Optical measuring device simulation training method and system based on dynamic trajectory modeling

Abstract

The application provides a light measurement equipment simulation training method and system based on dynamic trajectory modeling, relates to the technical field of simulation training, and comprises the following steps: acquiring a plurality of components of a light measurement equipment, and constructing an initial three-dimensional component model; performing parameter configuration on the initial three-dimensional component model based on initial parameters of the plurality of components; determining a target theoretical trajectory, and performing dynamic trajectory modeling through a plurality of spatial orthogonal coordinate systems; calculating a sun elevation angle and an azimuth angle of the sun relative to a target point; mapping to the initial three-dimensional target model for simulation training, and determining a plurality of simulation scenes; performing simulation rehearsal on the light measurement equipment, adjusting the simulation rehearsal result for deviation, and obtaining a three-dimensional target model. The application solves the technical problem that, in the prior art, due to the lack of adaptability to complex scenes and environmental changes, it is difficult to reproduce scenes, and the simulation result has a large deviation. Through the implementation of high-precision simulation scene construction, the simulation precision of the light measurement equipment is improved.

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] By acquiring multiple components of the optical measuring equipment, an initial three-dimensional component model is constructed. Based on the initial parameters of these components, the initial three-dimensional component model is parameterized to obtain an initial three-dimensional target model. The station coordinates of the target point are acquired, and the theoretical trajectory of the target is determined based on the geocentric coordinate system. The theoretical trajectory of the target is dynamically modeled using multiple spatial rectangular coordinate systems to obtain the station location. Based on the station location and center time, the solar elevation angle and azimuth angle relative to the target point are calculated. The station location, solar elevation angle, and azimuth angle are mapped to the initial three-dimensional target model for simulation training to determine multiple simulation scenarios. Based on these multiple simulation scenarios, the optical measuring equipment is simulated and pre-run, and deviation analysis is performed on the simulation pre-run results. The initial three-dimensional target model is adjusted based on the deviation analysis results to obtain the three-dimensional target model. In other words, through dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated. Combined with lighting rendering, the simulation training scenarios can more realistically reflect actual operating conditions, reducing simulation deviations and improving the accuracy and precision of the optical measuring equipment simulation training.

[0016] The above description is merely an overview of the technical solution of this application. To better understand the technical means of this application and to facilitate its implementation according to the description, and to make the above and other objects, features, and advantages of this application more apparent, specific embodiments of this application are described below. It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent through the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the simulation training method for optical measurement equipment based on dynamic trajectory modeling, as described in this application.

[0019] Figure 2 This is a schematic diagram of the structure of the optical measurement equipment simulation training system based on dynamic trajectory modeling in this application.

[0020] Explanation of reference numerals in the attached diagram: 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 Implementation

[0021] This application provides a simulation training method and system for optical measurement equipment based on dynamic trajectory modeling, which solves the technical problem in existing technologies where the lack of adaptability to complex scenes and environmental changes makes it difficult to reproduce the scene, resulting in large deviations in simulation results. Through dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated. Combined with lighting rendering, the simulation training scene can more realistically reflect actual operating conditions, reducing simulation deviations and improving the accuracy and precision of optical measurement equipment simulation training.

[0022] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. It should also be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all of them.

[0023] Example 1, please refer to the appendix. Figure 1 This application provides a simulation training method for optical measurement equipment based on dynamic trajectory modeling. The method is executed by an optical measurement equipment simulation training system based on dynamic trajectory modeling, and specifically includes the following steps:

[0024] S100: Acquire multiple components of the optical measurement equipment and construct an initial three-dimensional component model.

[0025] Specifically, optical measurement equipment refers to devices that measure using optical principles (such as laser, infrared, and visible light), typically used in high-precision measurement or detection applications. In simulation training, the components and functions of the optical measurement equipment need to be accurately simulated for effective training. Optical measurement equipment consists of multiple components, each responsible for different functions, such as a laser emitting module, a light receiving module, a sensor module, and a control system. In simulation training, each component must be modeled to ensure that all functional modules of the equipment can be accurately simulated. The specific models, functions, dimensions, and physical characteristics of multiple components are collected and confirmed. Modeling 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 might be 100mm and the diameter 30mm; the dimensions of a light receiver model might be 50mm × 50mm × 20mm. MeshViewer software is used for the initial configuration of model files generated by other general-purpose 3D design software and can load STL binary files or OBJ files. Select the appropriate model file and display its 3D model in the MeshViewer software's display area. Based on the target model, modify the component names, component rotations, and anchor point offset edit boxes below. Write the parameter information into the corresponding STL or OBJ file. Refine multiple components using model component configuration software, setting the material, mass, surface texture, etc., for each component. For optical components, transparent materials may be set to simulate the effect of laser light passing through an optical lens. The connection and interface design between components also need to be completed at this stage to ensure normal interaction between modules in subsequent simulations. By acquiring multiple components of the optical measurement device and constructing an initial 3D component model, high-precision simulation training of the optical measurement device can be achieved.

