Seeker semi-physical simulation system and method based on monitoring camera
Through the associated simulation system of the three-dimensional model of the seeker and the surveillance camera, the problem of difficulty in obtaining physical objects in seeker teaching is solved, and the intuitive display of the seeker structure and motion state is realized, which reduces the teaching cost.
Patent Information
- Application Number
- CN202510690302.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2025-07-11
AI Technical Summary
During the teaching process of seeker, it is difficult to obtain physical objects and the communication protocol cannot be directly obtained, resulting in high economic costs.
The seeker semi-physical simulation system based on the surveillance camera is adopted. Through the association between the three-dimensional seeker model and the algorithm analysis module and the surveillance camera, the three-dimensional seeker model and the camera angle are consistent in real time, and the precise simulation of the seeker structure and motion state is achieved.
The seeker structure and motion state can be visually displayed without a physical seeker, reducing teaching costs.
Smart Images
Figure CN120299356A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of hardware-in-the-loop simulation, and more specifically, relates to a seeker hardware-in-the-loop simulation system and method based on a surveillance camera. Background Art
[0002] During the process of an instructor teaching seeker-related knowledge in class, it is not just a simple description of the external structure. More importantly, the internal structure and the working principles and states of some components are explained. However, relevant knowledge points cannot be accurately explained only through two-dimensional pictures and text descriptions. During the working process, a seeker needs to continuously adjust its attitude to achieve the target tracking function, and conventional two-dimensional sectional views and static pictures cannot accurately restore the structure and working state of the seeker.
[0003] There are still some defects and deficiencies in the current seeker teaching process: physical seekers are not only difficult to obtain, but also the communication protocols for controlling the seekers cannot be directly obtained, resulting in a high economic cost. Summary of the Invention
[0004] Aiming at the defects of the prior art, the purpose of this application is to provide a seeker hardware-in-the-loop simulation system and method based on a surveillance camera, aiming to solve the problem of high teaching cost of seekers.
[0005] To achieve the above purpose, in the first aspect, this application provides a seeker hardware-in-the-loop simulation system based on a surveillance camera, including a seeker 3D model, an algorithm analysis module, and a surveillance camera: The output end of the seeker 3D model is connected to the input end of the algorithm analysis module, and is used to track a target and calculate the deflection angle of the seeker 3D model during the tracking process; The output end of the algorithm analysis module is connected to the input end of the surveillance camera, and is used to calculate the two-axis steering angles of the surveillance camera based on the deflection angle of the seeker 3D model; The surveillance camera is used to complete deflection based on the two-axis steering angles.
[0006] This application correlates a two-axis surveillance camera with a seeker 3D model, and in real time drives the angles of the seeker 3D model and the two-axis surveillance camera to be consistent with the calculation results according to the deflection angle of the seeker calculated in the simulation software, so as to achieve precise simulation of the seeker, and achieve an intuitive display of the seeker structure and motion state without the need for a physical seeker, reducing the economic cost of seeker teaching.
[0007] According to the seeker hardware-in-the-loop simulation system based on a surveillance camera provided by this application, the algorithm analysis module is specifically used for: Calculate the three-axis coordinate values of the seeker lens based on the deflection angle of the three-dimensional model of the seeker; Calculate the two-axis steering angles of the monitoring camera based on the three-axis coordinate values of the seeker lens.
[0008] According to a seeker hardware-in-the-loop simulation method based on a monitoring camera provided by the present application, the algorithm analysis module is further configured to: If the actual two-axis steering angles of the monitoring camera are different from the calculated two-axis steering angles, recalculate the two-axis steering angles of the monitoring camera, and based on the recalculated two-axis steering angles, control the monitoring camera to deflect until the actual two-axis steering angles of the monitoring camera are the same as the calculated two-axis steering angles.
[0009] In a second aspect, the present application provides a seeker hardware-in-the-loop simulation method based on a monitoring camera, which is applied to the seeker hardware-in-the-loop simulation system described in the first aspect above, and includes: The three-dimensional model of the seeker tracks the target and calculates the deflection angle of the three-dimensional model of the seeker during the tracking process; Calculate the two-axis steering angles of the monitoring camera based on the deflection angle of the three-dimensional model of the seeker; Based on the two-axis steering angles, control the monitoring camera to deflect.
