Light measurement equipment simulation training method and system based on dynamic trajectory modeling

Abstract

The invention provides an optical measurement equipment simulation training method and system based on dynamic trajectory modeling, and relates to the technical field of simulation training, and the method comprises the steps: obtaining a plurality of parts of optical measurement equipment, and constructing an initial three-dimensional part model; performing parameter configuration on the initial three-dimensional component model based on the plurality of component initial parameters; determining a target theoretical trajectory, and performing dynamic trajectory modeling through a plurality of space rectangular coordinate systems; calculating a solar pitch angle and an azimuth angle of the sun relative to the target point; mapping to an initial three-dimensional target model for simulation training, and determining a plurality of simulation scenes; and performing simulation rehearsal on the optical measurement equipment, and performing deviation adjustment on a simulation rehearsal result to obtain a three-dimensional target model. According to the method and the device, the technical problem of relatively large simulation result deviation caused by difficulty in scene reproduction due to lack of adaptability to complex scenes and environment changes in the prior art is solved, and the simulation precision of the optical measurement equipment is improved by realizing high-precision simulation scene construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of simulation training, and particularly relates to a light measurement equipment simulation training method and system based on dynamic trajectory modeling. BACKGROUND

[0002] In traditional light measurement equipment simulation training, dynamic changes in the real world (such as weather changes, changes in the angle of the sun, etc.) are difficult to accurately reproduce, resulting in the static nature and inaccuracy of the simulation environment. Traditional simulation systems can mostly only simulate static scenes and cannot adapt to the constant changes in the real environment. In addition, the performance of light measurement equipment will change significantly under different light conditions, especially in outdoor environments, where changes in the angle of the sun and the intensity of the light have a significant impact on the measurement results. However, the simulation capabilities of existing simulation technologies are insufficient for these changes, resulting in simulation training that cannot accurately reflect the actual performance of the equipment in complex environments, increasing errors and uncertainties in the training process, and making it difficult to fully evaluate the performance of light measurement equipment in different environments.

[0003] In summary, the existing technology has the technical problem of large deviation in simulation results due to the lack of adaptability to complex scenes and environmental changes, making it difficult to reproduce the scene. SUMMARY

[0004] The purpose of the present application is to provide a light measurement equipment simulation training method and system based on dynamic trajectory modeling to solve the technical problem of large deviation in simulation results due to the lack of adaptability to complex scenes and environmental changes in the existing technology, making it difficult to reproduce the scene.

[0005] In view of the above problems, the present application provides a light measurement equipment simulation training method and system based on dynamic trajectory modeling.

[0006] In a first aspect, the application provides a light measurement device simulation training method based on dynamic trajectory modeling. The light measurement device simulation training method based on dynamic trajectory modeling is implemented by a light measurement device simulation training system based on dynamic trajectory modeling. The light measurement device simulation training method based on dynamic trajectory modeling comprises: obtaining a plurality of components of a light measurement device, and constructing an initial three-dimensional component model; performing parameter configuration on the initial three-dimensional component model based on a plurality of component initial parameters of the plurality of components to obtain an initial three-dimensional target model; obtaining a station address coordinate of a target point, determining a target theoretical trajectory based on a geocentric coordinate system, and performing dynamic trajectory modeling on the target theoretical trajectory through a plurality of spatial rectangular coordinate systems to obtain a station address; calculating a sun elevation angle and an azimuth angle of the sun relative to the target point based on the station address and a central time; mapping the station address, the sun elevation angle, and the azimuth angle to the initial three-dimensional target model for simulation training to determine a plurality of simulation scenarios; performing simulation rehearsal on the light measurement device based on the plurality of simulation scenarios, performing deviation analysis on the simulation rehearsal result, and performing feedback adjustment on the initial three-dimensional target model according to the deviation analysis result to obtain a three-dimensional target model.

[0007] Optionally, the plurality of spatial rectangular coordinate systems comprises a model coordinate system, a station coordinate system, a station polar coordinate system, a scene coordinate system, and a scene image coordinate system.

[0008] Optionally, based on the target theoretical trajectory, a plurality of position coordinates are determined; the plurality of position coordinates are subjected to coordinate system transformation according to the model coordinate system and the station coordinate system of the plurality of spatial rectangular coordinate systems to obtain a plurality of first transformed positions; the plurality of first transformed positions are subjected to coordinate system transformation according to the station coordinate system and the station polar coordinate system of the plurality of spatial rectangular coordinate systems to obtain a plurality of second transformed positions; the plurality of second transformed positions are subjected to coordinate system transformation according to the station polar coordinate system and the scene coordinate system of the plurality of spatial rectangular coordinate systems to obtain a plurality of third transformed positions; the plurality of third transformed positions are subjected to coordinate system transformation according to the scene coordinate system and the scene image coordinate system of the plurality of spatial rectangular coordinate systems to obtain a plurality of fourth transformed positions; and a target running trajectory is determined by connecting the plurality of fourth transformed positions.

[0009] Optionally, a target task requirement is obtained, a sun elevation angle and a sun included angle are determined based on the sun elevation angle and the azimuth angle, the light illumination is calculated based on the sun elevation angle and the sun included angle, and the initial three-dimensional target model is subjected to light rendering based on the light illumination and in combination with the station address coordinate to generate a plurality of simulation scenarios.

[0010] Optionally, based on the simulation rehearsal result, a simulation running track is extracted; the simulation running track is compared with the target theoretical track to mark a deviation position and a deviation angle; based on the deviation position and the deviation angle, the initial three-dimensional target model is feedback adjusted to obtain a three-dimensional target model.

[0011] Optionally, the three-dimensional target model is subjected to double-mode joint training in two working modes, that is, online mode and offline mode.

[0012] Optionally, when a separation event is triggered, initial parameter information of a separation component is acquired, wherein the initial parameter information includes a separation time, a separation position and a separation posture; based on the initial parameter information of the separation component, a separation initial speed, a separation acceleration and an air resistance are determined through aerodynamic principle; based on the separation initial speed, the separation acceleration and the air resistance, iterative calculation is performed to determine a separation component three-dimensional track; and the separation component three-dimensional track is mapped into the three-dimensional target model to determine a separation effect.

