Gravitational acceleration vector trajectory calculation method and device

Abstract

The invention discloses a gravitational acceleration vector trajectory calculation method and device, and relates to the technical field of gyrator simulation of biological effects in a microgravity environment, and the method comprises the steps: constructing a three-axis rotation system model; decomposing the rotation motion of the research sample, and calculating a final position vector of the marked research point by using a Rodrigue rotation formula; the marked research point is a point on an X axis in the three-axis rotation system model; calculating a rotation matrix according to the final position vector and the initial position vector of the marked research point; and determining the gravitational acceleration vector under the marking reference system at any moment according to the rotation matrix. The method can monitor the research point position and the gravitational acceleration vector in real time when the three-axis rotation device works.

Description

Technical Field

[0001] The present application relates to the technical field of gyrator simulation of biological effects in a microgravity environment, and in particular to a method and device for calculating a gravity acceleration vector trajectory. Background Art

[0002] Since humans entered space, they have discovered that the behavior of matter and organisms in microgravity differs from that in normal gravity. Consequently, microgravity has gradually gained attention. While most methods for simulating microgravity are costly and inefficient, rotators can simulate the biological effects of microgravity at a relatively low cost and with high efficiency, and are therefore gaining increasing attention.

[0003] The working principle of the rotator: the research object (cells, etc.) has a time threshold for sensing gravity, called reaction time. Only when gravity remains unchanged within the reaction time will the research object feel the influence of gravity. In any case, when gravity continues to change and is evenly distributed on the spherical surface with the research object as the center (when the ground is used as the reference system, the research object rotates with the rotating device, and gravity is always vertically downward; when the research object is used as the reference system, the research object remains stationary, and gravity rotates around the research object), isotropy is formed, and the research object appears to be unable to perceive gravity, thereby exhibiting the biological effects of a microgravity environment.

[0004] The operating principle of a gyrator requires real-time calculation of the trajectory of the gravity acceleration vector, ensuring its uniform distribution across a sphere centered on the object of study. However, a method for calculating the trajectory of the gravity acceleration vector, capable of monitoring the position of the study point and the gravity acceleration vector in real time while a three-axis gyrator is operating, is currently lacking. Summary of the Invention

[0005] The purpose of this application is to provide a method and device for calculating the trajectory of the gravity acceleration vector, which can monitor the position of the research point and the gravity acceleration vector in real time when the three-axis rotation device is working.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a method for calculating a gravity acceleration vector trajectory, comprising:

[0008] Construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X axis, Y axis and Z axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III;

[0009] Decomposing the rotational motion of the research sample, and calculating the final position vector of the marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model;

[0010] Calculating a rotation matrix based on the final position vector and the initial position vector of the marked research point;

[0011] The gravitational acceleration vector in the marked reference system at any time is determined according to the rotation matrix; the marked reference system is a coordinate system established based on the marked research point.

[0012] In a second aspect, the present application provides a device for calculating a gravity acceleration vector trajectory, comprising:

[0013] A three-axis rotation system model construction module is used to construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X axis, Y axis and Z axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III;

[0014] a final position vector calculation module, configured to decompose the rotational motion of the research sample and calculate the final position vector of a marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model;

[0015] A rotation matrix calculation module, used for calculating the rotation matrix according to the final position vector and the initial position vector of the marked research point;

[0016] The module for determining the gravity acceleration vector at any moment is used to determine the gravity acceleration vector in the marking reference system at any moment according to the rotation matrix.

[0017] In a third aspect, the present application provides a computer device comprising: 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 above-mentioned method for calculating the trajectory of a gravity acceleration vector.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method for calculating the trajectory of the gravity acceleration vector when executed by a processor.

[0019] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the above-mentioned method for calculating the trajectory of gravity acceleration vector when executed by a processor.

[0020] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0021] The present application provides a method and device for calculating the trajectory of a gravity acceleration vector. By constructing a three-axis rotation system model, the rotational motion of the research sample is decomposed, the final position vector of the marked research point is calculated using the Rodrigues rotation formula, the rotation matrix is ​​calculated based on the final position vector and the initial position vector of the marked research point, and the gravity acceleration vector in the marked reference system at any time is determined based on the rotation matrix; the marked reference system is a coordinate system established based on the marked research point, which realizes real-time monitoring of the research point position and the gravity acceleration vector when the three-axis rotation device is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a diagram of the application environment of a method for calculating the trajectory of gravity acceleration vector in one embodiment of the present application.