[0010] The present application correlates a two-axis monitoring camera and a three-dimensional model of a seeker, and according to the deflection angle of the seeker calculated in the simulation software, drives the angles of the three-dimensional model of the seeker and the two-axis monitoring camera to be consistent with the calculation results in real time, realizing accurate simulation of the seeker, achieving intuitive display of the structure and motion state of the seeker without a physical seeker, and reducing the economic cost of seeker teaching.
[0011] According to a seeker hardware-in-the-loop simulation method based on a monitoring camera provided by the present application, calculating the two-axis steering angles of the monitoring camera based on the deflection angle of the three-dimensional model of the seeker includes: Calculate the three-axis coordinate values of the seeker lens based on the deflection angle of the three-dimensional model of the seeker; Calculate the two-axis steering angles of the monitoring camera based on the three-axis coordinate values of the seeker lens.
[0012] According to a seeker hardware-in-the-loop simulation method based on a monitoring camera provided by the present application, the method further includes: If the actual two-axis steering angles of the monitoring camera are different from the calculated two-axis steering angles, recalculate the two-axis steering angles of the monitoring camera, and based on the recalculated two-axis steering angles, control the monitoring camera to deflect until the actual two-axis steering angles of the monitoring camera are the same as the calculated two-axis steering angles.
[0013] In a third aspect, the present application provides an electronic device, including: at least one memory for storing a program; at least one processor for executing the program stored in the memory, and when the program stored in the memory is executed, the processor is used to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera described in the first aspect or any possible implementation manner of the first aspect.
[0014] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, and when the computer program runs on a processor, it causes the processor to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera described in the first aspect or any possible implementation manner of the first aspect.
[0015] In a fifth aspect, the present application provides a computer program product, and when the computer program product runs on a processor, it causes the processor to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera described in the first aspect or any possible implementation manner of the first aspect.
[0016] It can be understood that the beneficial effects of the above second aspect to fifth aspect can refer to the relevant descriptions in the above first aspect, and will not be elaborated here.
[0017] Generally speaking, compared with the prior art through the above technical solutions conceived by the present application, the following beneficial effects are achieved: The present application associates a two-axis monitoring camera with a seeker three-dimensional model, and according to the seeker deflection angle calculated in the simulation software, drives the angles of the seeker three-dimensional model and the two-axis monitoring camera to be consistent with the calculation results in real time, realizing precise simulation of the seeker, achieving intuitive display of the seeker structure and motion state without a physical seeker, and reducing the economic cost of seeker teaching. Description of the Drawings
[0018] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0019] Figure 1It is one of the schematic structural diagrams of the seeker hardware-in-the-loop simulation system based on a surveillance camera provided by an embodiment of the present application; Figure 2 It is the schematic diagram of the three-dimensional model of the seeker provided by an embodiment of the present application; Figure 3 It is the schematic diagram of the simulation process provided by an embodiment of the present application; Figure 4 It is the second schematic structural diagram of the seeker hardware-in-the-loop simulation system based on a surveillance camera provided by an embodiment of the present application; Figure 5 It is the schematic diagram of the coordinate system of the three-dimensional model of the seeker provided by an embodiment of the present application; Figure 6 It is the schematic diagram of the coordinate system of the surveillance camera provided by an embodiment of the present application; Figure 7 It is the schematic diagram of the spatial position and pose transformation of the coordinate system of the surveillance camera provided by an embodiment of the present application; Figure 8 It is the schematic diagram of the process of the seeker hardware-in-the-loop simulation method based on a surveillance camera provided by an embodiment of the present application; Figure 9 It is the schematic structural diagram of the electronic device provided by an embodiment of the present application. Detailed implementation manners
[0020] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0021] The term "and / or" in this document is an association relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. These three situations. The symbol " / " in this document represents an "or" relationship between associated objects. For example, A / B represents A or B.
[0022] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.
[0023] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more. For example, a plurality of processing units refers to two or more processing units, etc.; a plurality of elements refers to two or more elements, etc.