[0013] In a second aspect, the application further provides a light measurement equipment simulation training system based on dynamic track modeling, which is used to execute the light measurement equipment simulation training method based on dynamic track modeling as described in the first aspect, wherein the light measurement equipment simulation training system based on dynamic track modeling comprises: a component model configuration module, configured to acquire a plurality of components of a light measurement equipment and construct an initial three-dimensional component model; an overall model configuration module, configured to perform parameter configuration on the initial three-dimensional component model based on a plurality of component initial parameters of the plurality of components to obtain an initial three-dimensional target model; a dynamic track modeling module, configured to acquire a station coordinate of a target point and determine a target theoretical track based on a geocentric coordinate system, and perform dynamic track modeling on the target theoretical track through a plurality of spatial orthogonal coordinate systems to obtain a target running track; a sun position calculation module, configured to calculate a sun elevation angle and an azimuth angle of the sun relative to the target point based on the station coordinate and a central time; a simulation training module, configured to map the station coordinate, the target running track, the sun elevation angle and the azimuth angle into the initial three-dimensional target model for simulation training to determine a plurality of simulation scenarios; and a deviation adjustment module, configured to perform simulation rehearsal on the light measurement equipment based on the plurality of simulation scenarios, perform deviation analysis on a simulation rehearsal result, and perform feedback adjustment on the initial three-dimensional target model according to a deviation analysis result to obtain a three-dimensional target model.

[0014] One or more technical solutions provided in the application have at least the following beneficial effects:

[0015] An initial three-dimensional component model is constructed by acquiring a plurality of components of a light measurement device; the initial three-dimensional component model is parameter configured based on a plurality of component initial parameters of the plurality of components to obtain an initial three-dimensional target model; a station coordinate of a target point is acquired, and a target theoretical trajectory is determined based on a geocentric coordinate system, the target theoretical trajectory is dynamically trajectory modeled by a plurality of space orthogonal coordinate systems to obtain a station station; based on the station station and the central time, the sun elevation angle and the azimuth angle of the sun relative to the target point are calculated; the station station, the sun elevation angle and the azimuth angle are mapped into the initial three-dimensional target model for simulation training to determine a plurality of simulation scenes; based on the plurality of simulation scenes, the light measurement device is simulated and preformed, and the deviation analysis is performed on the simulation preformed result, the initial three-dimensional target model is adjusted according to the deviation analysis result to obtain a three-dimensional target model. That is, by dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated, combined with light rendering, the simulation training scene can more truly reflect the actual operation condition, the simulation deviation is reduced, and the precision and accuracy of the light measurement device simulation training are improved.

[0016] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only exemplary, and other drawings can be obtained by the provided drawings without creative labor for those skilled in the art.

[0018] Figure 1 The flowchart of the light measurement device simulation training method based on dynamic trajectory modeling of the present application.

[0019] Figure 2 The structure diagram of the light measurement device simulation training system based on dynamic trajectory modeling of the present application.

[0020] Explanation of reference signs: component model configuration module 11, overall model configuration module 12, dynamic trajectory modeling module 13, sun position calculation module 14, simulation training module 15, deviation adjustment module 16. DETAILED DESCRIPTION

[0021] The application provides a light measurement equipment simulation training method and system based on dynamic trajectory modeling. The technical problem of large simulation result deviation due to the lack of adaptability to complex scenes and environmental changes and the difficulty in replicating scenes in the prior art is solved. Through dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated, and combined with light rendering, the simulation training scene can more realistically reflect the actual operation conditions, reducing the simulation deviation and improving the precision and accuracy of the light measurement equipment simulation training.

[0022] The technical solutions in the application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. It should be understood that the application is not limited by the example embodiments described herein. Based on the embodiments of the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the application. In addition, it should be noted that, for convenience of description, only parts related to the application are shown in the drawings, not all.

[0023] Embodiment one, please refer to the accompanying drawings Figure 1 The application provides a light measurement equipment simulation training method based on dynamic trajectory modeling, wherein the light measurement equipment simulation training method based on dynamic trajectory modeling is executed by a light measurement equipment simulation training system based on dynamic trajectory modeling. The light measurement equipment simulation training method based on dynamic trajectory modeling specifically includes the following steps:

[0024] S100: Obtain a plurality of components of the light measurement equipment, and construct an initial three-dimensional component model.

[0025] Specifically, optical measurement equipment refers to equipment that measures through optical principles (such as laser, infrared, visible light, etc.), and is usually used for high-precision measurement or detection applications. In simulation training, the components and functions of optical measurement equipment need to be accurately simulated in order to effectively train. Optical measurement equipment is composed of multiple components, each responsible for different functions, such as laser emitter modules, light receiver modules, sensor modules, control systems, etc. In simulation training, each component must be modeled to ensure that each functional module of the equipment can be accurately simulated. The specific models, functions, sizes, and physical characteristics of multiple components are collected and confirmed. Model component configuration software (such as MeshViewer) is used to model each component. Each component is specifically designed according to its function. For example, the length of a laser emitter model may be 100 mm and the diameter may be 30 mm; the size of a light receiver model may be 50 mm x 50 mm x 20 mm. MeshViewer software is used to preliminarily configure model files generated by other general 3D design software, and can load stl binary files or obj files. Select the corresponding model file, and display the solid model in the display area of the MeshViewer software. According to the target model, modify the component name, component rotation, anchor point offset edit box below. Write the parameter information into the corresponding stl or obj file. Through the model component configuration software, multiple components are refined, and the material, mass, surface texture, etc. of each component are set. For optical elements, transparent material may be set to simulate the effect of laser passing through optical lenses. The connection and interface design between components also needs to be completed at this stage, so that the interaction between modules can be ensured to be normal in subsequent simulation. By obtaining multiple components of optical measurement equipment and constructing initial three-dimensional component models, high-precision simulation training of optical measurement equipment is achieved.

[0026] S200: Based on the plurality of component initial parameters of the plurality of components, performing parameter configuration on the initial three-dimensional component model to obtain an initial three-dimensional target model.

