistics on the virtual-real comparison matrix by checking the subspace to obtain a safety matrix and an abnormality matrix, match the obtained abnormality matrix with the virtual operation route, and obtain an abnormal operation segment.

2. A method for constructing a virtual reality model for route guidance according to claim 1, characterized in that: The process of capturing comprehensive flight data of a drone through acquisition subspace includes: Constructing a navigation virtual space, and setting a collection subspace, a processing subspace, a simulation operation subspace, and a checking subspace according to the constructed navigation virtual space; Constructing transmission links among the acquisition subspace, processing subspace, simulation operation subspace, and inspection subspace; A capture terminal is set up to capture the comprehensive data of the UAV through the capture terminal to obtain the flight comprehensive data, wherein the flight comprehensive data includes a planned route, a flyable route and UAV data.

3. A method for constructing a virtual reality model for route guidance according to claim 2, characterized in that: The process of converting the collected flyable routes and drone data into three-dimensional simulation includes: Performing three-dimensional simulation conversion on the obtained flyable route to obtain a feasible virtual route; performing three-dimensional simulation conversion on the obtained UAV data to obtain a virtual UAV, and uploading the obtained virtual UAV to the simulation operation subspace; A route transfer point is set according to the obtained feasible virtual route, and nodes of the planned route are matched according to the set route transfer point to obtain a matching transfer point.

4. A method for constructing a virtual reality model for route guidance according to claim 3, characterized in that: The process of obtaining the initial matrix includes: Decomposing the planned route according to the obtained matching transfer points to obtain the planned segmented route; Convert the obtained planned segmented route into a data stream to obtain segmented route code elements; The obtained segmented route code elements are grouped into intervals to obtain segmented sub-code elements; Marking the obtained segmented sub-code symbols in groups to obtain information code symbol groups and proofreading code symbol groups; The obtained segment sub-symbols are matrix combined to obtain an initial matrix.

5. A method for constructing a virtual reality model for route guidance according to claim 4, characterized in that: The process of obtaining the planned route matrix includes: Obtaining an initial matrix and segmented sub-code symbols, and marking the information code element group in the initial matrix as an information code matrix according to the grouping mark of the segmented sub-code elements; Marking the proofreading code element group in the initial matrix as a proofreading code matrix; The proofreading code matrix in the initial matrix is ​​subjected to proofreading transformation and the information code matrix is ​​subjected to peer transformation to obtain the planned route matrix.

6. A method for constructing a virtual reality model for route guidance according to claim 5, characterized in that: The process of obtaining the virtual-to-real comparison matrix according to the obtained virtual operation matrix and the planned route matrix includes: The obtained planned route is uploaded to the virtual drone in the simulation operation subspace; The virtual UAV performs simulation operation on a feasible virtual route according to the obtained planned route to obtain a virtual operation route; The obtained virtual running route is uploaded to the processing subspace, and the virtual running route is decomposed by the processing subspace according to the obtained route transfer points to obtain a segmented virtual route; Performing data stream conversion on the obtained segmented virtual route to obtain virtual route code elements; Performing interval grouping on the obtained virtual route code elements to obtain virtual sub-code elements; Performing symbol matrixing on the obtained virtual sub-symbols to obtain a virtual operation matrix; A virtual-to-real comparison matrix is ​​obtained according to the obtained virtual operation matrix and the planned route matrix.

7. A method for constructing a virtual reality model for route guidance according to claim 6, characterized in that: The process of obtaining the abnormal operation segment includes: The obtained virtual-to-real comparison matrix is ​​uploaded to the inspection subspace, and the state statistics of the obtained virtual-to-real comparison matrix are performed to obtain a safety matrix and an abnormality matrix; Match the obtained safety matrix with the virtual operation route to obtain a safe operation section; The obtained abnormal matrix is ​​matched with the virtual operation route to obtain the abnormal operation section.

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