[0026] S200: Based on the initial parameters of the multiple components, the initial three-dimensional component model is configured to obtain the initial three-dimensional target model.

[0027] Specifically, each component has its initial parameters, such as size, mass, material, and operating frequency. These parameters describe the component's physical properties and functional characteristics. In ModelViewer, a 3D model of each component is created, components are added or removed, and parameters such as position, rotation, scaling, color, and separation actions are set. The .obj file is converted to a mesh file. After clicking the "Load Model" button, selecting the corresponding .mdl file displays the 3D model in the right-hand display area, and the components included in the model are listed in the table on the left. The view effect in the right-hand display area can be controlled using the camera position information box in the center of the interface and the rotation bar around the z-axis.

[0028] Click the "Add Part" button to add a part configured by MeshViewer software to the model. Select the part in the part list and click "Delete Part" to delete the selected part. After selecting a part in the part list, the interface displays the part's rotation, translation, and scaling parameters relative to the model's overall coordinate system. These parameters are calculated based on the part's anchor points. Configure parameters such as the part's color, separation time, separation acceleration, and acceleration duration. Modify the model's name and height in the information box on the left side of the MeshViewer interface. The model's width is automatically calculated according to the aspect ratio. Write the model configuration parameter information into the MDL file for Monilator software to load the target model.

[0029] Obtain detailed parameters for each component of the optical measurement equipment and create a 3D model of each component in ModelViewer. Use ModelViewer's parameter configuration function to set the initial parameters for each component. Specifically, you can adjust the size, material, and appearance of the components through the ModelViewer interface to ensure that each component meets the design requirements of the optical measurement equipment. Combine all the configured component models into a complete 3D target model. In ModelViewer, use drag and drop and position adjustment functions to position each component in the correct relative position. After completing the configuration of all component models, use ModelViewer's export function to save the combined initial 3D target model as a complete 3D file (such as .obj or .stl format). By constructing the initial 3D target model, the size, material, and position of each component are precisely configured, which can realistically reproduce the various functions of the equipment and ensure the realism of the equipment's performance during training.

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

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

[0032] Furthermore, this application S300 includes:

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

[0034] Specifically, the target point's site coordinates refer to the geographic coordinates of the location of the measuring equipment, typically including parameters such as longitude, latitude, and elevation. The geocentric coordinate system is a spatial rectangular coordinate system with the Earth's center of mass as its origin. 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. Target trajectory calculation based on the geocentric coordinate system involves using a physical model, combined with parameters such as the target's initial velocity and acceleration, to generate the target's theoretical trajectory within the geocentric coordinate system.

[0035] Multiple spatial rectangular coordinate systems, including the model coordinate system O m -X m Y m Z m The coordinate systems are: station coordinate system O-XYZ, station polar coordinate system O-RAE, scene coordinate system OX′Y′Z′, and scene image coordinate system OX″Y″. The model coordinate system O... m -X m Y m Z m Assume the target model is initially upright on the ground, and the model's positioning center is O. m -X m Y m Z m Origin of coordinate system m East is X+, north is Y+, and upward is Z+. The model coordinate system is always bound to the target model. Z+ represents the model's direction of motion, so at time t, the model coordinate system is O. mt -X mt Y mt Z mt Each component with separation capabilities also establishes its own model coordinate system using this method.

[0036] The station coordinate system O-XYZ has its origin O at the theodolite's rotation center, with X+ to the east, Y+ to the north, and Z+ upwards, forming a right-handed spatial coordinate system, also known as the ENU coordinate system. The XOY plane is the horizontal plane. The station polar coordinate system O-RAE is based on the station coordinate system O-XYZ, with its origin O being the origin of the station coordinate system. Consider the line connecting the origin and the target point P. The distance between the lines is R, that is... Projection in the XOY plane The angle between the Y-axis and the orientation is A, and when viewed from above, the counterclockwise direction is A+. The value of A ranges from [0, 360). Projection The angle between the XOY plane and the plane is E (pitch), and the angle above the XOY plane is E+. The value of E ranges from -180° to 180°. In practice, due to mechanical limitations of the measuring equipment, the value of E is generally set to (-5° to 185°).