[0027] Specifically, each component has its initial parameters, such as size, mass, material, working frequency, etc., which describe the physical properties and functional characteristics of the component. In ModelViewer, create a three-dimensional model of each component, add and delete components, set the position, rotation, scaling, color, separation action, etc. of the component, and convert the obj file to the mesh file. Click the "Load Model" button, select the corresponding model mdl file, and the solid model will be displayed in the right display area. The components included in the model will be listed in the left table. The view effect of the right display area can be controlled through the camera position information box and the z-axis rotation drag bar in the interface.

[0028] Click the Add Component button to add components configured by the MeshViewer software to the model. In the component list, check the components and click Delete Component to delete the selected components. After clicking the selected components in the component list, the rotation, translation, and scaling parameters of the components relative to the overall coordinate system of the model are displayed in the interface. These parameters are calculated based on the anchor point of the component. Configure the color, separation time, separation acceleration, acceleration duration, and other parameters of the components. Modify the name and height of the model in the information box on the left side of the MeshViewer interface. The width of the model is automatically calculated according to the length-width ratio. Write the model configuration parameter information into the mdl file for the Monilator software to load the target model.

[0029] Obtain detailed parameters of each component of the optical measurement device, and create a three-dimensional model of each component in ModelViewer. Use the parameter configuration function of ModelViewer to set the initial parameters of each component. Specifically, the size, material, appearance, etc. of each component can be adjusted through the ModelViewer interface to ensure that each component meets the design requirements of the optical measurement device. Combine all the configured component models into a complete three-dimensional target model. In ModelViewer, position each component to the correct relative position through drag and position adjustment functions. After completing the configuration of all component models, save the combined initial three-dimensional target model as a complete three-dimensional file (such as.obj or.stl format) through the export function of ModelViewer. By constructing the initial three-dimensional target model, the size, material, and position of each component are accurately configured, which can truly restore the functions of the device and ensure the authenticity of the device performance during training.

[0030] S300: Obtain the station coordinates of the target point, determine the target theoretical trajectory based on the geocentric coordinate system, and dynamically model the target theoretical trajectory through multiple spatial rectangular coordinate systems to obtain the target running trajectory.

[0031] The multiple spatial rectangular coordinate systems include a model coordinate system, a station coordinate system, a station polar coordinate system, a scene coordinate system, and a scene image coordinate system.

[0032] Further, the S300 of the present application comprises:

[0033] Based on the target theoretical trajectory, a plurality of position coordinates are determined; the plurality of position coordinates are subjected to coordinate system transformation according to the model coordinate system and the station coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of first transformed positions; the plurality of first transformed positions are subjected to coordinate system transformation according to the station coordinate system and the station polar coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of second transformed positions; the plurality of second transformed positions are subjected to coordinate system transformation according to the station polar coordinate system and the scene coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of third transformed positions; the plurality of third transformed positions are subjected to coordinate system transformation according to the scene coordinate system and the scene image coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of fourth transformed positions; and a target running trajectory is determined by connecting the plurality of fourth transformed positions.

[0034] Specifically, the station address coordinates of the target point refer to the geographic coordinates of the location of the measuring device, usually including longitude, latitude, and elevation parameters. The geocentric coordinate system is a spatial rectangular coordinate system with the Earth's center as the origin, with the Z-axis pointing to the North Pole, the X-axis pointing to the intersection of the 0° meridian and the equator, and the Y-axis pointing to the intersection of the 90° meridian and the equator. Target trajectory calculation based on the geocentric coordinate system generates the theoretical trajectory of the target in the geocentric coordinate system through a physical model, combined with the initial velocity, acceleration, and other parameters of the target.

[0035] The plurality of spatial rectangular coordinate systems include a model coordinate system O m -X m Y m Z m , a station coordinate system O-XYZ, a station polar coordinate system O-RAE, a scene coordinate system O-X'Y'Z', and a scene image coordinate system O-X"Y". The model coordinate system O m -X m Y m Z m assumes that the target model is initially upright on the ground, and the model positioning center is the O m -X m Y m Z m origin of the coordinate system O m , with X+ to the east, Y+ to the north, and Z+ to the upward. The model coordinate system is always bound to the target model, with Z+ being the model motion direction, so at time t, the model coordinate system is O mt -X mt Y mt Z mt . Each component with a separation function also establishes its own model coordinate system in this way.

[0036] The station coordinate system O-XYZ takes the center of the theodolite rotation as the origin O, X+ is east, Y+ is north, and Z+ is up, forming a right-handed coordinate system, also known as an ENU coordinate system, wherein the XOY plane is a horizontal plane. The station polar coordinate system O-RAE is based on the station coordinate system O-XYZ, and the origin O is the origin of the station coordinate system. Considering the line connecting the origin and the target point P The distance of the line is R, that is The projection in the XOY plane The angle with the Y axis is the azimuth A, which is A+ when viewed from above counterclockwise, and the value range of A is [0, 360). The projection The angle with the XOY plane is the elevation E, which is E+ above the XOY plane, and the value range of E is (-180, 180]. In practice, due to mechanical limitations of the measurement equipment, the value range of E is generally set to (-5, 185].

[0037] The scene coordinate system O-X'Y'Z' is defined in accordance with the coordinate system in Qt Quick 3D and Qt 3D, and in the default state of the virtual camera, it is agreed that the camera faces north, and the center of the camera is the origin O, X'+ is to the right, Y'+ is up, and Z'+ is to the back, forming a right-handed coordinate system, i.e., a 3D scene coordinate system; the scene coordinate system is not bound to the camera, and when the camera is displaced or rotated, the scene coordinate system does not change.

[0038] The virtual camera maps the 3D scene into a 2D image, and the center of the image is the origin O of the O-X'Y'Z' coordinate system, X''+ is to the right in the image, and Y''+ is up; the scene image O-X''Y'' coordinate system is bound to the virtual camera, and the O-X''Y'' plane is always perpendicular to the camera viewing axis , and the rotation angle of the O-X''Y'' plane around is always 0.