[0024] Figure 2 A flowchart of a method for calculating a gravity acceleration vector trajectory provided in one embodiment of the present application is shown.

[0025] Figure 3 A schematic diagram of a three-axis rotator device provided in one embodiment of the present application.

[0026] Figure 4 A schematic diagram of a three-axis rotation system model provided in one embodiment of the present application.

[0027] Figure 5 A schematic diagram of the initial situation provided for an embodiment of the present application.

[0028] Figure 6 A schematic diagram of the functional modules of a gravity acceleration vector trajectory calculation device provided in one embodiment of the present application.

[0029] Figure 7 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0032] The gravity acceleration vector trajectory calculation method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 via a network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated with the server 104, or placed on the cloud or other servers. The terminal 102 can send a request to be processed to the server 104. The server 104 receives the request and constructs a three-axis rotation system model, decomposes the rotational motion of the research sample, calculates the final position vector of the marked research point using the Rodrigues rotation formula, calculates the rotation matrix based on the final position vector and the initial position vector of the marked research point, and determines the gravity acceleration vector in the marked reference system at any time based on the rotation matrix. The server 104 can feedback the obtained gravity acceleration vector in the marked reference system at any time for the request to the terminal 102. In addition, in some embodiments, the gravity acceleration vector trajectory calculation method can also be implemented separately by the server 104 or the terminal 102. For example, the terminal 102 can directly perform the gravity acceleration vector trajectory calculation for the request to be processed, or the server 104 can obtain the request to be processed from the data storage system and perform the gravity acceleration vector trajectory calculation for the video to be processed.

[0033] Terminal 102 may include, but is not limited to, various desktop computers, laptops, smartphones, tablet computers, IoT devices, and portable wearable devices. IoT devices may include smart speakers, smart TVs, smart air conditioners, and smart car devices. Portable wearable devices may include smart watches, smart bracelets, and head-mounted devices. Server 104 may be implemented as a standalone server or a server cluster consisting of multiple servers, or may be a cloud server.

[0034] In an exemplary embodiment, Figure 2 As shown, a method for calculating the trajectory of gravity acceleration vector is provided. The method is executed by a computer device, specifically, it can be executed by a computer device such as a terminal or a server alone, or it can be executed by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used for explanation, including the following steps 201 to 204.

[0035] Step 201, construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III.

[0036] Step 202: Decompose the rotational motion of the research sample and calculate the final position vector of the marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model.

[0037] Step 203: Calculate a rotation matrix based on the final position vector and the initial position vector of the marked research point.

[0038] Step 204, determining the gravity acceleration vector in the marked reference system at any time according to the rotation matrix; the marked reference system is a coordinate system established based on the marked research point.

[0039] The present application relates to a rotator for simulating biological effects in a microgravity environment. The working principle of this type of rotator is that the angle change of the gravity vector relative to the organism during the minimum response time of the organism (cell, etc.) is greater than the minimum response angle of the organism. The key part is to obtain the azimuth change (trajectory) of the gravity vector relative to the organism. Implement the above steps 201 to 204, through the influence of the three-axis rotation system (ω1, ω2, ω3 are artificially controlled inputs) on the gravity acceleration vector (with the object itself as the reference system, the object refers to the research sample), use the Rodrigue rotation formula to calculate the change trajectory of the position vector, and transform the gravity acceleration vector from the initial coordinate system to the rotated coordinate system through the rotation matrix, and finally obtain the trajectory of the gravity acceleration vector. The present application realizes the real-time monitoring of the research point position and the gravity acceleration vector when the three-axis rotation device (three-axis rotation system model) is working.

[0040] A box containing research samples (cells, etc.) will be placed and fixed in the center of the rotator, i.e. Figure 3 The object is the rectangular box at the center of the image, and the research sample inside. It consists of a base and three mutually perpendicular rotation axes. The three-axis gyrator continuously rotates the loaded object (research sample) in three-dimensional space through the compound motion of two or three orthogonal rotation axes (usually X, Y, and Z axes).

[0041] Working Principle: This motion causes the direction of the gravity vector acting on the sample to continuously change. After time averaging, the net effect of gravity on the sample approaches zero, thus simulating a microgravity environment. It should be noted that this device only simulates biological effects in a microgravity environment.