[0037] The scene coordinate system OX′Y′Z′ is defined according to the coordinate system in Qt Quick 3D and Qt 3D. In the default state of the virtual camera, the camera is oriented due north, the camera center is the origin O, the right is X′+, the upward is Y′+, and the area behind the camera is Z′+, forming a right-handed spatial coordinate system, i.e., the 3D scene coordinate system. The scene coordinate system is not bound to the camera, and the scene coordinate system does not change when the camera is displaced or rotated.

[0038] The virtual camera maps a 3D scene to a 2D image, with the image center at the origin O of the OX′Y′Z′ coordinate system. In the image, rightward is X″+ and upward is Y″+. The scene image's OX″Y″ coordinate system is bound to the virtual camera, and the OX″Y″ plane is always aligned with the camera's line of sight. Perpendicular, and the OX″Y″ plane around The rotation angle is always 0.

[0039] The geocentric coordinate system has its origin O at the Earth's center of mass. E The established spatial rectangular coordinate system, also known as the geocentric-earth-fixed coordinate system (ECEF), has its Z-axis pointing to the North Pole, its X-axis pointing to the intersection of the 0° meridian and the equator, and its Y-axis pointing to the intersection of the 90° meridian and the equator, forming a right-handed spatial coordinate system. E -X E Y E Z E The geodetic coordinate system is a coordinate system in geodesy that uses a reference ellipsoid as its reference surface and is represented by longitude L, latitude B, and elevation H.

[0040] For example, the transformation relationship between the coordinates P(x,y,z) of 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 as follows: 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 Transformed into the station coordinate system O-XYZ, the position P is... b (x b ,y b ,z b Assuming the target's position in the station coordinate system at the moment 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 The Euler rotation angle R of the target model coordinate system P (α,β,0) is given, that is: The coordinate system of the component model at the moment of target separation points to the same direction as the target's flight speed at that moment, and the Euler rotation angle of the separated component model coordinate system is also calculated in the same way as the Euler rotation angle of the target model coordinate system.

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

[0043] The target's position is transformed from the station coordinate system to the station polar coordinate system, that is, represented by distance, azimuth, and elevation angles. The target's position is then transformed from the station polar coordinate system to the scene coordinate system, which is typically used for displaying virtual scenes. By appropriately transforming the distance R, azimuth A, and elevation E in the polar coordinate system, they can be mapped to the three-dimensional space of the scene coordinate system. The target's position is then transformed from the scene coordinate system to the scene image coordinate system to display the target's trajectory on a two-dimensional image. At this point, the target's position in three-dimensional space has been converted into two-dimensional coordinates suitable for the display device. By connecting all the transformed position points (the fourth transformed position), the target's trajectory is obtained, representing the complete path of the target from its starting position to its final position in the simulation environment, typically used for subsequent simulation training and result analysis. Through multiple coordinate system transformations of the target's position, the target's theoretical trajectory can be accurately transformed into a trajectory in the simulation environment, ensuring high accuracy in simulation training.

[0044] S400: Based on the station location and center time, calculate the solar elevation angle and azimuth angle of the sun relative to the target point.

[0045] Specifically, based on the station location (L,B,H), date (y,m,d), and center time (h,m,s), the azimuth and elevation angles of the sun relative to the station at that moment can be calculated. This is achieved through T... Lcl =h+m / 60+s / 3600-8+L / 15, calculate the mean solar date. Calculate the accumulated day N, which is the sequential day of the date within the current year.

[0046] By θ=2πt / 365.2422=2π(N-N0-T Lcl Calculate the solar angle using / 24) / 365.2422, where N0 is the daily constant N0=79.6764+0.2422*(y-1985)-int[(y-1985) / 4].

[0047] Enter the sun angle into the formula Calculate true solar time. Input true solar time τ=(T Tr -12)*15, calculate the solar hour angle.

[0048] Enter the sun angle into the formula Calculate the declination angle. Enter the declination angle into the formula. Calculate the solar azimuth and elevation angles.

[0049] Mapping the calculated solar elevation and azimuth angles onto a 3D target model in the simulation environment means that the lighting conditions of the photometry equipment will be affected by the solar angle, and the surface of the target model will be rendered with lighting based on the calculated solar angle. By accurately calculating the solar elevation and azimuth angles, the changes in the sun's position at different times and locations can be simulated.