[0039] The geocentric coordinate system is a right-angled coordinate system established with the center of the Earth as the origin O E , also known as the Earth-Centered Earth-Fixed coordinate system (ECEF), the Z axis points to the North Pole, the X axis points to the intersection of the 0° meridian and the equator, and the Y axis points to the intersection of the 90° meridian and the equator, forming a right-handed coordinate system O E -X E Y E Z E ; the geodetic coordinate system is a coordinate system in geodetic surveying, which takes the reference ellipsoid as the reference surface and is represented by longitude L, latitude B, and height H.

[0040] For example, the mutual conversion relationship between the coordinates P(x, y, z) of the target point P in the station coordinate system O-XYZ and the coordinates P(r, a, e) in the station polar coordinate system O-RAE is All entities, such as models, ground, and sun, defined in the station coordinate system need to be transformed to the scene coordinate system before they can be correctly drawn and rendered in Qt Quick 3D. Specifically, a point P(x,y,z) in the station coordinate system needs to be converted to a point P′(x′,y′,z′) in the scene coordinate system OX′Y′Z′. The formula is: The Euler rotation angle R when the target flies to point P in the station coordinate system O-XYZ. P (α,β,θ) is converted to the Euler rotation angle R′ of the target in the scene coordinate system OX′Y′Z′. P (α′,β′,θ′), where α, β, and θ are the rotation angles about the X, Y, and Z axes, respectively, and the formula is: The position P′(x′,y′,z′) of the target model or separated part and the Euler rotation angle R′ P By inputting (α′,β′,θ′) into the Qt Quick 3D rendering engine, the target's position and orientation can be displayed. This is because the target's position and orientation around the model's Z-coordinate system cannot be determined from its theoretical trajectory. m Information about axis rotation can also be considered as the target model not revolving around the Z-axis. m The axis rotates, therefore the target Euler rotation angle R P (α,β,θ) can be simplified to R P (α,β,0), and can be detected by the velocity vector of the target flight. The formula is as follows: The values ​​of α range from [-90, 90], and the values ​​of β range from [-180, 180]. According to the definition of the 3D display framework Qt Quick 3D, the rotation axis order defined by the Euler rotation angle is Z′X′Y′, which corresponds to the rotation axis order YXZ in the station coordinate system O-XYZ, i.e., R... P The rotation axes (α, β, 0) are Y and X in order. The initial model coordinate system is O. m -X m Y m Z m First around Y m Rotating the axis by β yields O m -X1Y1Z1, then rotate α around the X1 axis to obtain O. m -X1Y2Z2, at this time the initial model coordinate system is... The corresponding target model coordinate system coincides.

[0041] The separation trajectory of a component during target flight should start from the component's position within the target model. To calculate this initial position, the model coordinate system O needs to be... m -X m Y m Z m Component position P m(x m ,y m ,z m ) into the position P b (x b ,y b ,z b ) in the station coordinate system O-XYZ. Assuming the position of the target in the station coordinate system at the time of separation is P(x, y, z), the calculation formula is: P b = M X ·M Y ·P m +P. Where the coordinate system rotation matrix M X and M Y are given by the Euler rotation angle R P (α, β, 0) of the target model coordinate system, that is: The direction of the component model coordinate system at the time of target separation is the same as the flight speed of the target at that moment, and the Euler rotation angle of the separated component model coordinate system is consistent with the calculation method of the Euler rotation angle of the target model coordinate system.

[0042] By calculating the theoretical trajectory of the target, based on the initial position, velocity, acceleration and other parameters of the target, the physical motion model (such as uniform linear motion or parabolic trajectory) is used to predict the motion path of the target. The multiple position coordinates of the target in the model coordinate system are converted to the station coordinate system through coordinate system transformation. Assuming that the station is located at position (X0=50, Y0=50, Z0=0), a translation operation is needed to convert the coordinates of the target from the model coordinate system to the station coordinate system.

[0043] Convert the position of the target from the station coordinate system to the station polar coordinate system, that is, represent the position of the target by distance, azimuth angle and elevation angle. Convert the position of the target from the station polar coordinate system to the scene coordinate system, which is usually used for the display of virtual scenes. By appropriately transforming the distance R, azimuth angle A and elevation angle E in the polar coordinate system, it can be mapped to the three-dimensional space of the scene coordinate system. Convert the position of the target from the scene coordinate system to the scene image coordinate system, which is used to display the trajectory of the target on a two-dimensional image. At this time, the position of the target in three-dimensional space has been converted into two-dimensional coordinates suitable for display devices. By connecting all the transformed position points (fourth transformed position), the running trajectory of the target is obtained, which represents the complete path of the target from the starting position to the final position in the simulation environment, which is usually used for subsequent simulation training and result analysis. Through multiple coordinate system transformations of the target position, the target can be accurately converted from the theoretical trajectory to the trajectory in the simulation environment, ensuring high precision of simulation training.

[0044] S400: based on the station site and the central time, the sun elevation angle and the azimuth angle of the sun relative to the target point are calculated.

[0045] Specifically, according to the station site (L, B, H), the date (y, m, d) and the central time (h, m, s), the azimuth and elevation angles of the sun relative to the station at that moment can be calculated. Through T Lcl = h + m / 60 + s / 3600 - 8 + L / 15, the mean sun is calculated. The accumulated day N is calculated, that is, the order day of the date in the year.

[0046] The hour angle is calculated by θ = 2πt / 365.2422 = 2π(N-N0-T Lcl / 24) / 365.2422, where N0 is the accumulated day constant N0 = 79.6764 + 0.2422*(y-1985) - int[(y-1985) / 4].

[0047] The hour angle is input into the formula The true solar time is calculated. The true solar time is input into τ = (T Tr -12)*15 to calculate the solar hour angle.

[0048] The hour angle is input into the formula The declination angle is calculated. The declination angle is input into the formula The solar azimuth angle and elevation angle are calculated.

[0049] The calculated solar elevation angle and azimuth angle are mapped to the three-dimensional target model in the simulation environment, which means that the lighting conditions of the light measurement device will be affected by the sun angle, and the surface of the target model will be rendered according to the calculated sun angle. By accurately calculating the elevation angle and azimuth angle of the sun, the change of the sun position at different times and different places can be simulated.

[0050] S500: mapping the station site, the sun elevation angle and the azimuth angle to the initial three-dimensional target model for simulation training to determine a plurality of simulation scenes.

