A method for fast determination of conic field-of-view occlusion
By dividing the 3D model of the obstruction into a triangular mesh and using an exhaustive method to determine the obstruction situation, the problem of low efficiency and poor accuracy in the calculation of obstruction of spacecraft point beam antennas was solved. This enabled fast and accurate calculation of the obstruction azimuth distribution and optimized the overall layout design of the spacecraft.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA ACADEMY OF SPACE TECHNOLOGY
- Filing Date
- 2024-11-27
- Publication Date
- 2026-05-26
AI Technical Summary
Existing technologies suffer from low computational efficiency and poor accuracy when determining whether a spacecraft's spot beam antenna is blocked, and cannot effectively analyze dynamic blocking situations, leading to increased overall design costs and complexity for spacecraft.
A rapid method for determining conical field-of-view occlusion is adopted. By dividing the 3D model of the occlusion object into a triangular mesh, the occlusion situation is determined by exhaustive search and vector judgment, so as to achieve rapid and accurate quantitative calculation of the occlusion orientation distribution.
It provides fast and accurate calculation of the occlusion orientation distribution, reducing the complexity and cost of spacecraft overall layout optimization design, and improving computational efficiency and accuracy.
Smart Images
Figure CN120012255B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of spacecraft overall design and analysis technology, and relates to a rapid determination method for conical field-of-view obstruction, which is particularly suitable for rapid quantitative analysis of the obstruction of a two-axis rotatable point beam antenna by the spacecraft body. Background Technology
[0002] As spacecraft layouts become increasingly compact, the rotation of large components such as solar panels and antennas inevitably obstructs the viewfinders, affecting their placement and operational strategies. Traditionally, determining whether viewfinder equipment malfunctions due to obstruction from other spacecraft components involves establishing a three-dimensional solid of the field of view (referred to as the viewing volume), transforming the field-of-view obstruction analysis problem into determining whether the viewing volume of the sensor interferes with other spacecraft components. However, this calculation method is not only inefficient and inaccurate but also incapable of analyzing dynamic field-of-view obstruction. Therefore, in the top-level design of spacecraft (such as configuration design), sufficiently large margins must be included to ensure reliability, significantly increasing the design cost and complexity 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 half-cone angle of about 2°. When the antenna is tracking the ground station, it will be blocked by the star. Which directions the antenna is pointing to will be blocked by the star and how much it is blocked are very important to the overall design of the spacecraft. The traditional method is to create a three-dimensional solid of the field of view in 3D CAD, rotate the antenna to a specific position, and then observe whether the field of view interferes with the star. If there is interference, it means that when the antenna is rotated to that position, the field of view of the spot beam antenna is blocked by the star. This method is time-consuming, laborious, inefficient and inaccurate. Summary of the Invention
[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a rapid method for determining conical field-of-view obstruction, so as to realize the rapid and accurate quantitative calculation of the spatial distribution of the azimuth of a two-axis rotatable point beam antenna when it is obstructed by a star, and provide quantitative optimization data for the overall layout optimization design of spacecraft.
[0005] The solution to the technical problem of this invention is: a rapid method for determining conical field-of-view occlusion, wherein a 3D model of an occlusion of any shape can be divided into a combination of several triangular meshes, and the method includes the following steps:
[0006] S1. The conical field of view is represented by three physical quantities: the plane S containing the aperture of the data transmission or relay antenna reflector, and the centerline of the conical field of view. and half cone angle The space is divided into two parts by plane S, and The upper part is in the same direction as the lower part. The reverse is the lower half, for any triangle Δ in the occlusion. blk There are three possibilities:
[0007] Category a), Δ blk The three vertices lie entirely on the upper part of plane S;
[0008] Category b), Δ blk If it intersects with plane S, it can be divided into 2 to 3 triangles, with at least one in the lower part of plane S and 1 to 2 in the upper part of plane S;
[0009] Category c), Δ blk The three vertices lie entirely below the plane S;
[0010] S2, Let the blocking triangle Δ blk The three vertices are A, B, and C. , , , Unit vectors are denoted as follows: Use an exhaustive search method to determine which category (a)-c) the triangular mesh of the occluding object belongs to relative to the plane S. If it belongs to category c), then the occluding triangle Δ blk If the field of view does not intersect with the conical field of view, the current loop ends. If it belongs to class a), proceed to step S3; if it belongs to class b), then Δ... blk The portion located above plane S is divided into 1-2 new triangles, denoted as (Δ). blk )1、(Δ blk 2. Proceed to step S3;
[0011] S3, Judgment Is it with (Δ) blk If the two lines intersect, occlusion occurs and the current loop ends; otherwise, proceed to step S4.