[0050] S500: Map the station location, solar elevation angle, and azimuth angle to the initial three-dimensional target model for simulation training to determine multiple simulation scenarios.

[0051] Furthermore, this application S500 includes:

[0052] The target task requirements are obtained, and the solar altitude angle and solar angle are determined based on the solar elevation angle and the solar angle. The illumination intensity is calculated based on the solar altitude angle and the solar angle. According to the illumination intensity and the station coordinates, the initial three-dimensional target model is illuminated and rendered to generate multiple simulation scenes.

[0053] Specifically, the target task requirements refer to the specific tasks or objectives that the user needs to complete during the simulation process. These are typically related to equipment operation, performance verification, or training objectives, and define the parameters and scenario settings required during the simulation, such as specific time periods, environmental conditions, and target behavior. The solar elevation angle and azimuth angle are known parameters of the sun's position. Based on these angles, the solar altitude angle and solar angle can be calculated: the solar angle calculation involves calculating the angle between the camera's line of sight and the direction of the sun. In the XYZ coordinate system, the spatial vector angle formula is used for calculation. First, using the conversion formula between the station coordinate system and the polar coordinate system, an arbitrary distance R greater than 0 is set. Point P is selected on the line of sight ray, and point Q is selected on the solar ray. ∠POQ, i.e., the solar angle, is calculated using the formula:

[0054]

[0055] The illuminance of the target is calculated based on the calculated solar altitude angle and solar azimuth angle. The calculation of illuminance depends on the angle of the sun, the mode of light propagation (e.g., direct light, diffused light), and the reflectivity of the target object's surface. The common formula is: Illuminance = I0·cos(θ), where I0 is the unit light source intensity, and θ is the angle between the sun and the normal to the target surface (i.e., the solar altitude angle). For example, assuming the solar altitude angle is 60°, the azimuth angle is 180° (due south), and the reflectivity of the target surface is 0.8, the illuminance of the target can be calculated using the above formula.

[0056] Based on the calculated illumination intensity and the site coordinates, the initial 3D target model is rendered with lighting. The illumination intensity of each surface point is calculated according to the sun's angle and the target's reflection characteristics. Physical rendering models (such as the Phong model or Blinn-Phong model) are used to simulate the propagation and reflection of light, ensuring that the target's surface realistically reflects changes in sunlight within the simulation scene. Based on the lighting rendering results, multiple different simulation scenes are generated. Lighting rendering is a technique in computer graphics used to calculate the brightness of each point in a scene based on ambient lighting, light source position, and object material properties. Lighting rendering can simulate effects such as sunlight, shadows, and reflections, making the simulation scene more realistic. A 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 lighting, temperature, time, and environmental changes.

[0057] The lighting conditions in multiple simulation scenarios will vary with the sun's angle, time of day, and season, ensuring the simulation environment can adapt to different operating conditions. For example, the difference in sun altitude angle between summer and winter may lead to differences in equipment performance in different seasons, thus requiring separate rendering and generation of these scenarios. By accurately calculating the sun's pitch angle, azimuth angle, sun altitude angle, and sun angle, the simulation environment enhances the realism of the equipment performance under different lighting conditions. By generating multiple different simulation scenarios, the photometry equipment can be trained under various lighting conditions, thereby improving the equipment's adaptability to real-world environments.

[0058] S600: Based on the multiple simulation scenarios, perform simulation pre-run on the optical measurement equipment, analyze the deviation of the simulation pre-run results, and adjust the initial three-dimensional target model according to the deviation analysis results to obtain the three-dimensional target model.

[0059] Furthermore, this application S600 includes:

[0060] Based on the simulation results, the simulation trajectory is extracted; the simulation trajectory is compared with the target theoretical trajectory, and the deviation position and deviation angle are marked; based on the deviation position and deviation angle, the initial three-dimensional target model is adjusted to obtain the 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 operation of the optical measurement equipment is simulated, allowing observation of how the equipment operates under these different conditions. During the simulation pre-run, a simulated trajectory is generated, representing the actual path of the optical measurement equipment in the simulated environment. This simulated trajectory is based on the target's motion state in the virtual environment, recording information such as the target's position and velocity at different times.