[0024] Next, in combination with Figures 1-7 the seeker hardware-in-the-loop simulation system based on a surveillance camera provided in the embodiments of the present application will be introduced.
[0025] Figure 1 is one of the structural schematic diagrams of the seeker hardware-in-the-loop simulation system based on a surveillance camera provided in the embodiments of the present application. As Figure 1 shown, the system 100 includes a seeker three-dimensional model 110, an algorithm analysis module 120, and a surveillance camera 130: The output end of the seeker three-dimensional model 110 is connected to the input end of the algorithm analysis module 120, and is used to track a target and calculate the deflection angle of the seeker three-dimensional model during the tracking process; Figure 2 is a schematic diagram of the seeker three-dimensional model provided in the embodiments of the present application. As Figure 2 shown, the seeker three-dimensional model is a seeker model obtained by physical measurement and needs to be linked with the surveillance camera in the system.
[0026] Optionally, the real-time rendering of the seeker three-dimensional model can be completed through a three-dimensional rendering module.
[0027] Figure 3 is a schematic diagram of the simulation process provided in the embodiments of the present application. As Figure 3 shown, after the seeker three-dimensional model discovers a target, it activates the target tracking function, rotates following the target, and calculates the deflection angle of the seeker three-dimensional model according to the image obtained by the seeker and through the principle of inverse kinematics.
[0028] The output end of the algorithm analysis module 120 is connected to the input end of the surveillance camera 130, and is used to calculate the two-axis steering angle of the surveillance camera based on the deflection angle of the seeker three-dimensional model; The algorithm analysis module is deployed on the host computer and is used to receive the deflection angle of the seeker three-dimensional model as the input value of the algorithm analysis module. The output value of the algorithm analysis module, that is, the two-axis steering angle, is sent to the surveillance camera by calling the control instruction of the surveillance camera, and finally the surveillance camera and the seeker three-dimensional model complete the virtual-real linkage.
[0029] The surveillance camera 130 is used to complete the deflection based on the two-axis steering angle.
[0030] The surveillance camera is used to simulate a real seeker and realize angle deflection according to the control information sent by the host computer.
[0031] Figure 4 is the second structural schematic diagram of the seeker hardware-in-the-loop simulation system based on a surveillance camera provided in the embodiments of the present application. As Figure 4As shown, in an embodiment of the present application, the system consists of a monitoring camera, a seeker three-dimensional model, a three-dimensional rendering module, an algorithm analysis module, and a host computer.
[0032] A seeker hardware-in-the-loop simulation system based on a monitoring camera provided by the present application correlates a two-axis monitoring camera with a seeker three-dimensional model, and according to the seeker deflection angle calculated in the simulation software, it can drive the angles of the seeker three-dimensional model and the two-axis monitoring camera to be consistent with the calculation results in real time, realizing accurate simulation of the seeker, achieving an intuitive display of the seeker structure and motion state without a physical seeker, and reducing the economic cost of seeker teaching.
[0033] In some embodiments, the algorithm analysis module 120 is specifically used for: Calculating the three-axis coordinate values of the seeker lens based on the deflection angle of the seeker three-dimensional model; Calculating the two-axis steering angles of the monitoring camera based on the three-axis coordinate values of the seeker lens.
[0034] As Figure 3 shown, substituting the deflection angle of the seeker three-dimensional model into the inverse kinematics calculation formula to obtain the steering angles of each axis of the three axes, and obtaining the three-axis coordinate values of the seeker lens.
[0035] Sending the steering angles of each axis of the three axes to the seeker three-dimensional model and driving the corresponding structure of the seeker three-dimensional model to complete the corresponding rotation.
[0036] Substituting the deflection angle of the seeker three-dimensional model into the two-axis simulating three-axis motion algorithm to obtain the two-axis steering angles of the monitoring camera.
[0037] Figure 5 It is a schematic diagram of the seeker three-dimensional model coordinate system provided by the embodiment of the present application. As Figure 5 shown, the two-axis simulating three-axis motion algorithm is specifically as follows: First, three coordinate systems are constructed according to the relative poses of the three axes of the seeker. The three coordinate axes are respectively 、 、 . Each of the three coordinate axes can only rotate around one of its axes. The coordinate axis rotates around the axis by itself, the coordinate axis rotates around the axis by itself.