[0012] S4. Determine whether any of points A, B, and C are inside the conical field of view, i.e. or or If one of them is true, occlusion occurs and the current loop ends; otherwise, proceed to step S5.
[0013] S5. Determine the occlusion triangle Δ blk Is there an edge that intersects the conical field of view if Δ blk If an edge intersects the conical field of view, occlusion occurs, and the current loop ends; otherwise, proceed to step S6.
[0014] S6, if (Δ blkIf 2 is not empty, then for (Δ) blk 2. Repeat steps S3 to S5; otherwise, proceed to step S7 for the next iteration.
[0015] S7. Repeat steps S2 to S6 to traverse the triangular mesh of all obstructions.
[0016] S8. Repeat steps S2 to S7 to traverse all conical field of view orientations and determine the orientation of the conical field of view that is occluded.
[0017] Furthermore, the method for determining which category (a)-c) the triangular mesh of the occluder belongs to relative to plane S is as follows:
[0018] , and If so, it belongs to category c);
[0019] , and If so, it belongs to category c);
[0020] , ,and If so, it belongs to category c);
[0021] like , and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;
[0022] like , ,and If the intersection of line segment AB and plane S is B', then the intersection of line segment AB and plane S is C'. Replace the coordinates of point B with B' and the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty;
[0023] , ,and If 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 the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty;
[0024] , ,and If 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 the coordinates of point B with B'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty;
[0025] , ,and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty;
[0026] , ,and If it belongs to category b), find the intersection point A' of line segment AC and plane S, and the intersection point B' of BC and plane S. A, A', and B form (Δ). blk )1, A' B'B forms (Δ blk )2;
[0027] , ,and If it belongs to category b), find the intersection point A' of line segment AB and plane S, and the intersection point C' of CB and plane S. A, A', and C form (Δ). blk )1, A' C'C consists of (Δ blk )2;
[0028] , ,and If it belongs to category b), find the intersection point C' of line segment CA and plane S, and the intersection point B' of BA and plane S. B'C forms (Δ) blk )1, B' C'C consists of (Δ blk )2;
[0029] Other cases (Δ) blk )1 is the original Δ blk , (Δ blk )2 is empty.
[0030] Furthermore, the judgment Is it with (Δ) blk 1. Intersection, the method is as follows:
[0031] Define the following vector:
[0032] = ;
[0033] = ;
[0034] = ;
[0035] = ;
[0036] = ;
[0037] = ;
[0038] if , , If the symbols are the same, then and (Δ) blk ) 1. They intersect; otherwise, they do not intersect.
[0039] Furthermore, the determination of the occlusion triangle Δ blk To determine if there is an edge intersecting the conical field of view, the method is as follows:
[0040] If AB intersects the conical field of view, let AB and OC be... e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is less than Expressed in vector language as: Let , , ,if and and If the signs are opposite, then AB intersects with the conical field of view;
[0041] If BC intersects the conical field of view, let BC and OC be... e If the common perpendiculars of BC intersect at point K, then OK and OC... e The included angle is less than Expressed in vector language: If and and If the signs are opposite, then BC intersects with the conical field of view;
[0042] If CA intersects the conical field of view, let AB intersect OC. e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is less than Expressed in vector language: If and and If the signs are opposite, then CA intersects with the conical field of view.
[0043] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for rapidly determining conical field-of-view occlusion.
[0044] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for rapidly determining a conical field of view occlusion.
[0045] A computer program product includes a computer program that, when executed by a processor, implements the steps of the method for rapidly determining a conical field of view occlusion.