[0062] After the simulation is completed, the simulation trajectory is extracted, which records the actual trajectory of the target in the simulation environment. This includes the target's motion path under different simulation scenarios and information such as displacement, velocity, and time. The theoretical trajectory of the target is the ideal motion path calculated based on the target's initial conditions. By comparing the simulation trajectory with the theoretical trajectory, the deviation between the two can be calculated. This aims to identify the gap between the actual target's movement 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), while the simulation results show the target's position at (98,2,1). In this case, the deviation position is the Euclidean distance between the actual and theoretical positions of the target: deviation position = 3.

[0063] If the theoretical trajectory of a target moves along a straight line, but the simulation results show that the target's direction has deviated, then the deviation angle is the error in the target's direction. It is obtained by calculating the angle between the actual and theoretical directions of the target; a common method is to calculate the angle difference using the dot product of the direction vectors. After comparison, the deviation position and deviation angle are marked. The deviation position is usually displayed in three-dimensional coordinates, while the deviation angle can be represented by marking the directional difference. For example, if the simulation results show that the target's position is offset by 3 units and its direction is offset by 5° compared to the theoretical trajectory, these deviation values ​​are marked in the simulation scene.

[0064] Based on the results of the deviation analysis, the initial 3D target model is adjusted using feedback. For example, if the target's motion parameters (such as velocity and acceleration) cause significant deviations, these parameters can be adjusted, and the simulation can be repeated. After the feedback adjustment, a new 3D target model is generated, ensuring that the adjusted model can more accurately reproduce the target's ideal trajectory. By precisely comparing the simulated trajectory with the theoretical trajectory, the location and angle of deviation can be identified and quantified in real time, thus providing accurate simulation feedback. Through the feedback adjustment mechanism, based on real-time deviation analysis, the target's motion parameters and trajectory modeling methods are optimized, gradually improving the accuracy of the simulation results.

[0065] Furthermore, this application also includes the following steps:

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

[0067] Specifically, dual-mode joint training refers to training and optimizing a 3D target model using two different training modes (i.e., online mode and offline mode) to adapt to different training needs and environments. Joint training allows the optical measurement equipment to simulate under different conditions, thereby improving its performance in real-world environments. Online mode refers to a mode where the simulation system interacts with real-time data. In this mode, the simulation system receives real-time operational data from the equipment and dynamically adjusts the model. The training process uses actual environmental data or data from interaction with real equipment to simulate the equipment's real-time operating state. Online mode is suitable for training processes that require synchronization with the actual equipment.

[0068] Offline mode refers to training and optimizing a simulation system without real-time data. In offline mode, the simulation system uses pre-set static or historical data for training and does not require real-time interaction with the actual device. Offline mode is typically used to test device performance in different scenarios, conduct long-term performance evaluations, or train when the device is unavailable.

[0069] In online mode, the 3D target model needs to be installed on the computer inside the optical equipment, and this computer must be able to acquire the equipment's internal status data. Due to differences in the internal communication protocols of various equipment, specific customization is required. If the software's automatic tracking function is needed, an SDI image output card must be installed on the computer. In online mode, during simulation pre-runs, the camera's focal length, focus, and lighting information are linked to the actual equipment's camera control knobs and actual sensor data. In offline mode, the 3D target model can be installed on any computer, requiring a joystick with a USB interface and HID protocol. In offline mode, during simulation pre-runs, the values ​​in the corresponding information boxes can be directly input via the keyboard, controlled using the up and down arrows on the right side of the information box, or selected with the mouse and controlled via the scroll wheel. The value range of the information boxes is limited by the configuration file.

[0070] During the dual-mode joint training process, simulation results are continuously fed back to the equipment operator or simulation system to optimize equipment settings and simulation models. Through real-time data feedback, equipment parameters are adjusted based on the results of the online mode to ensure stable operation of the equipment in a real-world environment.

[0071] Furthermore, this application also includes the following steps:

[0072] When a separation event is triggered, the initial parameter information of the separation component is acquired, including separation time, separation position, and separation attitude. Based on the initial parameter information of the separation component, the initial separation velocity, separation acceleration, and air resistance are determined using aerodynamic principles. Based on the initial separation velocity, separation acceleration, and air resistance, iterative calculations are performed to determine the three-dimensional trajectory of the separation component. The three-dimensional trajectory of the separation component is mapped onto a three-dimensional target model to determine the separation effect.