[0051] Further, the S500 of the present application comprises:

[0052] Obtaining target task requirements, determining the sun elevation angle and the sun included angle based on the sun elevation angle and the azimuth angle, calculating the illumination intensity based on the sun elevation angle and the sun included angle, and performing illumination rendering on the initial three-dimensional target model according to the illumination intensity and combining the station site coordinates to generate a plurality of simulation scenes.

[0053] Specifically, the target task requirement refers to the specific tasks or objectives that the user needs to complete during the simulation, usually related to the operation of the device, performance verification or training objectives, which determines the parameters and scene settings needed during the simulation, such as specific time periods, environmental conditions, target behavior, etc. The sun elevation angle and azimuth angle are known solar position parameters. Based on these angles, the solar altitude angle and solar included angle can be calculated: solar included angle calculation, i.e. calculating the included angle between the camera visual axis and the sun direction In the XYZ coordinate system, the spatial vector included angle formula is used for calculation. First, the conversion formula between the station coordinate system and the polar coordinate system is used, and a distance R greater than 0 is arbitrarily set. Points P and Q are selected on the visual axis and the sun direction, respectively, and the solar included angle ∠POQ is calculated, and the formula is:

[0054]

[0055] Based on the calculated solar altitude angle and solar included angle, the target's light intensity is calculated. The calculation of light intensity depends on the angle of the sun, the propagation mode of light (such as direct light, scattered light) and the reflectivity of the target object surface. The general formula is: light intensity = I0·cos(θ), where I0 is the unit light source intensity and θ is the included angle between the sun and the target surface normal (i.e. the solar altitude angle). For example, assuming the solar altitude angle is 60° and the azimuth angle is 180° (i.e. the south direction), and the reflectivity of the target surface is 0.8, then according to the above formula, the light intensity of the target can be calculated.

[0056] According to the calculated light intensity, combined with the station address coordinates, the initial three-dimensional target model is rendered with light. According to the solar angle and the reflection characteristics of the target, the light intensity of each surface point is calculated. The propagation and reflection of light are simulated through physical rendering models (such as Phong model or Blinn-Phong model), ensuring that the surface of the target can truly reflect the changes of sunlight in the simulation scene. Based on the results of light rendering, multiple different simulation scenes are generated. Light rendering is a technique in computer graphics that calculates the brightness of each point in a scene based on environmental lighting, light source position and object material properties. Light rendering can simulate the effects of sunlight, shadows, reflections, etc., making the simulation scene more realistic. Simulation scene refers to a virtual environment created in a computer to simulate the actual environment. Simulation scenes are configured according to different target task requirements and can include multiple dynamic factors such as light, temperature, time, environmental changes, etc.

[0057] The lighting conditions of multiple simulation scenarios will change with the sun angle, time and season, ensuring that the simulation environment can adapt to different operating conditions. For example, the difference in solar altitude angle between summer and winter can cause the device to perform differently in different seasons, so these scenarios need to be rendered and generated separately. By accurately calculating the pitch angle, azimuth angle, solar altitude angle and solar angle of the sun, the performance of the device under different lighting conditions is simulated, enhancing the realism of the simulation environment. By generating multiple different simulation scenarios, the photometric device can be trained under various lighting conditions, thereby improving the adaptability of the device in real-world environments.

[0058] S600: Based on the multiple simulation scenarios, a simulation rehearsal is performed on the photometric device, and a deviation analysis is performed on the simulation rehearsal results. Based on the deviation analysis results, feedback adjustment is performed on the initial three-dimensional target model to obtain a three-dimensional target model.

[0059] Further, the present application S600 includes:

[0060] Based on the simulation rehearsal results, a simulation running trajectory is extracted; the simulation running trajectory is compared with the target theoretical trajectory, and the deviation position and deviation angle are labeled; based on the deviation position and deviation angle, feedback adjustment is performed on the initial three-dimensional target model to obtain a three-dimensional target model.

[0061] Specifically, each simulation scenario represents a specific environmental setting, such as different lighting conditions, target motion trajectories, and device response conditions. Through multiple simulation scenarios, the working process of the photometric device is simulated, and how the photometric device operates under these different conditions is observed. During the simulation rehearsal process, a simulation running trajectory is generated, which is the actual path of the photometric device in the simulated environment. The simulation running trajectory is based on the motion state of the target in the virtual environment and records the position, speed, etc. of the target at different times.

[0062] After the simulation is completed, the simulation running trajectory is extracted, which records the actual trajectory of the target in the simulation environment, including the motion path of the target under different simulation scenarios, and including the displacement, speed and time, etc. of the target. The target theoretical trajectory is the ideal motion path calculated based on the initial conditions of the target. Comparing the simulation running trajectory with the theoretical trajectory of the target can calculate the deviation between the two, aiming to identify the gap between the actual running process of the target and the theoretical expectation, and quantify the position and angle of the deviation. For example, suppose the theoretical trajectory of the target is along a straight line, such as the path from (0,0,0) to (100,0,0), and the simulation result shows that the position of the target is at (98,2,1). At this time, the deviation position is the Euclidean distance between the actual position of the target and the theoretical position: deviation position = 3.

[0063] If the target's theoretical trajectory moves along a straight line, and the simulation result shows that the target's direction has deviated, then the deviation angle is the error of the target in the direction, which is obtained by calculating the angle between the actual direction of the target and the theoretical direction. The commonly used method is to calculate the angle difference through the dot product of the direction vector. After the comparison is completed, the deviation position and the deviation angle are marked. The deviation position is usually displayed in the form of three-dimensional coordinates, and the deviation angle can be reflected by marking the direction difference. For example, the simulation result shows that the target's position deviates from the theoretical trajectory by 3 units, and the direction deviates by 5°. Mark these deviation values in the simulation scene.

