Method for rapidly determining shielding of conical view field

Abstract

The invention relates to a method for quickly determining shielding of a conical view field, which comprises the following steps of: S1, setting delta blk to represent a shielding triangle, marking three vertexes as A, B, C and # imgabs0 # as a center line of the conical view field, judging whether a plane S where the shielding triangle delta blk is located relative to the aperture of an antenna reflecting surface is intersected with the conical view field, and if so, dividing the delta blk at the upper part of the plane S into (delta blk) 1 and (delta blk) 2; s2, judging whether # imgabs1 # is intersected with (delta blk) 1 or not; s3, judging whether one point of A, B and C is in the conical view field or not; s4, judging whether one edge of the delta blk is intersected with the conical view field or not; s5, if the (delta blk) 2 is not null, repeating the steps S2 to S4 on the (delta blk) 2; traversing the triangular grids of all sheltering objects; and traversing all the orientations of the conical view field, and determining the shielded orientation of the conical view field. According to the method, the spatial distribution of the orientation when the spot beam antenna capable of rotating on two axes is shielded by the star is rapidly and quantitatively calculated.

Description

Technical Field

[0001] The invention belongs to the technical field of overall design and analysis of spacecraft, and relates to a method for quickly determining cone-type field of view occlusion, and is particularly suitable for rapid quantitative analysis of a two-axis rotatable spot beam antenna being occluded by a spacecraft body. Background Art

[0002] As the overall layout of spacecraft develops towards a more compact direction, the rotation of large components such as solar panels and antennas of spacecraft will inevitably cause obstruction to the star sensor, thus affecting the layout of the star sensor and its use strategy. In order to determine whether the star equipment is blocked by other components of the spacecraft and fails, the traditional method is to establish a three-dimensional entity of the field of view (here called the view volume), and then transform the field of view obstruction analysis problem into the problem of determining whether the view volume of the sensor interferes with other components of the spacecraft. However, this calculation method is not only inefficient and has poor accuracy, but also cannot analyze dynamic field of view obstruction. Therefore, in the top-level design of the spacecraft (such as configuration design), a large enough margin must be left to ensure reliability, which greatly increases the design cost and difficulty of the spacecraft.

[0003] Figure 1 (a) Figure 1 (b) is a two-axis rotatable spot beam antenna on a certain satellite model. The field of view of the spot beam antenna is a cone with a semi-conical angle of about 2°. When the antenna tracks the ground station, it will be blocked by the stars. The direction in which the antenna is pointed will be blocked by the stars and the amount of blocking is very important for the overall design of the spacecraft. The traditional method is to create a three-dimensional entity of the field of view in 3D CAD, turn the antenna to a specific direction, and then observe whether the field of view interferes with the stars. If there is interference, it means that when the antenna is turned to this direction, the field of view of the spot beam antenna is blocked by the stars. This method is time-consuming and laborious, with low efficiency and poor accuracy. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and to provide a method for quickly determining cone-type field of view obstruction, so as to achieve rapid and accurate quantitative calculation of the spatial distribution of the orientation of a two-axis rotatable spot beam antenna when it is obstructed by a celestial body, and to provide quantitative optimization data for the overall layout optimization design of the spacecraft.

[0005] The solution to the technical problem of the present invention is: a method for quickly determining cone-like field of view occlusion, wherein a three-dimensional model of an occluding object of any shape can be divided into a combination of several triangular meshes, and the method comprises the following steps:

[0006] S1. Use three physical quantities to represent the conical field of view: the plane S where the aperture of the data transmission or relay antenna reflector is located, and the center line of the conical field of view and the semi-cone angle β, dividing the space into two parts with plane S as the boundary, and The same direction is the upper part, The reverse side is the lower part. For any triangle Δ in the occluder blk There are three possibilities:

[0007] Category a), Δ blk The three vertices are completely on the upper part of plane S;

[0008] Category b), Δ blk If it intersects with plane S, it can be split into 2-3 triangles, at least one of which is below plane S and 1-2 are above plane S;

[0009] Category c), Δ blk The three vertices are completely below the plane S;

[0010] S2, set the blocking triangle Δ blk The three vertices are A, B, and C. The unit vectors are denoted by c e ,a,b,c; Use the exhaustive method to determine which category of a)-c) the triangle mesh of the occluder belongs to relative to the plane S. If it belongs to c), then the occluding triangle Δ blk does not intersect with the conical field of view, the current cycle ends, if it belongs to category a), go to step S3, if it belongs to category b), then Δ blk The part located on the upper part of plane S is divided into 1 to 2 new triangles, denoted as (Δ blk )1、(Δ blk )2, proceed to step S3;

[0011] S3. Judgment Is it related to (Δ blk )1 intersects, if so, occlusion occurs and this cycle ends, otherwise it goes to step S4;

[0012] S4. Determine whether there is a point among A, B, and C inside the cone field of view, i.e., c e a ≥ cos(β) or c e b ≥ cos(β) or c e If one of the two conditions c≥cos(β) holds, occlusion occurs and the loop ends. Otherwise, the loop goes to step S5.