[0042] like Figure 4As shown, a three-dimensional coordinate system is established with the object's rotation center as the origin, and the three-dimensional coordinate system is a right-handed system. In the initial state, the three rotation axes - axis I, axis II and axis III coincide with the X-axis, Y-axis and Z-axis respectively, and the positive direction of the rotation axis is defined as the positive direction of the corresponding coordinate axis. Axis I drives the outer frame to rotate, and at the same time drives the middle and inner frames and axes II and III; axis II drives the middle frame to rotate, and at the same time drives the inner frame and axis III; axis III drives the inner frame to rotate. Let the coordinates of the gravitational acceleration vector G be [-g; 0; 0], the coordinates of the target research point A be [x; y; z], and the coordinates of the marked research point B be [a; 0; 0]. The angular velocities of the three rotation axes - axis I, axis II and axis III are ω1, ω2 and ω3 respectively, and the positive direction of the rotation axis is the positive direction of the angular velocity. The unit direction vectors of the three rotation axes are U Ⅰ 、U Ⅱ and U Ⅲ The target research point A is the most central point in the inner frame.

[0043] If the coordinates of the research point and the gravity acceleration vector relative to the object are obtained at any time, the research point and the gravity acceleration vector can be monitored in real time when the three-axis rotation system is working. Therefore, let the initial state time be t0, then at t0, U Ⅰ =[1;0;0], U Ⅱ =[0;1;0],U Ⅲ = [0; 0; 1], take time t1 which is very close to time t0 as the research time, and the time interval t = t1-t0. The time interval t between the initial time t0 and the research time t1 is less than the set threshold, which is set to a very small value.

[0044] In the above step 202, the rotational motion of the research sample is decomposed, and the final position vector of the marked research point is calculated using the Rodrigues rotation formula, which specifically includes the following steps 301 to 303.

[0045] Step 301: After the research sample is rotated around axis I by a first angle, the first unit direction vector of axis I, the first unit direction vector of axis II, the first unit direction vector of axis III, the first position vector of the target research point, and the first position vector of the marked research point are calculated according to the Rodrigues rotation formula; the target research point is a point whose distance from the research sample is less than a set threshold.

[0046] The three-axis rotational motion is decomposed into step rotations, that is, the research sample first rotates around axis I by t*ω1, then around axis II by t*ω2, and finally around axis III by t*ω3. t*ω1 is the first angle, t*ω2 is the second angle, and t*ω3 is the third angle.

[0047] After the research sample is rotated around axis I by t*ω1, according to the Rodrigues rotation formula,

[0048] UⅠ '=U Ⅰ ,

[0049] U Ⅱ '=U Ⅱ *cos(t*ω1)+U Ⅰ ×U Ⅱ *sin(t*ω1)+U Ⅰ *(U Ⅰ ·U Ⅱ )*(1-cos(t*ω1)),

[0050] U Ⅲ '=U Ⅲ *cos(t*ω1)+U Ⅰ ×U Ⅲ *sin(t*ω1)+U Ⅰ *(U Ⅰ ·U Ⅲ )*(1-cos(t*ω1)),

[0051] A'=A*cos(t*ω1)+U Ⅰ ×A*sin(t*ω1)+U Ⅰ *(U Ⅰ A)*(1-cos(t*ω1)),

[0052] B'=B*cos(t*ω1)+U Ⅰ ×B*sin(t*ω1)+U Ⅰ *(U Ⅰ ·B)*(1-cos(t*ω1)).

[0053] Among them, U Ⅰ '、U Ⅱ '、U Ⅲ ' are the first unit direction vectors of axis I, axis II and axis III after the research sample rotates t*ω1 around axis I; A' and B' are the first position vectors of target research point A and the first position vector of marked research point B after the research sample rotates t*ω1 around axis I.

[0054] Step 302: After the research sample is rotated around axis II by a second angle, the second unit direction vector of axis I, the second unit direction vector of axis II, the second unit direction vector of axis III, the second position vector of the target research point, and the second position vector of the marked research point are calculated according to the Rodrigues rotation formula.