[0064] According to the results of deviation analysis, feedback adjustment is made to the initial three-dimensional target model. For example, if the motion parameters (such as speed, acceleration, etc.) of the target cause large deviations, these parameters can be adjusted and the simulation can be performed again. After feedback adjustment, a new three-dimensional target model is generated to ensure that the model can more accurately reproduce the ideal trajectory of the target after adjustment. By accurately comparing the simulation running trajectory and the theoretical trajectory, the deviation position and the deviation angle can be identified and quantified in real time, thereby providing accurate simulation feedback. Through the feedback adjustment mechanism, the motion parameters and trajectory modeling methods of the target are optimized according to real-time deviation analysis, gradually improving the accuracy of the simulation results.

[0065] Further, the present application further comprises the following steps:

[0066] The three-dimensional target model is trained in two modes, namely online mode and offline mode.

[0067] Specifically, dual-mode joint training refers to training and optimizing the three-dimensional target model through two different training modes (online mode and offline mode) to adapt to different training needs and environments. Joint training can enable the light measurement device to simulate in different conditions, thereby improving its performance in actual environments. Online mode refers to a mode in which the simulation system interacts with real-time data. In this mode, the simulation system receives actual operation data of the device in real time and dynamically adjusts the model. Actual environmental data or data interacting with the real device is used in the training process to simulate the real-time working state of the device. Online mode is suitable for training processes that need to be synchronized with the actual device.

[0068] Offline mode refers to training and optimization of the simulation system without real-time data. In offline mode, the simulation system uses pre-set static data or historical data for training and does not need to interact with the actual device in real time. Offline mode is usually used to test the performance of the device in different scenarios, conduct long-term performance evaluation, or train the device when it is not available.

[0069] In online mode, the three-dimensional target model needs to be installed in the computer inside the optical equipment, and the computer needs to be able to obtain the internal state data of the equipment. Due to the difference in internal communication protocols of each equipment, targeted customization is required. If the automatic tracking function of the software needs to be used, the computer needs to be installed with an SDI image output card. In online mode, the focal length, focusing, and light adjustment information of the camera during simulation rehearsal are associated with the actual camera control knobs and actual sensor data of the equipment. In offline mode, the three-dimensional target model can be installed in any computer, and a joystick with a HID protocol USB interface needs to be configured. In offline mode, the values of the corresponding information boxes during simulation rehearsal can be directly input through the keyboard, can be controlled through the up and down arrows on the right side of the information box, or can be controlled through the mouse wheel after selecting the information box. The value range of the information box is limited by the configuration file.

[0070] In the dual-mode joint training process, the simulation results are continuously fed back to the device operator or the simulation system for optimizing the device settings and the simulation model. Through real-time data feedback, the device parameters are adjusted according to the results of the online mode to ensure that the device can work stably in the real environment.

[0071] Further, the application further comprises the following steps:

[0072] When a separation event is triggered, initial parameter information of a separation component is obtained, wherein the initial parameter information includes separation time, separation position, and separation attitude; based on the initial parameter information of the separation component, a separation initial velocity, a separation acceleration, and an air resistance are determined through aerodynamic principles; based on the separation initial velocity, the separation acceleration, and the air resistance, an iterative calculation is performed to determine a three-dimensional trajectory of the separation component; and the three-dimensional trajectory of the separation component is mapped into a three-dimensional target model to determine a separation effect.

[0073] Specifically, when a separation event occurs in the device, initial parameter information of the separation component needs to be obtained. The separation event refers to the process of a certain component separating from the main system in the optical measurement device simulation training. In the simulation system, the separation event usually involves the separation of a part of the simulation target from the overall system. The initial parameter information refers to the initial state parameters of the separation component at the time of separation, including separation time, separation position, and separation attitude. The separation time is the specific time when the separation event occurs, usually represented by a timestamp, with units of seconds or milliseconds; the separation position is the position coordinates of the separation component relative to the reference coordinate system at the time of separation, including x, y, and z three-dimensional positions; the separation attitude is the orientation or angle of the separation component. It is usually described by roll angle, pitch angle, and yaw angle, indicating the direction of the component relative to a certain reference coordinate system.

[0074] Aerodynamics principles involve forces and reactions on an object in motion in air, including separation initial velocity, separation acceleration, and air resistance. The separation initial velocity is the initial velocity of the separating component at the instant of separation, which is usually calculated according to a dynamic model; the separation acceleration is the acceleration of the separating component under the action of aerodynamic forces (such as aerodynamic drag) or other external forces (such as launch mechanisms, etc.); and the air resistance is the reverse resistance generated by air on the separating component when it moves in air, which is usually determined by factors such as aerodynamic drag coefficient, object surface area, and air density.

[0075] From the start point of component separation, the subsequent flight trajectory of the component can be regarded as a free fall motion with air resistance, which is estimated by the separation initial velocity, the separation acceleration, the earth's gravity, and the air resistance. The separation initial velocity is consistent with the flight speed of the target rocket before separation; the separation acceleration comes from the separation rocket power of the component itself, which is set as an acceleration and an acceleration time in the software; the earth's gravity acceleration is a fixed constant; and the calculation of air resistance can use the aerodynamic formula to estimate. According to the aerodynamic principle, when the speed of an object is below 2.5 Mach, the air resistance is proportional to the speed; and when the speed is above 2.5 Mach, the air resistance is proportional to the square of the speed. The air resistance acceleration a A The calculation formula is:

[0076] wherein, C d is the air resistance coefficient, p is the air density under standard atmospheric pressure, A is the windward cross-sectional area, and m is the mass of the object. The acceleration a A is a scalar, and its vector in the target coordinate system O-XYZ is:

[0077] Therefore, the total acceleration of the component after separation is:

[0078] wherein, is the gravitational acceleration, is the separation rocket acceleration.

[0079] Based on the separation initial velocity, the separation acceleration, and the air resistance, the trajectory of the component after separation can be calculated by an iterative method, and the formula is:

[0080]

[0081] The three-dimensional trajectory of the separated component obtained by iterative calculation is mapped into the three-dimensional target model, assuming that the trajectory of the separated component includes position changes between t=0 and t=10s, the position points are matched with the corresponding positions in the initial three-dimensional target model, and it is ensured that the simulation model of the target device can reflect the motion of the separated component. The separation effect refers to the performance of the separated component after separating from the main system, including the stability of its trajectory, speed change, acceleration, etc. In the simulation, the trajectory of the separated component can be viewed to determine whether the separation event is successful and the trajectory is stable, and the overall performance of the device is evaluated according to the motion behavior of the separated component. By using parameters such as aerodynamic principle, initial separation speed, acceleration and air resistance, the motion trajectory of the separated component after separation is accurately calculated to ensure that the simulation result is close to the actual situation.