[0013] S5. Determine the occluding triangle Δ blk Is there an edge that intersects the cone field of view? If Δ blk If there is an edge that intersects the cone field of view, occlusion occurs and this loop ends, otherwise it goes to step S6;

[0014] S6, if (Δ blk )2 is not empty, then (Δ blk)2 Repeat steps S3 to S5, otherwise go to step S7 for the next cycle;

[0015] S7, repeat steps S2 to S6 to traverse the triangular meshes of all occluders;

[0016] S8. Repeat steps S2 to S7, traverse all cone-like field of view orientations, and determine the orientation where the cone-like field of view is blocked.

[0017] Furthermore, the method for determining which category a)-c) the triangle mesh of the occluder belongs to relative to the plane S is as follows:

[0018] and It belongs to category c);

[0019] and It belongs to category c);

[0020] and It belongs to category c);

[0021] and It belongs to category c);

[0022] and It belongs to category c);

[0023] and It belongs to category c);

[0024] and It belongs to category c);

[0025] like and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;

[0026] like and It belongs to category b). Find the intersection point B' of line segment AB and plane S, and the intersection point C' of AC and plane S. Replace the coordinates of point B with B' and point C with C'. The new triangle is (Δ blk )1,(Δ blk )2 is empty;

[0027] and It belongs to category b). Find the intersection point A' of line segment BA and plane S, and the intersection point C' of BC and plane S. Replace the coordinates of point A with A' and point C with C'. The new triangle is (Δ blk )1,(Δ blk )2 is empty;

[0028] and It belongs to category b). Find the intersection point A' of line segment CA and plane S, and the intersection point B' of CB and plane S. Replace the coordinates of point A with A' and point B with B'. The new triangle is (Δ blk )1,(Δ blk )2 is empty;

[0029] and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;

[0030] and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;

[0031] and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;

[0032] and It belongs to category b). Find the intersection point A' of line segment AC and plane S, and find the intersection point B' of BC and plane S. A A'B forms (Δ blk )1, A'B'B composition (Δ blk )2;

[0033] and It belongs to category b). Find the intersection point A' of line segment AB and plane S, and find the intersection point C' of CB and plane S. A A'C forms (Δ blk )1, A'C'C composition (Δ blk )2;

[0034] and Then it belongs to category b). Find the intersection point C' of line segment CA and plane S, find the intersection point B' of BA and plane S, and B B'C forms (Δ blk)1, B'C'C composition (Δ blk )2;

[0035] Other cases (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty.

[0036] Furthermore, the judgment Is it related to (Δ blk )1 intersect, the method is as follows:

[0037] Define the following vector:

[0038]

[0039]

[0040] If δ a , δ b , δ c The signs are the same, then and (Δ blk )1 intersect, otherwise they do not intersect.

[0041] Furthermore, the determination of the occluding triangle Δ blk Check if there is an edge that intersects the cone view using the following method:

[0042] If AB intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, so OK and OC e The angle between a and b is less than β, which can be expressed in vector language as follows: b =a×b, b c =b×c,c a =c×a, if |c e ·a b |≤sin(β) and (c e ×a b )·a and (c e ×a b )·b are of opposite signs, then AB intersects the cone field;

[0043] If BC intersects the cone, let BC and OC e The intersection point of the common perpendicular lines on BC is K, so OK and OC e The angle between |c e b c |≤sin(β) and (c e ×b c )·b and (c e ×b c)·c are of opposite signs, then BC intersects the cone field;

[0044] If CA intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, so OK and OC e The angle between |c e ·c a |≤sin(β) and (c e ×c a )·c and (c e ×c a )·a have opposite signs, then CA intersects the conic field of view.

[0045] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a method for quickly determining cone-like field of view occlusion are implemented.

[0046] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a method for rapidly determining cone-type field of view occlusion are implemented.

