CN112859641B - Television tracking semi-physical simulation method, device, equipment and storage medium - Google Patents
Television tracking semi-physical simulation method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a television tracking semi-physical simulation method, a device, equipment and a storage medium, wherein the method constructs an analog imaging environment; calibrating the relative relation between the television equipment and the projection screen in an analog imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to a projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is prevented from being interfered by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the operation is simple, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
Description
Technical Field
The present invention relates to the field of image simulation, and in particular, to a method, apparatus, device, and storage medium for television tracking semi-physical simulation.
Background
For the television tracking semi-physical simulation, the method in the traditional sense is to simulate the power supply movement through a double-standard sliding rail, and observe a high-low angle and an azimuth angle through television equipment; the method is high in automation degree, but the time spent in the calibration process is long, the requirements on the test site and the environment are high, and the equipment cost is high because the motor and other automation equipment are adopted, and the motion calibration equipment is required to be customized.
Disclosure of Invention
The invention mainly aims to provide a television tracking semi-physical simulation method, device, equipment and storage medium, and aims to solve the technical problems that in the prior art, calibration time is long, requirements on a test site and environment are high, motion calibration equipment needs to be customized, and television tracking semi-physical simulation cost is high.
In a first aspect, the present invention provides a method for simulating a television tracking semi-physical object, the method for simulating a television tracking semi-physical object comprising the steps of:
constructing a simulated imaging environment;
calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
And transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation on the semi-physical object.
Optionally, the constructing the simulated imaging environment includes:
the method comprises the steps that a television device and a projection screen are in a relatively closed imaging environment through a box body, one side of the box body is the projection screen, and the other side of the box body is the television device fixed through a fixing bracket;
and controlling the television equipment to be opposite to the projection screen, controlling the projection screen to display the image of the semi-physical object, and forming a simulated imaging environment through the box body, the television equipment and the projection screen.
Optionally, calibrating the relative relation between the television equipment and the projection screen in the analog imaging environment, determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation, and including:
calibrating a target holding distance between the television equipment and the projection screen in the analog imaging environment;
acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance;
And determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
Optionally, said determining, according to said relative relationship, a display position and a size of a point source of said television apparatus relative to an observed semi-physical object in said projection screen includes:
acquiring the screen size and the screen resolution of the projection screen, and acquiring the actual distance from the observation point of the television equipment to the projection screen and the projection zero position of the point source of the television equipment in the projection screen according to the screen size and the screen resolution combined with the relative relation;
acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size;
determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle;
acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment;
The size of the point source in the projection screen is determined according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size.
Optionally, the determining the display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projected zero position, the actual distance, the single pixel physical size, the elevation angle and the azimuth angle includes:
determining the display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle, wherein the display position is determined by the following steps:
wherein x is ip Y is the X-axis coordinate of the point source in the projection screen ip X is the Y-axis coordinate of the point source in the projection screen io ，y io For the coordinates of the projected zero position, l is the actual distance, alpha is the high-low angle, beta is the azimuth angle, k i Physical size for the single pixel.
Optionally, the determining the size of the point source in the projection screen according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size includes:
Determining the size of the point source in the projection screen from the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size by:
wherein D is the physical size of the point source on the projection screen, L is the actual distance, L is the target distance, D is the target cross-sectional diameter, k i D for the single pixel physical size i The size of the pixel in the projection screen for the point source.
Optionally, the transferring the display position and the display size to the projection screen through a video line, and connecting the simulation device to start simulating the semi-physical object includes:
transmitting the display position and the display size to the projection screen through a video line;
the simulation equipment, the television equipment and the computer are connected through the communication line, and the motion state of the semi-physical object is simulated when the communication line is normal and each equipment operates normally.
In a second aspect, in order to achieve the above object, the present invention further provides a television tracking semi-physical simulation device, where the television tracking semi-physical simulation device includes:
the building module is used for building the simulated imaging environment;
the calibration module is used for calibrating the relative relation between the television equipment and the projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
And the simulation module is used for transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation on the semi-physical object.
In order to achieve the above object, the present invention further provides a television tracking semi-physical simulation device, where the television tracking semi-physical simulation device includes: a memory, a processor, and a television tracking semi-physical simulation program stored on the memory and executable on the processor, the television tracking semi-physical simulation program configured to implement the steps of the television tracking semi-physical simulation method as set forth in the claims.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium, where a tv tracking semi-physical simulation program is stored, where the tv tracking semi-physical simulation program, when executed by a processor, implements the steps of the tv tracking semi-physical simulation method as described above.