[0082] In summary, the light measurement device simulation training method based on dynamic trajectory modeling provided in the present application has the following beneficial effects:

[0083] By obtaining a plurality of components of a light measurement device, an initial three-dimensional component model is constructed; based on a plurality of component initial parameters of the plurality of components, parameter configuration is performed on the initial three-dimensional component model to obtain an initial three-dimensional target model; the station coordinates of a target point are obtained, and a target theoretical trajectory is determined based on a geocentric coordinate system, and dynamic trajectory modeling is performed on the target theoretical trajectory through a plurality of spatial rectangular coordinate systems to obtain a station site; based on the station site and a central time, the sun elevation angle and the azimuth angle of the sun relative to the target point are calculated; the station site, the sun elevation angle and the azimuth angle are mapped into the initial three-dimensional target model for simulation training to determine a plurality of simulation scenarios; based on the plurality of simulation scenarios, simulation rehearsal is performed on the light measurement device, and deviation analysis is performed on the simulation rehearsal result, and feedback adjustment is performed on the initial three-dimensional target model according to the deviation analysis result to obtain a three-dimensional target model. That is, by dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated, and combined with light rendering, the simulation training scene can more realistically reflect the actual operation conditions, reduce simulation deviation, and improve the precision and accuracy of light measurement device simulation training.

[0084] Embodiment two, based on the same inventive concept as the light measurement device simulation training method based on dynamic trajectory modeling in the foregoing embodiment one, the present application also provides a light measurement device simulation training system based on dynamic trajectory modeling, please refer to the attached Figure 2 , the light measurement device simulation training system based on dynamic trajectory modeling comprises:

[0085] The component model configuration module 11 is configured to obtain a plurality of components of the optical measurement device, and construct an initial three-dimensional component model; the overall model configuration module 12 is configured to perform parameter configuration on the initial three-dimensional component model based on a plurality of component initial parameters of the plurality of components, to obtain an initial three-dimensional target model; the dynamic trajectory modeling module 13 is configured to obtain a station coordinate of a target point, and determine a target theoretical trajectory based on a geocentric coordinate system, and perform dynamic trajectory modeling on the target theoretical trajectory through a plurality of spatial rectangular coordinate systems, to obtain a target running trajectory; the sun position calculation module 14 is configured to calculate a sun elevation angle and an azimuth angle of the sun relative to the target point based on the station coordinate and a central time; the simulation training module 15 is configured to map the station coordinate, the target running trajectory, the sun elevation angle and the azimuth angle into the initial three-dimensional target model for simulation training, to determine a plurality of simulation scenarios; and the deviation adjustment module 16 is configured to perform simulation rehearsal on the optical measurement device based on the plurality of simulation scenarios, and perform deviation analysis on a simulation rehearsal result, and perform feedback adjustment on the initial three-dimensional target model according to a deviation analysis result, to obtain a three-dimensional target model.

[0086] Further, the dynamic trajectory modeling module 13 in the optical measurement device simulation training system based on dynamic trajectory modeling is further configured to:

[0087] The plurality of spatial rectangular coordinate systems include a model coordinate system, a station coordinate system, a station polar coordinate system, a scene coordinate system and a scene image coordinate system.

[0088] Further, the dynamic trajectory modeling module 13 in the optical measurement device simulation training system based on dynamic trajectory modeling is further configured to:

[0089] Based on the target theoretical trajectory, a plurality of position coordinates are determined; the plurality of position coordinates are subjected to coordinate system transformation according to the model coordinate system and the station coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of first transformed positions; the plurality of first transformed positions are subjected to coordinate system transformation according to the station coordinate system and the station polar coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of second transformed positions; the plurality of second transformed positions are subjected to coordinate system transformation according to the station polar coordinate system and the scene coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of third transformed positions; the plurality of third transformed positions are subjected to coordinate system transformation according to the scene coordinate system and the scene image coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of fourth transformed positions; and the target running trajectory is determined by connecting the plurality of fourth transformed positions.

[0090] Further, the simulation training module 15 in the optical measurement device simulation training system based on dynamic trajectory modeling is further configured to:

[0091] Obtain the target task requirement, determine the solar elevation angle and the solar included angle based on the solar elevation angle and the azimuth angle, calculate the illumination intensity based on the solar elevation angle and the solar included angle, perform illumination rendering on the initial three-dimensional target model according to the illumination intensity and the site coordinates, and generate a plurality of simulation scenes.

[0092] Further, the deviation adjustment module 16 in the light measurement equipment simulation training system based on dynamic trajectory modeling is also used for:

[0093] Based on the simulation pre-performance result, the simulation running trajectory is extracted, the simulation running trajectory is compared with the target theoretical trajectory, the deviation position and the deviation angle are labeled, the initial three-dimensional target model is feedback adjusted based on the deviation position and the deviation angle, and a three-dimensional target model is obtained.

[0094] Further, the light measurement equipment simulation training system based on dynamic trajectory modeling further comprises that the three-dimensional target model is trained in double modes in two working modes, that is, online mode and offline mode.

[0095] Further, the light measurement equipment simulation training system based on dynamic trajectory modeling further comprises that when a separation event is triggered, initial parameter information of a separation component is obtained, wherein the initial parameter information comprises separation time, separation position and separation attitude; based on the initial parameter information of the separation component, a separation initial velocity, a separation acceleration and an air resistance are determined through aerodynamic principle; based on the separation initial velocity, the separation acceleration and the air resistance, iterative calculation is performed to determine a three-dimensional trajectory of the separation component; and the three-dimensional trajectory of the separation component is mapped into the three-dimensional target model to determine a separation effect.