[0047] A computer program product comprises a computer program, which, when executed by a processor, implements the steps of a method for rapidly determining cone-like field of view occlusion.

[0048] The beneficial effects of the present invention compared with the prior art are:

[0049] 1) Before the present invention was proposed, the method of calculating the field of view of a two-axis rotatable spot beam antenna being blocked by celestial bodies during the overall design of a spacecraft was time-consuming, inefficient and of poor accuracy. The present invention provides a method for quickly determining cone-type field of view blockage, which can quickly calculate the field of view of a two-axis rotatable spot beam antenna being blocked by celestial bodies.

[0050] 2) The present invention provides a method for quantitatively calculating the spatial distribution of the orientation of a two-axis rotatable spot beam antenna when it is blocked by a celestial body, thereby providing quantitative optimization data for the overall layout optimization design of the spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 (a) is a spot beam antenna that can rotate along two axes on a certain satellite model. When the antenna is tracking the ground station, it is blocked by the star.

[0052] Figure 1 (b) A spot beam antenna that can rotate along two axes on a certain satellite model. When the antenna tracks the ground station, it is not blocked by the stars.

[0053] Figure 2 Mesh the triangle shape of any occluder;

[0054] Figure 3 It is a schematic diagram of the cone field of view, the relationship between occluders and the classification of occluders;

[0055] Figure 4 An embodiment of the algorithm is realized by using Matlab;

[0056] Figure 5 The layout and field of view obstruction of a certain model of data transmission antenna;

[0057] Figure 6 To use the algorithm provided by the present invention, the quantitative calculation results of the spatial distribution of the antenna's orientation when it is blocked by a star;

[0058] Figure 7 The flowchart is a method for quickly determining cone-type field of view occlusion. DETAILED DESCRIPTION

[0059] The present invention proposes a method for quickly determining cone-type field of view occlusion, and the technical solution is as follows:

[0060] like Figure 2 As shown in the figure, the 3D model of any obstruction can be divided into a combination of several triangular meshes in the CAD software. Then the field of view obstruction problem is further transformed into: for each field of view line in the field of view model, determine whether all spatial triangles of all obstructions block the field of view line. The point beam antenna of a spacecraft, such as a data transmission antenna and a relay antenna, generally has a conical field of view. Then, only three quantities are needed to fully represent the conical field of view, such as Figure 3 As shown:

[0061] The plane S where the aperture of the data transmission or relay antenna reflector is located

[0062] Centerline of the cone of view

[0063] Half cone angle β

[0064] The space is divided into two parts by plane S. The same direction is the upper part, The reverse side is the lower part. For any triangle Δ in the occluder blk There are three possibilities:

[0065] Category a), Δ blk The three vertices are completely on the upper part of plane S (such as Figure 3 Δ blk,2 );

[0066] Category b), Δblk Intersecting with plane S (such as Figure 3 Δ blk,1 ), then Δ blk,1 Can be split into 2 to 3 triangles ( Figure 3 There are 3 of them), at least one of them is in the lower part of plane S, and 1 to 2 of them are in the upper part of plane S;

[0067] Category c), Δ blk The three vertices are completely below the plane S (such as Figure 3 Δ blk,3 );

[0068] Note that the field of view of the spot beam antenna starts from the aperture of the antenna reflector. According to the definition of plane S, the lower part of plane S is obviously not the field of view of the antenna, so Δ blk,3 No matter what the situation is, the data transmission and relay antenna field of view will not be blocked. After the above triangle division, we only need to consider the upper part of plane S Δ blk , that is, category a) and category b); for category b), it is necessary to reconstruct 1 to 2 triangles above the intersection line before it can be classified into category a). blk intersects with the cone field of view, then Δ blk Occlude the cone field of view. If they do not intersect, then the cone field of view is not occluded.

[0069] like Figure 7 As shown, based on the above three categories, the steps for quickly determining cone-type field of view occlusion are as follows:

[0070] Assume Δ blk Represents an occluding triangle, with three vertices denoted as A, B, and C. The unit vectors are denoted by c e ,a,b,c;

[0071] S1. Use the exhaustive method to determine which category of a)-c) the triangle mesh of the occluder belongs to relative to the plane S. If it belongs to c), then the occluding triangle Δ blk It does not intersect with the cone field of view, and this cycle ends. If it belongs to category a), go to step S2. If it belongs to category b), the occluding triangle Δ blk Intersecting with plane S, Δ blk The part located on the upper part of plane S is divided into 1 to 2 new triangles, denoted as (Δ blk )1、(Δ blk )2, enter step S2.