The television tracking semi-physical simulation method provided by the invention constructs an analog imaging environment; calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is prevented from being interfered by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a method for simulating a television tracking semi-physical object according to the present invention;
FIG. 3 is a flowchart of a second embodiment of a method for simulating a television tracking semi-physical object according to the present invention;
FIG. 4 is a flowchart of a third embodiment of a method for simulating a television tracking semi-physical object according to the present invention;
FIG. 5 is a flowchart of a fourth embodiment of a method for simulating a television tracking semi-physical object according to the present invention;
FIG. 6 is a diagram showing the relationship between the observation device and the projection screen in the television tracking semi-physical simulation method of the present invention;
FIG. 7 is a flowchart of a fifth embodiment of a method for simulating a television tracking semi-physical object according to the present invention;
FIG. 8 is a schematic diagram of signal connection of a method for simulating a television tracking semi-physical object according to the invention;
FIG. 9 is a functional block diagram of a first embodiment of a TV tracking semi-physical simulation apparatus according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The solution of the embodiment of the invention mainly comprises the following steps: by constructing a simulated imaging environment; calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is not influenced by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, the simulation efficiency is improved, the technical problems that the calibration time is longer, the requirements on the experimental sites and the environment are higher, the motion calibration equipment is required to be customized, and the cost of the television tracking semi-physical simulation is higher in the prior art are solved.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a stable Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the apparatus structure shown in fig. 1 is not limiting of the apparatus and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in FIG. 1, an operating system, a network communication module, a user interface module, and a television tracking semi-physical simulation program may be included in memory 1005, which is a storage medium.
The apparatus of the present invention calls the tv tracking semi-physical simulation program stored in the memory 1005 through the processor 1001 and performs the following operations:
constructing a simulated imaging environment;
calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
and transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation on the semi-physical object.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
the method comprises the steps that a television device and a projection screen are in a relatively closed imaging environment through a box body, one side of the box body is the projection screen, and the other side of the box body is the television device fixed through a fixing bracket;
and controlling the television equipment to be opposite to the projection screen, controlling the projection screen to display the image of the semi-physical object, and forming a simulated imaging environment through the box body, the television equipment and the projection screen.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
calibrating a target holding distance between the television equipment and the projection screen in the analog imaging environment;
acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance;
and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
acquiring the screen size and the screen resolution of the projection screen, and acquiring the actual distance from the observation point of the television equipment to the projection screen and the projection zero position of the point source of the television equipment in the projection screen according to the screen size and the screen resolution combined with the relative relation;
acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size;
Determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle;
acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment;
the size of the point source in the projection screen is determined according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
determining the display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle, wherein the display position is determined by the following steps:
wherein x is ip Y is the X-axis coordinate of the point source in the projection screen ip X is the Y-axis coordinate of the point source in the projection screen io ，y io For the coordinates of the projected zero position, l is the actual distance, alpha is the high-low angle, beta is the azimuth angle, k i Physical size for the single pixel.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
determining the size of the point source in the projection screen from the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size by:
wherein D is the physical size of the point source on the projection screen, L is the actual distance, L is the target distance, D is the target cross-sectional diameter, k i D for the single pixel physical size i The size of the pixel in the projection screen for the point source.
Further, the processor 1001 may call the tv tracking semi-physical simulation program stored in the memory 1005, and further perform the following operations:
transmitting the display position and the display size to the projection screen through a video line;
the simulation equipment, the television equipment and the computer are connected through the communication line, and the motion state of the semi-physical object is simulated when the communication line is normal and each equipment operates normally.
According to the embodiment, through the scheme, the simulation imaging environment is constructed; calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is prevented from being interfered by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
Based on the hardware structure, the embodiment of the television tracking semi-physical simulation method is provided.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a television tracking semi-physical simulation method according to the present invention.
In a first embodiment, the television tracking semi-physical simulation method comprises the following steps:
and S10, constructing an analog imaging environment.
The simulation imaging environment is constructed by combining specific structures or accessories, the simulation imaging environment can be isolated from external environment interference, the television tracking semi-physical simulation is realized, the purpose of constructing the simulation imaging environment is to isolate external environment interference factors, the television tracking semi-physical simulation is more convenient and efficient, the construction mode can be various, and the embodiment is not limited to the method.
And step S20, calibrating the relative relation between the television equipment and the projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
The relative relation between the television equipment and the projection screen is calibrated in the simulated imaging environment, namely, the relative position of the television equipment relative to the projection screen and the shooting angle of the television equipment are calibrated in the simulated imaging environment, the position of a point source of the television equipment on the projection screen can be determined through the relative relation, the point source is a virtual point source relative to an observed semi-physical object, and the display position and the size of the point source on the projection screen can be determined through the relative relation.