[0046] The advantages of this invention compared to the prior art are:
[0047] 1) Prior to this invention, the method for calculating the obstruction of the field of view of a two-axis rotatable point beam antenna by a star during the overall design of a spacecraft was time-consuming, laborious, inefficient, and inaccurate. This invention provides a rapid method for determining conical field-of-view obstruction, which can quickly calculate the obstruction of the field of view of a two-axis rotatable point beam antenna by a star.
[0048] 2) This invention provides a method for quantitatively calculating the spatial distribution of the azimuth of a two-axis rotatable point beam antenna when it is blocked by a star, providing quantitative optimization data for the overall layout optimization design of spacecraft. Attached Figure Description
[0049] Figure 1 (a) is a spot beam antenna that can rotate on two axes on a certain satellite model. When the antenna is tracking the ground station, it is blocked by the satellite.
[0050] Figure 1 (b) is a two-axis rotatable spot beam antenna on a certain satellite model, which is not blocked by the satellite when the antenna is tracking the ground station;
[0051] Figure 2 Mesh any triangular shape of occlusion;
[0052] Figure 3 A schematic diagram showing the conical field of view, the relationship between occluders, and the classification of occluders;
[0053] Figure 4 This is an example of implementing the algorithm using Matlab;
[0054] Figure 5 The layout and field-of-view obstruction of a certain type of data transmission antenna;
[0055] Figure 6 To utilize the algorithm provided by this invention, the spatial distribution of the antenna's azimuth when it is blocked by a star is quantitatively calculated. Detailed Implementation
[0056] The present invention proposes a rapid method for determining conical field-of-view occlusion, the technical solution of which is as follows:
[0057] like Figure 2 As shown, a 3D model of an obstruction of any shape can be divided into a combination of several triangular meshes in CAD software. Therefore, the field-of-view occlusion 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 occlude that field-of-view line. A spacecraft's point-beam antenna, such as a data transmission antenna or a relay antenna, generally has a conical field of view. Therefore, only three quantities are needed to completely represent this conical field of view, such as... Figure 3 As shown:
[0058] The plane S containing the aperture of the data transmission or relay antenna reflector
[0059] The center line of the conical field of view
[0060] Half cone angle
[0061] Divide the space into two parts using plane S as the boundary, and The upper part is in the same direction as the lower part. The reverse is the lower half, for any triangle Δ in the occlusion. blk There are three possibilities:
[0062] Category a), Δ blk The three vertices lie entirely on the upper part of plane S (e.g.) Figure 3 Δ blk,2 );
[0063] Category b), Δ blk Intersecting with plane S (e.g.) Figure 3 Δ blk,1 ), then Δ blk,1 It can be divided into 2-3 triangles. Figure 3 There are 3 in total, at least one of which is in the lower part of plane S, and 1 to 2 of which are in the upper part of plane S;
[0064] Category c), Δ blk The three vertices are completely below the plane S (e.g.) Figure 3 Δ blk,3 );
[0065] Note that the field of view of a point-beam antenna begins at the aperture of the antenna reflector. According to the definition of plane S, it is clear that the lower part of plane S is not within the antenna's field of view. Therefore, Δblk,3 Under no circumstances will it obstruct the field of view of the data transmission or repeater antennas. After the above triangular division, we only need to consider the upper part Δ of plane S. blk That is, category a) and category b); for category b), then after reconstructing 1-2 triangles above the intersection line, it can be classified into category a). If the upper part of plane S Δ blk Intersecting with the conical field of view, then Δ blk If the fields of view do not intersect, then the fields of view do not obstruct the conic field of view.
[0066] Based on the above three categories, the steps for quickly determining conical field-of-view occlusion are as follows:
[0067] Let Δ blk This represents an occluded triangle, with its three vertices denoted as A, B, and C. , , , Unit vectors are denoted as follows: ;
[0068] S1. Use an exhaustive method to determine which category (a)-c) the triangular mesh of the occluding object belongs to relative to the plane S. If it belongs to category c), then the occluding triangle Δ blk If the field of view does not intersect with the conical field of view, the current loop ends. If it belongs to class a), proceed to step S2; if it belongs to class b), then the occluded triangle Δ blk Intersecting with plane S, Δ blk The portion located above plane S is divided into 1-2 new triangles, denoted as (Δ). blk )1、(Δ blk 2. Proceed to step S2.