[0072] The specific identification method is as follows:

[0073] and Then it belongs to category c), Δblk It does not intersect with the conical field of view, and this cycle ends;

[0074] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0075] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0076] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0077] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0078] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0079] and Then it belongs to category c), Δ blk It does not intersect with the conical field of view, and this cycle ends;

[0080] like and Then it belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty, go to step S2;

[0081] like and Then it belongs to category b). Find the intersection point B' of line segment AB and plane S, find the intersection point C' of AC and plane S, replace the coordinates of point B with B', and replace the coordinates of point C with C'. The new triangle is (Δ blk )1,(Δ blk )2 is empty, go to step S2;

[0082] and Then it belongs to category b). Find the intersection point A' of line segment BA and plane S, and the intersection point C' of BC and plane S. Replace the coordinates of point A with A' and point C with C'. The new triangle is (Δ blk )1,(Δblk )2 is empty, go to step S2;

[0083] and Then it belongs to category b). Find the intersection point A' of line segment CA and plane S, find the intersection point B' of CB and plane S, replace the coordinates of point A with A', and the coordinates of point B with B'. The new triangle is (Δ blk )1,(Δ blk )2 is empty, go to step S2;

[0084] and Then it belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty, go to step S2;

[0085] and Then it belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty, go to step S2;

[0086] and Then it belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty, go to step S2;

[0087] and Then it belongs to category b). Find the intersection point A' of line segment AC and plane S, and find the intersection point B' of BC and plane S. A A'B forms (Δ blk )1, A'B'B composition (Δ blk )2, go to step S2;

[0088] and Then it belongs to category b). Find the intersection point A' of line segment AB and plane S, and find the intersection point C' of CB and plane S. A A'C forms (Δ blk )1, A'C'C composition (Δ blk )2, go to step S2;

[0089] and Then it belongs to category b). Find the intersection C' of line segment CA and plane S, find the intersection B' of BA and plane S, and B B'C forms (Δ blk )1, B'C'C composition (Δ blk )2, go to step S2;

[0090] Other cases (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty, go to step S2.

[0091] S2. Judgment Is it related to (Δ blk )1 intersects. If they intersect, occlusion occurs and the cycle ends. Otherwise, it goes to step S3. After processing in S1 and S2, the Δ belonging to class b) and class a) is blk Transformed into Δ that all belong to type a) blk .

[0092] The specific judgment method is as follows:

[0093] Define the following vector:

[0094]

[0095] If δ a , δ b , δ c The signs are the same, then and (Δ blk )1 intersect, otherwise they do not intersect.

[0096] S3, determine whether there is a point in A, B, C inside the cone field of view, that is, c e a ≥ cos(β) or c e b ≥ cos(β) or c e If either of the conditions c≥cos(β) holds, occlusion occurs and the loop ends. Otherwise, the loop proceeds to step S4.

[0097] S4. Determine the occluding triangle Δ blk Is there an edge that intersects the cone field of view? If Δ blk If there is an edge that intersects the conical field of view, occlusion occurs and this loop ends; otherwise, it goes to step S5.

[0098] The specific judgment method is as follows:

[0099] If AB intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, so OK and OC e The angle between a and b is definitely smaller than β, which can be expressed in vector language as follows: b =a×b, b c =b×c,c a =c×a, if |c e ·a b |≤sin(β) and (c e ×ab )·a and (c e ×a b )·b have different signs, then AB intersects with the conical field of view, occlusion occurs, and this cycle ends.

[0100] If BC intersects the cone, let BC and OC e The intersection point of the common perpendicular lines on BC is K, so OK and OC e The angle between |c e b c |≤sin(β) and (c e ×b c )·b and (c e ×b c )·c have different signs, then BC intersects with the cone field of view, occlusion occurs, and this cycle ends.

[0101] If CA intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, so OK and OC e The angle between |c e ·c a |≤sin(β) and (c e ×c a )·c and (c e ×c a )·a have different signs, CA intersects with the cone field of view, occlusion occurs, and this cycle ends.

[0102] S5, if (Δ blk )2 is not empty, then (Δ blk )2 Repeat steps S2 to S4, otherwise go to step S6 for the next cycle;

[0103] S6, repeat steps S1 to S5 to traverse the triangular meshes of all occluders;

[0104] S7, repeat steps S1 to S6, traverse all cone-like field of view orientations, and determine the orientation where the cone-like field of view is blocked.