[0096] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. Figure 1 The light measurement equipment simulation training method based on dynamic trajectory modeling in Embodiment One and the specific examples are also applicable to the light measurement equipment simulation training system based on dynamic trajectory modeling in the present embodiment. Through the foregoing detailed description of the light measurement equipment simulation training method based on dynamic trajectory modeling, those skilled in the art can clearly know the light measurement equipment simulation training system based on dynamic trajectory modeling in the present embodiment. Therefore, in order to make the specification concise, it will not be described in detail here.

[0097] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0098] Obviously, many modifications and changes can be made to the application as set forth above without departing from the spirit and scope of the application. It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the application should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, along with their full scope of equivalents.

Claims

1. A method for simulation training of an optical measurement device based on dynamic trajectory modeling, characterized in that, The method comprises the following steps: acquiring a plurality of components of a light measurement device, and constructing an initial three-dimensional component model; performing parameter configuration on the initial three-dimensional component model based on a plurality of component initial parameters of the plurality of components, to obtain an initial three-dimensional target model; acquiring a station coordinate of a target point, and determining a target theoretical trajectory based on a geocentric coordinate system, and performing dynamic trajectory modeling on the target theoretical trajectory through a plurality of spatial rectangular coordinate systems, to obtain a target running trajectory; calculating a sun elevation angle and an azimuth angle of the sun relative to the target point based on the station coordinate and a central time; mapping the station coordinate, the target running trajectory, the sun elevation angle, and the azimuth angle into the initial three-dimensional target model for simulation training, to determine a plurality of simulation scenarios; performing simulation rehearsal on the light measurement device based on the plurality of simulation scenarios, and performing deviation analysis on the simulation rehearsal result, and performing feedback adjustment on the initial three-dimensional target model according to the deviation analysis result, to obtain a three-dimensional target model. 2.The light detection and ranging equipment simulation training method based on dynamic trajectory modeling according to claim 1, wherein, The plurality of spatial rectangular coordinate systems comprise a model coordinate system, a station coordinate system, a station polar coordinate system, a scene coordinate system, and a scene image coordinate system. 3.The dynamic trajectory modeling based optical measurement device simulation training method of claim 2, wherein, The dynamic trajectory modeling on the target theoretical trajectory through the plurality of spatial rectangular coordinate systems to obtain the target running trajectory comprises the following steps: determining a plurality of position coordinates based on the target theoretical trajectory; performing coordinate system transformation on the plurality of position coordinates according to the model coordinate system and the station coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of first transformed positions; performing coordinate system transformation on the plurality of first transformed positions according to the station coordinate system and the station polar coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of second transformed positions; performing coordinate system transformation on the plurality of second transformed positions according to the station polar coordinate system and the scene coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of third transformed positions; performing coordinate system transformation on the plurality of third transformed positions according to the scene coordinate system and the scene image coordinate system of the plurality of spatial rectangular coordinate systems, to obtain a plurality of fourth transformed positions; determining the target running trajectory by connecting the plurality of fourth transformed positions.

4. The dynamic trajectory modeling based optical measurement device simulation training method according to claim 1, characterized in that, The simulation training of the station coordinate, the sun elevation angle, and the azimuth angle into the initial three-dimensional target model to determine the plurality of simulation scenarios comprises the following steps: acquiring a target task requirement, and determining a sun elevation angle and a sun included angle based on the sun elevation angle and the azimuth angle; calculating a light intensity based on the sun elevation angle and the sun included angle; performing light rendering on the initial three-dimensional target model based on the light intensity and the station coordinate, to generate the plurality of simulation scenarios.

5. The dynamic trajectory modeling based optical measurement device simulation training method of claim 1, wherein, The deviation analysis on the simulation rehearsal result, and the feedback adjustment on the initial three-dimensional target model according to the deviation analysis result to obtain the three-dimensional target model comprises the following steps: extracting a simulation running trajectory based on the simulation rehearsal result; comparing the simulation running trajectory with the target theoretical trajectory, and marking a deviation position and a deviation angle; performing feedback adjustment on the initial three-dimensional target model based on the deviation position and the deviation angle, to obtain the three-dimensional target model.

6. The dynamic trajectory modeling based optical measurement device simulation training method according to claim 1, characterized in that, The three-dimensional target model is trained in dual-mode combination in two working modes, namely, online mode and offline mode.

7. The dynamic trajectory modeling based optical measurement device simulation training method according to claim 1, characterized in that, When a separation event is triggered, initial parameter information of the separated component is acquired, wherein the initial parameter information includes separation time, separation position, and separation posture; Based on the initial parameter information of the separated component, separation initial velocity, separation acceleration, and air resistance are determined through aerodynamic principle; Based on the separation initial velocity, separation acceleration, and air resistance, iterative calculation is performed to determine a three-dimensional trajectory of the separated component; The three-dimensional trajectory of the separated component is mapped into the three-dimensional target model to determine a separation effect.

8. A light measurement device simulation training system based on dynamic trajectory modeling, characterized by, The steps of the simulation training method for the optical measurement equipment based on dynamic trajectory modeling according to any one of claims 1 to 7 are implemented by the simulation training system for the optical measurement equipment based on dynamic trajectory modeling, which comprises: A component model configuration module is configured to acquire a plurality of components of the optical measurement equipment and construct an initial three-dimensional component model; An overall model configuration module is configured to perform parameter configuration on the initial three-dimensional component model based on a plurality of component initial parameters of the plurality of components to obtain an initial three-dimensional target model; A dynamic trajectory modeling module is configured to acquire a station coordinate of a target point, determine a target theoretical trajectory based on a geocentric coordinate system, and perform dynamic trajectory modeling on the target theoretical trajectory through a plurality of spatial orthogonal coordinate systems to obtain a target running trajectory; A sun position calculation module is configured to calculate a sun elevation angle and an azimuth angle of the sun relative to the target point based on the station coordinate and a central time; A simulation training module is configured to map the station coordinate, the target running trajectory, the sun elevation angle, and the azimuth angle into the initial three-dimensional target model for simulation training to determine a plurality of simulation scenarios; A deviation adjustment module is configured to perform simulation rehearsal on the optical measurement equipment based on the plurality of simulation scenarios, perform deviation analysis on the simulation rehearsal result, perform feedback adjustment on the initial three-dimensional target model according to the deviation analysis result, and obtain a three-dimensional target model.

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