[0055] After the research sample is rotated around the II axis by t*ω2, according to the Rodrigues rotation formula:

[0056] U Ⅰ ”=UⅠ ',

[0057] U Ⅱ ”=U Ⅱ ',

[0058] U Ⅲ ”=U Ⅲ '*cos(t*ω2)+U Ⅱ '×U Ⅲ '*sin(t*ω2)+U Ⅱ '*(U Ⅱ '·U Ⅲ ')*(1-cos(t*ω2)),

[0059] A"=A'*cos(t*ω2)+U Ⅱ '×A'*sin(t*ω2)+U Ⅱ '*(U Ⅱ '·A')*(1-cos(t*ω2)),

[0060] B"=B'*cos(t*ω2)+U Ⅱ '×B'*sin(t*ω2)+U Ⅱ '*(U Ⅱ '·B)'*(1-cos(t*ω2)).

[0061] Among them, U Ⅰ ”、U Ⅱ ”、U Ⅲ ” are the second unit direction vectors of axis I, axis II and axis III after the research sample rotates t*ω2 around axis II; A” and B” are the second position vectors of target research point A and marked research point B after the research sample rotates t*ω2 around axis II.

[0062] Step 303: After the research sample is rotated by a third angle around axis III, the third unit direction vector of axis I, the third unit direction vector of axis II, the third unit direction vector of axis III, the final position vector of the target research point, and the final position vector of the marked research point at the research moment are calculated according to the Rodrigues rotation formula.

[0063] After the research sample is rotated around axis III by t*ω3, according to the Rodrigues rotation formula,

[0064] U Ⅰ ”'=U Ⅰ ”,

[0065] U Ⅱ ”'=U Ⅱ ”,

[0066] U Ⅲ”'=U Ⅲ ”,

[0067] A''=A'*cos(t*ω3)+U Ⅲ ”×A”*sin(t*ω3)+U Ⅲ ”*(U Ⅲ ”·A”)*(1-cos(t*ω3)),

[0068] B'=B'*cos(t*ω3)+U Ⅲ ”×B”*sin(t*ω3)+U Ⅲ ”*(U Ⅲ ”·B”)*(1-cos(t*ω3)).

[0069] Among them, U Ⅰ ”'、U Ⅱ ”'、U Ⅲ ”' is the third unit direction vector of axis I, axis II, and axis III after the research sample is rotated t*ω3 around axis III; A”' and B”' are the final position vector of target research point A and marked research point B after the research sample is rotated t*ω3 around axis III, and A”' reflects the position vector of any research point at any time t.

[0070] There exists a rotation matrix R such that B″′=R*B. The rotation matrix is ​​calculated as follows:

[0071] Let matrix V = [V1; V2; V3],

[0072] V=B×B″′ / |B×B″′|;

[0073] The intermediate variables K and Θ are expressed as follows:

[0074] Θ=arccos[(B·B”') / (|B|*|B″′|)];

[0075]

[0076] Then R=I+(sinΘ)*K+(1-cosΘ)*K*K; where R represents the rotation matrix; I is the unit matrix; K and Θ are intermediate variables; B is the initial position vector marking the research point; B'' is the final position vector marking the research point at the research moment; V1, V2, V3 are the element values ​​in the matrix V.

[0077] In step 204, the gravity acceleration vector in the reference frame marked at any moment is determined based on the rotation matrix. Specifically, the following steps are performed: during the three-axis rotation process, the moment when any point on the study sample appears in the direction of the initial position of the marked study point B is used as the initial moment, and the gravity acceleration vector at the study moment is determined based on the rotation matrix; the initial moment is replaced by the study moment, and the moment after the study moment is replaced by the study moment, and the process returns to the step "determining the gravity acceleration vector at the study moment based on the rotation matrix" to obtain the gravity acceleration vectors at all study moments; the gravity acceleration vectors at all study moments are the gravity acceleration vectors in the reference frame marked at any moment. The gravity acceleration vectors at all study moments constitute the gravity acceleration vector trajectory.