[0105] The above method can be implemented using any programming language, such as Matlab, Python, C, C++, etc.

[0106] The present invention will be further described below in conjunction with the embodiments.

[0107] Example 1

[0108] The method of the present invention is implemented using Matlab, and the GUI interface after implementation is as follows: Figure 4 As shown, the GUI is briefly described as follows:

[0109] (I) Field of view parameter area

[0110] The field of view model and parameter area are required inputs for the calculation.

[0111] The field of view does not need to input the field of view model file. However, it is necessary to obtain the relevant parameters of the field of view model by establishing the field of view model in CAD. The field of view model in CAD is a cone. The bottom surface of the cone is the aperture position of the antenna.

[0112] The center position of the field of view model is the three-dimensional coordinate of the vertex of the cone in the whole star coordinate system.

[0113] The field of view half cone angle is the half cone angle of the cone.

[0114] The antenna aperture is determined according to the antenna model.

[0115] The null field of view direction is the direction of the antenna field of view when the antenna is at null position, and must be a unit vector.

[0116] The antenna has two rotating shafts. You need to obtain the unit direction of the fixed axis and the linkage axis in the satellite coordinate system and the coordinates of any point on them from CAD. At the same time, set the rotation range and discrete precision of the rotating shaft. The discrete precision must be a natural number. The larger the number, the higher the precision.

[0117] The coordinate unit is mm.

[0118] (II) Occlusion model and parameter area

[0119] The dynamic occluder model and parameter fields are required inputs to the calculation. Static occluder input is optional.

[0120] The occluder model file path is the path and name of the occluder model Stereolithograph (STL) file. If only the model name is filled in without the file path, it means that the current STL file is in the directory where the current software is located. Currently only binary STL files are supported. STL files of occluder models can be generated by CAD software such as Pro / E, Soliworks, and UG.

[0121] Note that the thickness of the grid in the STL file of the obstruction does not affect the calculation accuracy. Therefore, in order to improve the calculation performance, for CAD model components with more details, it is necessary to build a simple model to ignore the details of the complex model. For example, when the obstruction is a relay antenna, a simple envelope model of the transmitting surface is built. The boundary between the simplified model and the complex model is consistent, so it does not affect the calculation accuracy.

[0122] If it is a dynamic occluder, you also need to input the unit vector of the rotation axis in the whole satellite coordinate system and the three-dimensional coordinates of any point on the rotation axis in the whole satellite coordinate system. The discrete accuracy is controlled by the rotation range around the rotation axis and the number of discrete points.

[0123] If the occluder to be analyzed is only a static occluder, it is sufficient to set the initial angle = 0, the maximum angle = 0, and the discrete point = 1 in terms of discrete accuracy. The rotation axis vector can be any unit vector, and the point on the rotation axis can be any point.

[0124] If the occluder contains both dynamic occluders and static occluders, the static occluder needs to select "Whether to include static occluder during analysis" and indicate the STL file of the static occluder.

[0125] A certain type of data transmission antenna is a spot beam antenna that can rotate on two axes. Its layout on the satellite is as follows: Figure 5 As shown in the figure, the field of view model of the data transmission antenna in different directions is established as follows Figure 5 As shown in FIG. 1 , when the data transmission antenna is turned to a certain direction, it will be blocked by the stars. Using the algorithm provided by the present invention, the calculation result is as follows: Figure 6 shown.

[0126] The present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 7 The method described.