[0069] The specific discrimination method is as follows:
[0070] , and Therefore, it belongs to class c), Δ blk The loop ends when the field of view does not intersect with the conical field of view.
[0071] , and Therefore, it belongs to class c), Δ blk The loop ends when the field of view does not intersect with the conical field of view.
[0072] , ,and Therefore, it belongs to class c), Δ blk The loop ends when the field of view does not intersect with the conical field of view.
[0073] like , and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk If step 2 is empty, proceed to step S2;
[0074] like , ,and If 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 the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk If step 2 is empty, proceed to step S2;
[0075] , ,and If 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 the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk If step 2 is empty, proceed to step S2;
[0076] , ,and If 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 the coordinates of point B with B'. The new triangle is (Δ). blk 1, (Δ) blk If step 2 is empty, proceed to step S2;
[0077] , ,and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk If step 2 is empty, proceed to step S2;
[0078] , ,and If it belongs to category b), find the intersection point A' of line segment AC and plane S, and the intersection point B' of BC and plane S. A, A', and B form (Δ). blk )1, A' B'B forms (Δ blk 2. Turning step S2;
[0079] , ,and If it belongs to category b), find the intersection point A' of line segment AB and plane S, and the intersection point C' of CB and plane S. A, A', and C form (Δ). blk )1, A' C'C consists of (Δ blk 2. Turning step S2;
[0080] , ,and If it belongs to category b), find the intersection point C' of line segment CA and plane S, and find the intersection point B' of BA and plane S. B'C forms (Δ) blk )1, B' C'C consists of (Δ blk 2. Turning step S2;
[0081] Other cases (Δ) blk )1 is the original Δ blk , (Δ blk If step 2 is empty, proceed to step S2.
[0082] S2, Judgment Is it with (Δ) blk If the two objects intersect, occlusion occurs, and the current loop ends; otherwise, proceed to step S3. After processing S1 and S2, the Δ values belonging to classes b) and a) are... blk Transform into Δ that all belong to class a) blk .
[0083] The specific judgment method is as follows:
[0084] Define the following vector:
[0085] = ;
[0086] = ;
[0087] = ;
[0088] = ;
[0089] = ;
[0090] = ;
[0091] if , , If the symbols are the same, then and (Δ) blk ) 1. They intersect; otherwise, they do not intersect.
[0092] S3. Determine whether any of points A, B, and C are inside the conical field of view, i.e. or or If one of them is true, occlusion occurs and the current loop ends; otherwise, proceed to step S4.
[0093] S4. Determine the occlusion triangle Δ blk Is there an edge that intersects the conical field of view if Δ blk If an edge intersects the conical field of view, occlusion occurs, and the current loop ends; otherwise, proceed to step S5.
[0094] The specific judgment method is as follows:
[0095] If AB intersects the conical field of view, let AB and OC be... e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is definitely less than In vector language, this can be expressed as: Let , , ,if and and If the signs are opposite, AB intersects with the conical field of view, causing occlusion, and the current cycle ends.
[0096] If BC intersects the conical field of view, let BC and OC be... e If the common perpendiculars of BC intersect at point K, then OK and OC... e The included angle is definitely less than In vector language, this can be expressed as: if and and If the signs are opposite, BC intersects with the conical field of view, causing occlusion, and the current cycle ends.
[0097] If CA intersects the conical field of view, let AB intersect OC. e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is definitely less than In vector language, this can be expressed as: if and and If the signs are opposite, CA intersects with the conical field of view, causing occlusion, and the current loop ends.
[0098] S5, if (Δ blk If 2 is not empty, then for (Δ) blk)2. Repeat steps S2 to S4; otherwise, proceed to step S6 for the next iteration.
[0099] S6. Repeat steps S1 to S5 to traverse the triangular mesh of all occluders.
[0100] S7. Repeat steps S1 to S6 to traverse all conical field of view orientations and determine the orientation of the conical field of view that is occluded.
[0101] The above methods can be implemented using any programming language, such as Matlab, Python, C, C++, etc.
[0102] The present invention will be further described below with reference to the embodiments.