[0078] like Figure 5 As shown in the figure, when the position vector of the research point B is initially collinear with the gravity acceleration vector G and is in opposite directions, the rotation angle from the initial position vector B to the final position vector B' (under the XYZ reference system) and the rotation angle from the initial gravity acceleration vector G to the gravity acceleration vector G' at the research moment (with the research point as the reference system) are the same and in opposite directions before and after the three-axis rotation. Therefore, the rotation matrices of the two are transposed to each other, that is, the calculation formula of the gravity acceleration vector is: G''=R T *G; wherein, G″′ is the gravitational acceleration vector at the research moment; R is the rotation matrix; T represents transpose; and G is the gravitational acceleration vector at the initial moment. Since during the three-axis rotation process, any point on the object will appear in the direction of the initial position of the marked research point B, this moment is taken as the initial state, and the same research is performed. Therefore, the gravitational acceleration vector G”′ of any research point on the object at time t1, with the marked research point as the reference system, can be obtained. Then, taking time t1 as the initial moment, and the next moment t2 very close to time t1 as the research moment, repeat the above steps, and obtain the gravitational acceleration vector at any moment with the research point as the reference system through accumulation. This moment t2 is the next moment of the research moment t1. This realizes the real-time monitoring of the research point position and the gravitational acceleration vector when the three-axis rotation system is working.

[0079] This application uses a three-axis rotation system and the Rodrigues rotation formula to accurately calculate the trajectory of the gravity acceleration vector in a three-axis rotation system, and is applicable to complex rotation systems. Compared with existing technologies, the advantages of this application include:

[0080] 1. High precision: By decomposing motion into infinitesimal rotational motions and using the Rodriguez rotation formula and rotation matrix calculations, three-axis coupling is achieved, enabling the precise calculation of the trajectory of the gravitational acceleration vector.

[0081] 2. Real-time performance: By calculating the cumulative acceleration, the long-term impact of the three-axis rotation system model on acceleration can be evaluated in real time, making it suitable for real-time control systems.

[0082] These advantages mainly come from the calculation of Rodrigues' rotation formula and rotation matrix, which ensure the accurate calculation and real-time update of the gravitational acceleration vector.

[0083] Compared to using a rotation matrix instead of the Rodriguez rotation formula, the method provided in this application has lower computational complexity. Compared to using Euler angles instead of rotation matrices for coordinate transformation, although Euler angles are simple to calculate, they suffer from the gimbal lock problem and are only suitable for small-angle rotation scenarios. The method provided in this application does not suffer from the gimbal lock problem and is applicable not only to small-angle rotation scenarios but also to large-angle rotation scenarios.

[0084] The present application also provides an application scenario, which applies the above-mentioned gravity acceleration vector trajectory calculation method. Specifically: the gravity acceleration vector trajectory calculation method provided in this embodiment can be applied in the gravity acceleration vector trajectory calculation scenario. The gravity acceleration vector trajectory calculation scenario includes a request sending link and a content processing link; the request to be processed enters the content processing link from the request sending link to obtain the corresponding gravity acceleration vector trajectory. The gravity acceleration vector trajectory calculation method provided in this embodiment belongs to the content processing link. Specifically, in the content processing link process for the request, a three-axis rotation system model can be constructed to decompose the rotational motion of the research sample, and the Rodrigues rotation formula is used to calculate the final position vector of the marked research point. The rotation matrix is ​​calculated based on the final position vector and the initial position vector of the marked research point, and the gravity acceleration vector under the marked reference system at any time is determined based on the rotation matrix.

[0085] Based on the same inventive concept, embodiments of the present application also provide a gravity acceleration vector trajectory calculation device for implementing the aforementioned gravity acceleration vector trajectory calculation method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the gravity acceleration vector trajectory calculation device provided below can be found in the limitations of the gravity acceleration vector trajectory calculation method described above and will not be repeated here.

[0086] In an exemplary embodiment, Figure 6 As shown, a gravity acceleration vector trajectory calculation device is provided, which includes the following modules:

[0087] A three-axis rotation system model construction module T1 is used to construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III;

[0088] The final position vector calculation module T2 is used to decompose the rotational motion of the research sample and calculate the final position vector of the marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model;

[0089] A rotation matrix calculation module T3 is used to calculate the rotation matrix according to the final position vector and the initial position vector of the marked research point;

[0090] The module T4 for determining the gravity acceleration vector at any moment is used to determine the gravity acceleration vector in the marking reference system at any moment according to the rotation matrix.

[0091] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store gravity acceleration vector trajectory calculation data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a gravity acceleration vector trajectory calculation method is implemented.