And step S30, transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object.
After the display position and the display size are obtained, information data corresponding to the display position and the display size can be transmitted to the projection screen through a video line, so that a television device can adjust and observe a high-low angle and an azimuth angle to form a closed-loop control loop, and after the simulation device is connected, the semi-physical simulation can be started.
According to the embodiment, through the scheme, the simulation imaging environment is constructed; calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is prevented from being interfered by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
Further, fig. 3 is a schematic flow chart of a second embodiment of the television tracking semi-physical simulation method according to the present invention, as shown in fig. 3, and the second embodiment of the television tracking semi-physical simulation method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S10 specifically includes the following steps:
and S11, enabling the television equipment and the projection screen to be in a relatively closed imaging environment through a box body, wherein one side of the box body is the projection screen, and the other side of the box body is the television equipment fixed through a fixed support.
It should be noted that, external environment interference can be isolated through the box, there are television equipment and projection screen in the box, one side of box is the projection screen, the opposite side of box is the television equipment fixed through revolving stage mechanism, the fixed bolster is for being used for fixing the adjustable supporting structure of television equipment, can adjust television equipment for the distance and the angle of projection screen.
And step S12, controlling the television equipment to be opposite to the projection screen, controlling the projection screen to display the image of the semi-physical object, and forming a simulated imaging environment through the box body, the television equipment and the projection screen.
It can be understood that, by default, the television device is opposite to the projection screen, the projection screen displays an image of an observed semi-physical object, and the semi-physical object is an observed target of the television device, which needs to be subjected to image tracking, and an analog imaging environment is formed by the box body, the television device and the projection screen, so that the position of the focus of the television device projected in the projection screen is rapidly and accurately positioned, and the calibration work of the system is greatly simplified.
According to the embodiment, the television equipment and the projection screen are in a relatively closed imaging environment through the box body, one side of the box body is provided with the projection screen, and the other side of the box body is provided with the television equipment fixed through the fixing support; the television equipment is controlled to be opposite to the projection screen, the projection screen is controlled to display the image of the semi-physical object, the box body, the television equipment and the projection screen form a simulated imaging environment, external interference factors can be isolated, the relative motion process of television tracking is simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, and the imaging environment is ensured not to be interfered by the outside.
Further, fig. 4 is a schematic flow chart of a third embodiment of the television tracking semi-physical simulation method according to the present invention, as shown in fig. 4, and the third embodiment of the television tracking semi-physical simulation method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
and S21, calibrating the target keeping distance between the television equipment and the projection screen in the simulated imaging environment.
The target keeping distance is a default horizontal distance between the preset television equipment and the projection screen, and the target keeping distance is a distance required to be calibrated.
And S22, acquiring a height angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the height angle, the azimuth angle and the target holding distance.
It may be understood that the elevation angle is an angle of an elevation direction of the current observation point of the television apparatus, the azimuth angle is an angle of an azimuth direction of the current observation point of the television apparatus, and the relative relationship between the television apparatus and the projection screen may be determined through the elevation angle, the azimuth angle and the target holding distance, that is, the information corresponding to the relative relationship includes the elevation angle, the azimuth angle and the target holding distance, and of course, includes information such as current positions of the television apparatus and the projection screen.
And S23, determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
It should be noted that, according to the relative relationship, the position and the specific size of the virtual point source of the observed semi-physical object relative to the television equipment can be determined, and the position and the specific size can be generally obtained through calculation through a preset algorithm formula.
According to the scheme, the target keeping distance between the television equipment and the projection screen is calibrated in the simulated imaging environment; acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance; determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; the calibration work of the system can be greatly simplified, the operation is simple, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
Further, fig. 5 is a schematic flow chart of a fourth embodiment of the television tracking semi-physical simulation method according to the present invention, as shown in fig. 5, and the fourth embodiment of the television tracking semi-physical simulation method according to the present invention is proposed based on the third embodiment, in this embodiment, the step S23 specifically includes the following steps:
Step S231, obtaining a screen size and a screen resolution of the projection screen, and obtaining an actual distance from an observation point of the television device to the projection screen and a projection zero position of a point source of the television device in the projection screen according to the screen size and the screen resolution combined with the relative relationship.