[0038] Since a monitoring camera with only two axes that can rotate by itself is used to replace a seeker with three axes that can rotate by itself, one coordinate axis will disappear. Comparing the monitoring camera with the structure of the physical seeker, it is found that Figure 5 as shown in The coordinate axes cannot achieve self-rotation.
[0039] Figure 6 It is a schematic diagram of the coordinate system of the monitoring camera provided by an embodiment of the present application. As Figure 6 shown, the coordinate system is reconstructed, leaving only 、 two self-rotating coordinate axes. At the same time, point D is added. Point D is on the coordinate axis to represent the relative pose of the lens of the monitoring camera.
[0040] Figure 7 It is a schematic diagram of the spatial position and pose transformation of the coordinate system of the monitoring camera provided by an embodiment of the present application. As Figure 7 shown, assuming that the seeker has rotated, the angles by which the two self-rotating coordinate axes of the monitoring camera 、 should turn can be calculated through the following formula:
[0041]
[0042]
[0043]
[0044]
[0045]
[0046]
[0047] 、 、 are the coordinates of point D on the coordinate axis, is the angle between the straight line and the y-axis, is the angle between the straight line and the x-axis.
[0048] The turning angles of the two axes are transmitted to the monitoring camera to drive the monitoring camera to deflect by a specified angle.
[0049] In some embodiments, the algorithm parsing module 120 is further configured to: If the actual turning angles of the two axes of the monitoring camera are different from the calculated turning angles of the two axes, recalculate the turning angles of the two axes of the monitoring camera, and based on the recalculated turning angles of the two axes, control the monitoring camera to deflect until the actual turning angles of the two axes of the monitoring camera are the same as the calculated turning angles of the two axes.
[0050] As Figure 3 shown, after driving the monitoring camera to rotate, check and compare whether all the specified rotation axes reach the specified rotation angles. If not, repeat the process of calculating the two-axis steering angles of the monitoring camera and driving until the calculated two-axis steering angles are the same as the actual two-axis steering angles.
[0051] After driving the three-dimensional model of the seeker to rotate, check and compare whether all the specified rotation axes reach the specified rotation angles. If not, repeat the process of calculating the three-axis steering angles of the three-dimensional model of the seeker and driving until the calculated three-axis steering angles are the same as the actual three-axis steering angles.
[0052] Figure 8 is a schematic flowchart of the seeker hardware-in-the-loop simulation method based on the monitoring camera provided by an embodiment of the present application. As Figure 8 shown, the method includes the following steps: Step 800, the three-dimensional model of the seeker tracks the target and calculates the deflection angle of the three-dimensional model of the seeker during the tracking process; Step 810, calculate the two-axis steering angles of the monitoring camera based on the deflection angle of the three-dimensional model of the seeker; Step 820, control the monitoring camera to deflect based on the two-axis steering angles.
[0053] In some embodiments, step 810 specifically includes: Calculate the three-axis coordinate values of the seeker lens based on the deflection angle of the three-dimensional model of the seeker; Calculate the two-axis steering angles of the monitoring camera based on the three-axis coordinate values of the seeker lens.
[0054] In some embodiments, the method further includes: If the actual two-axis steering angles of the monitoring camera are different from the calculated two-axis steering angles, recalculate the two-axis steering angles of the monitoring camera, and control the monitoring camera to deflect based on the recalculated two-axis steering angles until the actual two-axis steering angles of the monitoring camera are the same as the calculated two-axis steering angles.
[0055] It should be understood that the above method is used for the system in the above embodiments, and its implementation principle and technical effects are similar to those described in the above system. The corresponding processes in this method can refer to the working process of the above device, which will not be elaborated here.
[0056] Based on the method in the above embodiments, Figure 9 illustrates a schematic diagram of the physical structure of an electronic device. As Figure 9As shown in the figure, an embodiment of the present application provides an electronic device, which may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940. Among them, the processor 910, the communication interface 920, and the memory 930 complete communication with each other through the communication bus 940. The processor 910 can call the logical instructions in the memory 930 to execute the seeker hardware-in-the-loop simulation method based on the surveillance camera in the above embodiment.