[0092] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0093] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0094] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0095] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0096] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0097] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0098] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0099] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for calculating the trajectory of a gravity acceleration vector, characterized in that: The gravity acceleration vector trajectory calculation method includes: Construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X axis, Y axis and Z axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III; Decomposing the rotational motion of the research sample, and calculating the final position vector of the marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model; Calculating a rotation matrix based on the final position vector and the initial position vector of the marked research point; The gravitational acceleration vector in the marked reference system at any time is determined according to the rotation matrix; the marked reference system is a coordinate system established based on the marked research point.

2. The method for calculating the trajectory of gravity acceleration vector according to claim 1, wherein: The rotational motion of the research sample is decomposed, and the final position vector of the marked research point is calculated using the Rodrigues rotation formula, specifically including: After the research sample is rotated around axis I by the first angle, the first unit direction vector of axis I, the first unit direction vector of axis II, the first unit direction vector of axis III, the first position vector of the target research point, and the first position vector of the marked research point are calculated according to the Rodrigues rotation formula; the target research point is the point whose distance from the research sample is less than the set threshold; After the research sample is rotated around axis II by a second angle, the second unit direction vector of axis I, the second unit direction vector of axis II, the second unit direction vector of axis III, the second position vector of the target research point, and the second position vector of the marked research point are calculated according to the Rodrigues rotation formula; After the research sample is rotated around axis III by a third angle, the third unit direction vector of axis I, the third unit direction vector of axis II, the third unit direction vector of axis III, the final position vector of the target research point, and the final position vector of the marked research point at the research moment are calculated according to the Rodrigues rotation formula.

3. The method for calculating the trajectory of gravity acceleration vector according to claim 1, wherein: The calculation formula of the rotation matrix is ​​as follows: R=I+(sinΘ)*K+(1-cosΘ)*K*K; Where R represents the rotation matrix; I is the identity matrix; K and Θ are intermediate variables.

4. The method for calculating the trajectory of gravity acceleration vector according to claim 3, wherein: The intermediate variables K and Θ are expressed as follows: Let matrix V = [V1; V2; V3], V=B×B″′ / |B×B″′|; Θ=arccos[(B·B″′) / (|B|*|B″′|)]; Among them, B is the initial position vector of the marked research point; B″′ is the final position vector of the marked research point at the research moment; V1, V2, V3 are the element values ​​in the matrix V.

5. The method for calculating the trajectory of gravity acceleration vector according to claim 1, wherein: Determining the gravity acceleration vector in the reference frame at any time according to the rotation matrix specifically includes: During the three-axis rotation process, the moment when any point on the research sample appears in the direction of the initial position of the research point is taken as the initial moment, and the gravity acceleration vector at the research moment is determined according to the rotation matrix; Replace the initial moment with the study moment, and replace the study moment with the moment after the study moment. Return to step "Determine the gravity acceleration vector at the study moment based on the rotation matrix" to obtain the gravity acceleration vectors at all study moments. The gravity acceleration vectors at all study moments are the gravity acceleration vectors in the reference frame marked at any moment.

6. The method for calculating the trajectory of gravity acceleration vector according to claim 5, characterized in that: The calculation formula of the gravity acceleration vector is: G″′=R T *G; Where G'' is the gravitational acceleration vector at the study time; R is the rotation matrix; T represents the transpose; and G is the gravitational acceleration vector at the initial time.

7. A gravity acceleration vector trajectory calculation device, characterized in that: The gravity acceleration vector trajectory calculation device includes: A three-axis rotation system model construction module is used to construct a three-axis rotation system model; the three-axis rotation system model establishes a three-dimensional coordinate system with the rotation center of the research sample as the origin, and the three rotation axes of the three-axis rotation system model coincide with the X axis, Y axis and Z axis of the three-dimensional coordinate system respectively; the three rotation axes are respectively recorded as axis I, axis II and axis III; a final position vector calculation module, configured to decompose the rotational motion of the research sample and calculate the final position vector of a marked research point using the Rodrigues rotation formula; the marked research point is a point on the X-axis in the three-axis rotation system model; A rotation matrix calculation module, used for calculating the rotation matrix according to the final position vector and the initial position vector of the marked research point; The module for determining the gravity acceleration vector at any moment is used to determine the gravity acceleration vector in the marking reference system at any moment according to the rotation matrix.

8. A computer device comprising: 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 method for calculating the trajectory of gravity acceleration vector according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for calculating the trajectory of the gravity acceleration vector according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for calculating the trajectory of the gravity acceleration vector according to any one of claims 1 to 6 is implemented.

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