It should be noted that, the screen resolution is the screen resolution of the projection screen, the screen size is the screen size of the projection screen, the actual distance from the observation point of the electric device to the projection screen can be determined by combining the screen size and the screen resolution with the relative relationship, and the projection zero position of the point source in the projection screen can be determined, that is, the accurate distance between the television device and the screen and the projection zero position in the screen can be estimated according to the height angle and the azimuth angle of the observation point and the pixel position of the corresponding observation point.
In a specific implementation, referring to fig. 6, fig. 6 is a diagram showing a relationship between an observation device and a projection screen in the television tracking semi-physical simulation method according to the present invention, and as shown in fig. 6, a focus of the television device is set as O c The intersection point of the axis and the projection screen is O, and the distance is l; and a plane coordinate system Oxy is established on the projection screen by taking the projection zero position O point as the origin of coordinates, P is set to represent the observation point, and the projection sub-tables on Ox and Oy are N and M. The television observation device outputs a high-low angle alpha and an azimuth angle beta. Definition of the low angle α= angle MO c O, azimuth angle β= angle NO c O, dividing the projection screen into four quadrants by using a coordinate system Oxy, wherein the high and low angles in the quadrants I, II are positive, and the azimuth angles in the quadrants II and III are positive; by O i x i y i Representing a screen pixel coordinate system, the observed high-low angle alpha and azimuth angle beta describe the motion condition of the virtual point source P in the screen.
And S232, acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size.
It will be appreciated that after the projected zero position is determined, the coordinates of the projected zero position can be obtained and that the screen resolution and the screen size can be used to determine the physical size of an individual pixel based on the ratio of the length and width of the projection screen to the screen resolution.
Step S233, determining a display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projected zero position, the actual distance, the physical size of the single pixel, the elevation angle and the azimuth angle.
It can be understood that the display position of the point source in the projection screen relative to the observed semi-physical object can be obtained by calculating through a preset algorithm formula by utilizing the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high and low angles and the azimuth angle.
In a specific implementation, according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the height angle and the azimuth angle, the display position of the point source in the projection screen relative to the observed semi-physical object is determined by the following formula:
wherein x is ip Y is the X-axis coordinate of the point source in the projection screen ip X is the Y-axis coordinate of the point source in the projection screen io ，y io For the coordinates of the projected zero position, l is the actual distance, alpha is the high-low angle, beta is the azimuth angle, k i Physical size for the single pixel.
Step S234, obtaining the target cross-section diameter of the observed semi-physical object and the target distance between the semi-physical object and the television equipment.
It should be appreciated that the target cross-sectional diameter is the diameter of the observed target cross-section of the semi-physical object, and the target distance of the semi-physical object from the television apparatus is the spatial horizontal distance of the semi-physical object from the current time of the television apparatus.
Step S235, determining the size of the point source in the projection screen according to the target cross-section diameter, the target distance, the actual distance and the single pixel physical size.
It will be appreciated that the size of the point source in the projection screen is determined from the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size by:
wherein D is the physical size of the point source on the projection screen, L is the actual distance, L is the target distance, D is the target cross-sectional diameter, k i Physical size for the single pixel，d i The size of the pixel in the projection screen for the point source.
According to the scheme, the actual distance from the observation point of the television equipment to the projection screen and the projection zero position of the point source of the television equipment in the projection screen are obtained by obtaining the screen size and the screen resolution of the projection screen and combining the relative relation according to the screen size and the screen resolution; acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size; determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle; acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment; the size of the point source in the projection screen is determined according to the target section diameter, the target distance, the actual distance and the single pixel physical size, so that the calibration work of the system can be greatly simplified, the operation is simple, the positioning of the focus of observation equipment is simplified, the equipment cost is saved, the isolation from the external environment is good, the television tracking semi-physical simulation is more convenient and efficient, the simulation precision is ensured, and the simulation efficiency is improved.
Further, fig. 7 is a schematic flow chart of a fifth embodiment of the television tracking semi-physical simulation method according to the present invention, as shown in fig. 7, and the fifth embodiment of the television tracking semi-physical simulation method according to the present invention is proposed based on the first embodiment, in this embodiment, the step S30 specifically includes the following steps:
and S31, transmitting the display position and the display size to the projection screen through a video line.
It will be appreciated that after the display position and size are obtained, the information data corresponding to the display position and size may be transferred to the projection screen via a video line.
And step S32, connecting simulation equipment, television equipment and a computer through a communication line, and simulating the motion state of the semi-physical object when the communication line is normal and each equipment operates normally.
It should be appreciated that the simulation device, television device and computer may be connected via a communication line, the computer being configured to process the image tracking data, and the motion state of the semi-physical object may be simulated when the communication line is normal and the devices are operating normally.