[0057] In addition, when the logical instructions in the above-mentioned memory 930 are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the seeker hardware-in-the-loop simulation method based on the surveillance camera described in each embodiment of the present application.
[0058] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program runs on a processor, it causes the processor to execute the seeker hardware-in-the-loop simulation method based on the surveillance camera in the above embodiment.
[0059] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, it causes the processor to execute the seeker hardware-in-the-loop simulation method based on the surveillance camera in the above embodiment.
[0060] It can be understood that the processor in the embodiment of the present application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.
[0061] The method steps in the embodiments of this application can be implemented in a hardware manner or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, hard disk, removable hard disk, CD-ROM, or any other form of storage medium well-known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.
[0062] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.
[0063] It can be understood that the various digital numbers involved in the embodiments of this application are only for the convenience of description and are not used to limit the scope of the embodiments of this application.
[0064] Those skilled in the art can easily understand that the above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.
Claims
1. A hardware-in-the-loop simulation system for a seeker based on a surveillance camera, characterized in that Including a seeker three-dimensional model, an algorithm analysis module, and a monitoring camera: The output end of the seeker three-dimensional model is connected to the input end of the algorithm analysis module, which is used to track a target and calculate the deflection angle of the seeker three-dimensional model during the tracking process; The output end of the algorithm analysis module is connected to the input end of the monitoring camera, which is used to calculate the two-axis steering angle of the monitoring camera based on the deflection angle of the seeker three-dimensional model; The monitoring camera is used to complete deflection based on the two-axis steering angle.
2. The seeker hardware-in-the-loop simulation system based on a surveillance camera according to claim 1, wherein The algorithm analysis module is specifically used for: Calculating the three-axis coordinate values of the seeker lens based on the deflection angle of the seeker three-dimensional model; Calculating the two-axis steering angle of the monitoring camera based on the three-axis coordinate values of the seeker lens.
3. The seeker hardware-in-the-loop simulation system based on a surveillance camera according to claim 1, wherein The algorithm analysis module is further used for: If the actual two-axis steering angle of the monitoring camera is different from the calculated two-axis steering angle, recalculating the two-axis steering angle of the monitoring camera, and controlling the monitoring camera to deflect based on the recalculated two-axis steering angle until the actual two-axis steering angle of the monitoring camera is the same as the calculated two-axis steering angle.
4. A semi-physical simulation method for a seeker based on a surveillance camera, characterized in that, Applied to the seeker hardware-in-the-loop simulation system based on a monitoring camera according to any one of claims 1-3, including: The seeker three-dimensional model tracks a target and calculates the deflection angle of the seeker three-dimensional model during the tracking process; Calculating the two-axis steering angle of the monitoring camera based on the deflection angle of the seeker three-dimensional model; Controlling the monitoring camera to deflect based on the two-axis steering angle.
5. The seeker hardware-in-the-loop simulation method based on a surveillance camera according to claim 4, wherein Calculating the two-axis steering angle of the monitoring camera based on the deflection angle of the seeker three-dimensional model includes: Calculating the three-axis coordinate values of the seeker lens based on the deflection angle of the seeker three-dimensional model; Calculating the two-axis steering angle of the monitoring camera based on the three-axis coordinate values of the seeker lens.
6. The seeker hardware-in-the-loop simulation method based on a surveillance camera according to claim 4, wherein The method further includes: If the actual two-axis steering angle of the monitoring camera is different from the calculated two-axis steering angle, recalculating the two-axis steering angle of the monitoring camera, and controlling the monitoring camera to deflect based on the recalculated two-axis steering angle until the actual two-axis steering angle of the monitoring camera is the same as the calculated two-axis steering angle.
7. An electronic device, characterized in that, Including: At least one memory for storing a computer program; At least one processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera according to any one of claims 4-6.
8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program runs on the processor, the processor is caused to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera according to any one of claims 4-6.
9. A computer program product, characterized in that, When the computer program product runs on the processor, the processor is caused to execute the seeker hardware-in-the-loop simulation method based on a monitoring camera according to any one of claims 4-6.