[0073] Specifically, when a separation event occurs, it is necessary to obtain the initial parameter information of the separated component. A separation event refers to the process of a component separating from the main system during simulation training of optical measurement equipment. In a simulation system, a separation event typically involves the separation of a part of the simulated target from the overall system. Initial parameter information refers to the initial state parameters of the separated component at the time of separation, including separation time, separation position, and separation attitude. Separation time is the specific moment the separation event occurs, usually expressed as a timestamp in seconds or milliseconds; separation position is the position coordinates of the separated component relative to a reference coordinate system at the time of separation, including its position in the x, y, and z dimensions; separation attitude is the orientation or angle of the separated component. It is usually described using roll, pitch, and yaw angles, representing the component's orientation relative to a certain reference coordinate system.

[0074] Aerodynamics principles involve the forces and reactions experienced by an object moving through the air, including initial separation velocity, separation acceleration, and air resistance. Initial separation velocity is the initial velocity of the separating component at the instant of separation, usually calculated using a dynamic model. 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 the launch mechanism). Air resistance is the reverse resistance exerted by the air on the separating component as it moves through the air, typically determined by factors such as the aerodynamic drag coefficient, the object's surface area, and air density.

[0075] Starting from the component separation point, the component's subsequent flight trajectory can be considered as free fall motion with air resistance, estimated using the initial separation velocity, separation acceleration, Earth's gravity, and air resistance. The initial separation velocity is consistent with the target rocket's velocity before separation; the separation acceleration comes from the component's own separation rocket propulsion, set in the software as an acceleration and a certain acceleration time; Earth's gravitational acceleration is a fixed constant; air resistance can be estimated using aerodynamic formulas. According to aerodynamic principles, below Mach 2.5, air resistance is proportional to velocity; above Mach 2.5, air resistance is proportional to the square of the velocity. Air resistance acceleration 'a' A The calculation formula is:

[0076] Among them, C d Let ρ be the air drag coefficient, ρ be the air density at standard atmospheric pressure, A be the frontal cross-sectional area, and m be the mass of the object. Acceleration a A As a scalar, its vector in the target coordinate system O-XYZ is:

[0077] The total acceleration after the components separate is:

[0078] in, It is the acceleration due to gravity. Acceleration for the separating rocket.

[0079] Based on the initial separation velocity, separation acceleration, and air resistance, iterative calculations are performed. The trajectory of the separated components can be calculated using an iterative method, with the following formula:

[0080]

[0081] The 3D trajectory of the separated component, obtained through iterative calculation, is mapped onto the 3D target model. Assuming the trajectory includes positional changes from t=0 to t=10s, these position points are matched with their corresponding positions in the initial 3D target model to ensure the simulation model of the target device reflects the motion of the separated component. The separation effect refers to the performance of the separated component after separation from the main system, including trajectory stability, velocity changes, and acceleration. In the simulation, the trajectory of the separated component can be viewed to determine if the separation event was successful and if the trajectory is stable, and the overall performance of the equipment can be evaluated based on the motion behavior of the separated component. By using aerodynamic principles, initial separation velocity, acceleration, and air resistance parameters, the motion trajectory of the separated component after separation is accurately calculated, ensuring the simulation results closely approximate reality.

[0082] In summary, the simulation training method for optical measurement equipment based on dynamic trajectory modeling provided in this application has the following beneficial effects:

[0083] By acquiring multiple components of the optical measuring equipment, an initial three-dimensional component model is constructed. Based on the initial parameters of these components, the initial three-dimensional component model is parameterized to obtain an initial three-dimensional target model. The station coordinates of the target point are acquired, and the theoretical trajectory of the target is determined based on the geocentric coordinate system. The theoretical trajectory of the target is dynamically modeled using multiple spatial rectangular coordinate systems to obtain the station location. Based on the station location and center time, the solar elevation angle and azimuth angle relative to the target point are calculated. The station location, solar elevation angle, and azimuth angle are mapped to the initial three-dimensional target model for simulation training to determine multiple simulation scenarios. Based on these multiple simulation scenarios, the optical measuring equipment is simulated and pre-run, and deviation analysis is performed on the simulation pre-run results. The initial three-dimensional target model is adjusted based on the deviation analysis results to obtain the three-dimensional target model. In other words, through dynamic trajectory modeling, the motion trajectory of the target under different environmental conditions is accurately simulated. Combined with lighting rendering, the simulation training scenarios can more realistically reflect actual operating conditions, reducing simulation deviations and improving the accuracy and precision of the optical measuring equipment simulation training.