[0103] Example 1
[0104] The method of this invention is implemented using Matlab, and the resulting GUI interface is as follows. Figure 4 As shown, a brief description of the GUI is as follows:
[0105] (a) Field of view parameter area
[0106] The field of view model and parameter region are necessary inputs for the calculation.
[0107] No field-of-view model file needs to be input. However, it is necessary to obtain the relevant parameters of the field-of-view model by creating one in CAD. The field-of-view model in CAD is a cone. The base of the cone represents the aperture position of the antenna.
[0108] 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.
[0109] The field of view half-cone angle is the half-cone angle of the cone.
[0110] The antenna aperture is determined based on the antenna model.
[0111] The zero-position field of view direction is the direction of the antenna's field of view when the antenna is at zero position, and it must be a unit vector.
[0112] The antenna has two rotation axes. The unit directions of the fixed and linked axes, as well as the coordinates of any point on them, need to be obtained from the CAD system in the whole satellite coordinate system. Simultaneously, the rotation range and discrete precision of the axes must be set. The discrete precision must be a natural number; the larger the number, the higher the precision.
[0113] The coordinate unit is mm.
[0114] (ii) Obstruction model and parameter area
[0115] Dynamic occlusion models and parameter regions are required inputs for the calculation. Static occlusion inputs are optional.
[0116] The occlusion model file path specifies the path and name of the Stereolithograph (STL) file for the occlusion model. If only the model name is entered without a file path, it indicates that the current STL file is located in the current software directory. Currently, only binary STL files are supported. Occlusion model STL files can be generated using CAD software such as Pro / E, Solidworks, and UG.
[0117] Note that the mesh thickness of the STL file for the obstruction does not affect the calculation accuracy. Therefore, to improve computational performance, for CAD model components with many details, it is necessary to create a simpler 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 created. The simplified model has the same boundary as the complex model, so it does not affect the calculation accuracy.
[0118] For dynamic occlusions, the unit vector of the rotation axis direction in the full-scale coordinate system and the three-dimensional coordinates of any point on the rotation axis in the full-scale coordinate system also need to be input. The discretization accuracy is controlled by the rotation range around the rotation axis and the number of discrete points.
[0119] If the occlusion to be analyzed is only a static occlusion, then the initial angle = 0, the maximum angle = 0, and the discrete point = 1 are sufficient for the discrete precision. The rotation axis vector can be any unit vector, and the point on the rotation axis can be any point.
[0120] If the occlusions include both dynamic and static occlusions, for static occlusions, you need to select "Include static occlusions in analysis" and specify the STL file of the static occlusions.
[0121] A certain type of data transmission antenna is a two-axis rotatable spot beam antenna, and its layout on the satellite is as follows: Figure 5 As shown, the field-of-view models of the data transmission antenna in different orientations are established as follows: Figure 5 As shown, the data transmission antenna will be blocked by a star when it rotates to a certain position. Using the algorithm provided by this invention, the calculation result is as follows... Figure 6 As shown.
[0122] This application provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the aforementioned method for rapidly determining conical field-of-view occlusion.
[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take 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) containing computer-usable program code.
[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0127] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
[0128] The contents not described in detail in this specification are common knowledge to those skilled in the art.