[0127] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0132] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A method for quickly determining cone-like field of view occlusion, wherein a three-dimensional model of an occluder of any shape can be divided into a combination of several triangular meshes, characterized in that: The following steps are involved: S1. Use three physical quantities to represent the conical field of view: the plane S where the aperture of the data transmission or relay antenna reflector is located, and the center line of the conical field of view and the semi-cone angle β, the plane S is used as the boundary to divide the space into two parts, and The same direction is the upper part, The reverse side is the lower part. For any triangle Δ in the occluder blk There are three possibilities: Category a), Δ blk The three vertices are completely on the upper part of plane S; Category b), Δ blk If it intersects with plane S, it can be split into 2-3 triangles, at least one of which is below plane S and 1-2 are above plane S; Category c), Δ blk The three vertices are completely below the plane S; S2, set the blocking triangle Δ blk The three vertices are A, B, and C. The unit vectors are denoted by c e ,a,b,c; Use the exhaustive method to determine which category of a)-c) the triangle mesh of the occluder belongs to relative to the plane S. If it belongs to c), then the occluding triangle Δ blk does not intersect with the conical field of view, the current cycle ends, if it belongs to category a), go to step S3, if it belongs to category b), then Δ blk The part located on the upper part of plane S is divided into 1 to 2 new triangles, denoted as (Δ blk )1、(Δ blk )2, proceed to step S3; S3. Judgment Is it related to (Δ blk )1 intersects, if so, occlusion occurs and this cycle ends, otherwise it goes to step S4; S4. Determine whether there is a point among A, B, and C inside the cone field of view, i.e., c e a ≥ cos(β) or c e b ≥ cos(β) or c e If one of the two conditions c≥cos(β) holds, occlusion occurs and the loop ends. Otherwise, the loop goes to step S5. S5. Determine the occluding triangle Δ blk Is there an edge that intersects the cone field of view? If Δ blk If there is an edge that intersects the cone field of view, occlusion occurs and this loop ends, otherwise it goes to step S6; S6, if (Δ blk )2 is not empty, then (Δ blk )2 Repeat steps S3 to S5, otherwise go to step S7 for the next cycle; S7, repeat steps S2 to S6 to traverse the triangular meshes of all occluders; S8. Repeat steps S2 to S7, traverse all cone-like field of view orientations, and determine the orientation where the cone-like field of view is blocked.

2. A method for quickly determining cone-type field of view occlusion according to claim 1, characterized in that: The method for determining which category of a)-c) the triangle mesh of the occluder belongs to relative to the plane S is as follows: and It belongs to category c); and It belongs to category c); and It belongs to category c); and It belongs to category c); and It belongs to category c); and It belongs to category c); and It belongs to category c); like and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; like and It belongs to category b). Find the intersection point B' of line segment AB and plane S, and the intersection point C' of AC and plane S. Replace the coordinates of point B with B' and point C with C'. The new triangle is (Δ blk )1,(Δ blk )2 is empty; and It belongs to category b). Find the intersection point A' of line segment BA and plane S, and the intersection point C' of BC and plane S. Replace the coordinates of point A with A' and point C with C'. The new triangle is (Δ blk )1,(Δ blk )2 is empty; and It belongs to category b). Find the intersection point A' of line segment CA and plane S, and the intersection point B' of CB and plane S. Replace the coordinates of point A with A' and point B with B'. The new triangle is (Δ blk )1,(Δ blk )2 is empty; and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; and It belongs to category b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; and It belongs to category b). Find the intersection point A' of line segment AC and plane S, and find the intersection point B' of BC and plane S. A A'B forms (Δ blk )1, A'B'B composition (Δ blk )2; and It belongs to category b). Find the intersection point A' of line segment AB and plane S, and find the intersection point C' of CB and plane S. A A'C forms (Δ blk )1, A'C'C composition (Δ blk )2; and Then it belongs to category b). Find the intersection point C' of line segment CA and plane S, find the intersection point B' of BA and plane S, and B B'C forms (Δ blk )1, B'C'C composition (Δ blk )2; Other cases (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty.

3. The method for quickly determining cone-type field of view occlusion according to claim 2, characterized in that: The judgment Is it related to (Δ blk )1 intersect, the method is as follows: Define the following vector: If δ a , δ b , δ c The signs are the same, then and (Δ blk )1 intersect, otherwise they do not intersect.

4. The method for quickly determining cone-type field of view occlusion according to claim 3, characterized in that: The determination of the occluding triangle Δ blk Check if there is an edge that intersects the cone view using the following method: If AB intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, then OK and OC e The angle between a and b is less than β, which can be expressed in vector language as follows: b =a×b, b c =b×c,c a =c×a, if |c e ·a b |≤sin(β) and (c e ×a b )·a and (c e ×a b )·b are of opposite signs, then AB intersects the cone field; If BC intersects the cone, let BC and OC e The intersection point of the common perpendicular lines on BC is K, so OK and OC e The angle between |c e b c |≤sin(β) and (c e ×b c )·b and (c e ×b c )·c are of opposite signs, then BC intersects the cone field; If CA intersects the cone, let AB and OC e The intersection point of the common perpendicular lines on AB is K, then OK and OC e The angle between |c e ·c a |≤sin(β) and (c e ×c a )·c and (c e ×c a )·a have opposite signs, then CA intersects the conic field of view.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 4 are implemented.

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