[0084] Example 2: Based on the same inventive concept as the optical measurement equipment simulation training method based on dynamic trajectory modeling in Example 1, this application also provides an optical measurement equipment simulation training system based on dynamic trajectory modeling. Please refer to the appendix. Figure 2 The optical measurement equipment simulation training system based on dynamic trajectory modeling includes:

[0085] The component model configuration module 11 is used to acquire multiple components of the optical measurement equipment and construct an initial three-dimensional component model; the overall model configuration module 12 is used to configure the parameters of the initial three-dimensional component model based on the initial parameters of the multiple components to obtain an initial three-dimensional target model; the dynamic trajectory modeling module 13 is used to acquire the station coordinates of the target point, determine the theoretical trajectory of the target based on the geocentric coordinate system, and perform dynamic trajectory modeling of the theoretical trajectory of the target through multiple spatial rectangular coordinate systems to obtain the target running trajectory; the solar position calculation module 14 is used to calculate the solar elevation angle and azimuth angle of the sun relative to the target point based on the station coordinates and the center time; the simulation training module 15 is used to map the station coordinates, the target running trajectory, the solar elevation angle and the azimuth angle to the initial three-dimensional target model for simulation training to determine multiple simulation scenarios; the deviation adjustment module 16 is used to perform simulation pre-runs of the optical measurement equipment based on the multiple simulation scenarios, perform deviation analysis on the simulation pre-run results, and perform feedback adjustment on the initial three-dimensional target model based on the deviation analysis results to obtain a three-dimensional target model.

[0086] Furthermore, the dynamic trajectory modeling module 13 in the optical measurement equipment simulation training system based on dynamic trajectory modeling is also used for:

[0087] The multiple spatial rectangular coordinate systems include the model coordinate system, the station coordinate system, the station polar coordinate system, the scene coordinate system, and the scene image coordinate system.

[0088] Furthermore, the dynamic trajectory modeling module 13 in the optical measurement equipment simulation training system based on dynamic trajectory modeling is also used for:

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

[0090] Furthermore, the simulation training module 15 in the optical measurement equipment simulation training system based on dynamic trajectory modeling is also used for:

[0091] The target task requirements are obtained, and the solar altitude angle and solar angle are determined based on the solar elevation angle and the solar angle. The illumination intensity is calculated based on the solar altitude angle and the solar angle. According to the illumination intensity and the station coordinates, the initial three-dimensional target model is illuminated and rendered to generate multiple simulation scenes.

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

[0093] Based on the simulation results, the simulation trajectory is extracted; the simulation trajectory is compared with the target theoretical trajectory, and the deviation position and deviation angle are marked; based on the deviation position and deviation angle, the initial three-dimensional target model is adjusted to obtain the three-dimensional target model.

[0094] Furthermore, the optical measurement equipment simulation training system based on dynamic trajectory modeling also includes: the three-dimensional target model undergoes dual-mode joint training in two working modes, wherein the two working modes are online mode and offline mode.

[0095] Furthermore, the optical measurement equipment simulation training system based on dynamic trajectory modeling also includes: when a separation event is triggered, acquiring initial parameter information of the separation component, wherein the initial parameter information includes separation time, separation position, and separation attitude; based on the initial parameter information of the separation component, determining the initial separation velocity, separation acceleration, and air resistance through aerodynamic principles; based on the initial separation velocity, separation acceleration, and air resistance, performing iterative calculations to determine the three-dimensional trajectory of the separation component; and mapping the three-dimensional trajectory of the separation component onto a three-dimensional target model to determine the separation effect.

[0096] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Figure 1 The optical measurement equipment simulation training method and specific examples based on dynamic trajectory modeling in Example 1 are also applicable to the optical measurement equipment simulation training system based on dynamic trajectory modeling in this example. Through the foregoing detailed description of the optical measurement equipment simulation training method based on dynamic trajectory modeling, those skilled in the art can clearly understand the optical measurement equipment simulation training system based on dynamic trajectory modeling in this example. Therefore, for the sake of brevity, it will not be described in detail here.

[0097] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not 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, those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A simulation training method for optical measurement equipment based on dynamic trajectory modeling, characterized in that, include: Acquire multiple components of the optical measurement equipment and construct an initial three-dimensional component model; Based on the initial parameters of the multiple components, the initial three-dimensional component model is configured to obtain the initial three-dimensional target model; Obtain the station coordinates of the target point, determine the theoretical trajectory of the target based on the geocentric coordinate system, and perform dynamic trajectory modeling of the theoretical trajectory of the target through multiple spatial rectangular coordinate systems to obtain the target's running trajectory; Based on the station coordinates and center time, calculate the solar elevation angle and azimuth angle of the sun relative to the target point; The station coordinates, the target trajectory, the solar elevation angle, and the azimuth angle are mapped to the initial three-dimensional target model for simulation training to determine multiple simulation scenarios; Based on the multiple simulation scenarios, the optical measurement equipment is simulated and pre-run, and the simulation results are analyzed for deviation. The initial three-dimensional target model is adjusted based on the deviation analysis results to obtain the three-dimensional target model.

2. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 1, characterized in that, The multiple spatial rectangular coordinate systems include the model coordinate system, the station coordinate system, the station polar coordinate system, the scene coordinate system, and the scene image coordinate system.

3. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 2, characterized in that, The target's theoretical trajectory is dynamically modeled using multiple spatial Cartesian coordinate systems to obtain the target's running trajectory, including: Based on the target theoretical trajectory, multiple location coordinates are determined; Based on the model coordinate system and the station coordinate system of the multiple spatial rectangular coordinate systems, coordinate system transformation is performed on the multiple position coordinates to obtain multiple first transformed positions; Based on the station coordinate system and the station polar coordinate system of the multiple spatial rectangular coordinate systems, the multiple first transformation positions are transformed to obtain multiple second transformation positions; Based on the station polar coordinate system and scene coordinate system of the multiple spatial rectangular coordinate systems, the multiple second transformation positions are transformed to obtain multiple third transformation positions; Based on the scene coordinate system and scene image coordinate system of the multiple spatial rectangular coordinate systems, the multiple third transformation positions are transformed to obtain multiple fourth transformation positions; The target trajectory is determined by connecting the multiple fourth transformation positions.

4. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 1, characterized in that, The station coordinates, solar elevation angle, and azimuth angle are mapped onto the initial 3D target model for simulation training to determine multiple simulation scenarios, including: Obtain the target task requirements, and determine the solar altitude angle and solar angle based on the solar elevation angle and the solar azimuth angle; The illuminance is calculated based on the solar altitude angle and the solar angle. Based on the illumination intensity and the station coordinates, the initial three-dimensional target model is rendered with lighting to generate multiple simulation scenes.

5. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 1, characterized in that, A deviation analysis is performed on the simulation results, and the initial three-dimensional target model is adjusted based on the deviation analysis results to obtain a three-dimensional target model, including: Based on the simulation results, the simulation trajectory is extracted; The simulated trajectory is compared with the target theoretical trajectory, and the deviation position and deviation angle are marked. Based on the deviation position and deviation angle, the initial three-dimensional target model is adjusted to obtain a three-dimensional target model.

6. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 1, characterized in that, The three-dimensional target model is jointly trained in two modes: online mode and offline mode.

7. The simulation training method for optical measurement equipment based on dynamic trajectory modeling according to claim 1, characterized in that, When a separation event is triggered, the initial parameter information of the 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, the initial separation velocity, separation acceleration, and air resistance are determined using aerodynamic principles. Based on the initial separation velocity, separation acceleration, and air resistance, iterative calculations are performed to determine the three-dimensional trajectory of the separation component; The separation effect is determined by mapping the three-dimensional trajectory of the separated component onto the three-dimensional target model.

8. A simulation training system for optical measurement equipment based on dynamic trajectory modeling, characterized in that, The step of implementing the optical measurement equipment simulation training method based on dynamic trajectory modeling according to any one of claims 1 to 7, wherein the optical measurement equipment simulation training system based on dynamic trajectory modeling comprises: The component model configuration module is used to acquire multiple components of the optical measurement equipment and construct an initial 3D component model. The overall model configuration module is used to configure the parameters of the initial three-dimensional component model based on the initial parameters of the multiple components to obtain the initial three-dimensional target model; The dynamic trajectory modeling module is used to obtain the station coordinates of the target point, determine the theoretical trajectory of the target based on the geocentric coordinate system, and perform dynamic trajectory modeling on the theoretical trajectory of the target through multiple spatial rectangular coordinate systems to obtain the target running trajectory; The solar position calculation module is used to calculate the solar elevation angle and azimuth angle relative to the target point based on the station coordinates and center time. The simulation training module is used to map the station coordinates, the target trajectory, the solar elevation angle and the azimuth angle to the initial three-dimensional target model for simulation training, and to determine multiple simulation scenarios. The deviation adjustment module is used to perform simulation pre-runs on the optical measurement equipment based on the multiple simulation scenarios, perform deviation analysis on the simulation pre-run results, and perform feedback adjustment on the initial three-dimensional target model based on the deviation analysis results to obtain the three-dimensional target model.

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