Claims
1. A rapid method for determining conical field-of-view occlusion, wherein a 3D model of an occlusion of any shape can be divided into a combination of several triangular meshes, characterized in that, Includes the following steps: S1. The conical field of view is represented by three physical quantities: the plane S containing the aperture of the data transmission or relay antenna reflector, and the centerline of the conical field of view. and half cone angle The space is divided into two parts by plane S, and The upper part is in the same direction as the lower part. The reverse is the lower half, for any triangle Δ in the occlusion. blk There are three possibilities: Category a), Δ blk The three vertices lie entirely on the upper part of plane S; Category b), Δ blk If it intersects with plane S, it can be divided into 2 to 3 triangles, with at least one in the lower part of plane S and 1 to 2 in the upper part of plane S; Category c), Δ blk The three vertices lie entirely below the plane S; S2, Let the blocking triangle be Δ blk The three vertices are A, B, and C. , , , Unit vectors are denoted as follows: ; Use an exhaustive method to determine which category (a)-c) the triangular mesh of the occluding object belongs to relative to the plane S. If it belongs to category c), then the occluding triangle Δ blk If the field of view does not intersect with the conical field of view, the current loop ends. If it belongs to class a), proceed to step S3; if it belongs to class b), then Δ... blk The portion located above plane S is divided into 1-2 new triangles, denoted as (Δ). blk )1、(Δ blk 2. Proceed to step S3; S3, Judgment Is it with (Δ) blk If the two lines intersect, occlusion occurs and the current loop ends; otherwise, proceed to step S4. S4. Determine whether any of points A, B, and C are inside the conical field of view, i.e. or or If one of them is true, occlusion occurs and the current loop ends; otherwise, proceed to step S5. S5. Determine the occlusion triangle Δ blk Is there an edge that intersects the conical field of view if Δ blk If an edge intersects the conical field of view, occlusion occurs, and the current loop ends; otherwise, proceed to step S6. S6, if (Δ blk If 2 is not empty, then for (Δ) blk 2. Repeat steps S3 to S5; otherwise, proceed to step S7 for the next iteration. S7. Repeat steps S2 to S6 to traverse the triangular mesh of all obstructions. S8. Repeat steps S2 to S7 to traverse all conical field of view orientations and determine the orientation of the conical field of view that is occluded.
2. The method for rapidly determining conical field-of-view occlusion according to claim 1, characterized in that, The method for determining which category (a)-c) the triangular mesh of the occluded object belongs to relative to the plane S is as follows: , and If so, it belongs to category c); , and If so, it belongs to category c); , ,and If so, it belongs to category c); like , and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; like , ,and If the intersection of line segment AB and plane S is B', then the intersection of line segment AB and plane S is C'. Replace the coordinates of point B with B' and the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty; , ,and If 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 the coordinates of point C with C'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty; , ,and If 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 the coordinates of point B with B'. The new triangle is (Δ). blk 1, (Δ) blk )2 is empty; , ,and Then it belongs to class b), (Δ blk )1 is the original Δ blk , (Δ blk )2 is empty; , ,and If it belongs to category b), find the intersection point A' of line segment AC and plane S, and the intersection point B' of BC and plane S. A, A', and B form (Δ). blk )1, A' B'B forms (Δ blk )2; , ,and If it belongs to category b), find the intersection point A' of line segment AB and plane S, and the intersection point C' of CB and plane S. A, A', and C form (Δ). blk )1, A' C'C consists of (Δ blk )2; , ,and If it belongs to category b), find the intersection point C' of line segment CA and plane S, and the intersection point B' of BA and plane S. B'C forms (Δ) blk )1, B' C'C consists of (Δ blk )2; Other cases (Δ) blk )1 is the original Δ blk , (Δ blk )2 is empty.
3. The method for rapidly determining conical field-of-view occlusion according to claim 2, characterized in that, The judgment Is it with (Δ) blk 1. Intersection, the method is as follows: Define the following vector: = ； = ； = ； = ； = ； = ； if , , If the symbols are the same, then and (Δ) blk ) 1. They intersect; otherwise, they do not intersect.
4. The method for rapidly determining conical field-of-view occlusion according to claim 3, characterized in that, The determination of the occlusion triangle Δ blk To determine if there is an edge intersecting the conical field of view, the method is as follows: If AB intersects the conical field of view, let AB and OC be... e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is less than Expressed in vector language as: Let , , ,if and and If the signs are opposite, then AB intersects with the conical field of view; If BC intersects the conical field of view, let BC and OC be... e If the common perpendiculars of BC intersect at point K, then OK and OC... e The included angle is less than Expressed in vector language: If and and If the signs are opposite, then BC intersects with the conical field of view; If CA intersects the conical field of view, let AB intersect OC. e If the intersection point of the common perpendicular lines on AB is K, then OK and OC... e The included angle is less than Expressed in vector language: If and and If the signs are opposite, then CA intersects with the conical 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, it implements the steps of the method as described in any one of claims 1 to 4.
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, it implements the steps of the method as described in any one of claims 1 to 4.
7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 4.