In a specific implementation, as shown in fig. 8, fig. 8 is a schematic diagram of signal connection of the television tracking semi-physical simulation method of the present invention; referring to fig. 8, the simulation device includes a simulation host computer and a simulation machine, where the simulation machine has a certain real-time performance, the simulation machine may be a higle simulation machine, dsace, a hawk workstation, etc., where the higle simulation machine is taken as an example, and the simulation machine is not limited, and the computer may include an analog inertial unit, an analog-to-digital (a/D) conversion (Analog to Digital, a/D) module, a digital-to-analog (Digital to Analog, D/a) module, etc., and may also include a display, a power supply, a test-related cable, etc., which is not limited in this embodiment; the simulation upper computer comprises a simulation model, the simulation model comprises a target motion model and a television device carrier motion model, the relative motion of the simulation model is controlled by the input of a high angle, a low angle and an azimuth angle observed by the television device, the relative positions of a carrier motion state and a point source are transmitted to the computer through the simulation computer by a CAN bus, the computer comprises a point source motion module, the display position and the size of the point source in a screen are calculated according to the relative motion and the calibrated television device and a projection screen relative semi-physical object, the display position and the size of the point source are transmitted to the screen through a video circuit, and the high angle, the low angle and the azimuth angle are observed by the television device to form a closed loop control circuit.
It CAN be understood that after the setting of the television target simulation system is completed, a carrier platform and a tracking target motion model of the television tracking device CAN be constructed, for example, a three-dimensional relative motion model of the carrier platform and an observation target CAN be constructed through Matlab/Simulink, and data acquisition and transmission CAN be realized through a Higale simulator by using a CAN bus, which CAN be realized in other ways, however, the embodiment is not limited to this; the motion state of the carrier and the relative position of the point source are transmitted to a virtual point source simulation computer, a C language is taken as a bottom layer, a motion interface of a virtual power supply in a real screen can be designed through a preset geometric relation, the motion feedback high-low angle and azimuth angle of the point source observed by a television observation device are transmitted to a simulation model through a synchronous 485 signal to control the carrier to move, the simulation of a television tracking closed loop is realized, the semi-physical closed loop simulation of a target tracking section of an aircraft in the flying process is realized, and therefore, the requirements of test equipment are greatly simplified, and the requirements of a test on a field are reduced; compared with the traditional aircraft target tracking test method, the method realizes the motion characteristics of the carrier platform and the tracking target by using a software model, simulates the relative motion process of television tracking by virtual point source motion, and greatly reduces the requirements of experimental equipment and the limit of experimental sites; meanwhile, the relative motion precision of the tracking target can be improved, various deviations are conveniently added in the test, so that the semi-physical simulation is more true to verify the guidance stabilizing algorithm of the control system, the test result is conveniently evaluated, and an important technical guarantee is provided for target tracking verification of the television equipment carrier.
According to the embodiment, through the scheme, the display position and the display size are transmitted to the projection screen through a video line; the simulation equipment, the television equipment and the computer are connected through the communication line, the motion state of the semi-physical object is simulated when the communication line is normal and each equipment runs normally, the requirement of a test on a field can be reduced, the equipment cost is saved, the precision of image tracking simulation is improved, and the simulation efficiency is improved.
Correspondingly, the invention further provides a television tracking semi-physical simulation device.
Referring to fig. 9, fig. 9 is a functional block diagram of a first embodiment of a tv tracking semi-physical simulation apparatus according to the present invention.
In a first embodiment of the present invention, a television tracking semi-physical simulation apparatus includes:
a construction module 10 for constructing a simulated imaging environment.
And the calibration module 20 is used for calibrating the relative relation between the television equipment and the projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
And the simulation module 30 is used for transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation on the semi-physical object.
The steps for implementing each functional module of the television tracking semi-physical simulation device can refer to each embodiment of the television tracking semi-physical simulation method of the invention, and are not repeated herein.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a television tracking semi-physical simulation program, and the television tracking semi-physical simulation program realizes the following operations when being executed by a processor:
constructing a simulated imaging environment;
calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
and transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation on the semi-physical object.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
the method comprises the steps that a television device and a projection screen are in a relatively closed imaging environment through a box body, one side of the box body is the projection screen, and the other side of the box body is the television device fixed through a fixing bracket;
And controlling the television equipment to be opposite to the projection screen, controlling the projection screen to display the image of the semi-physical object, and forming a simulated imaging environment through the box body, the television equipment and the projection screen.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
calibrating a target holding distance between the television equipment and the projection screen in the analog imaging environment;
acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance;
and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
acquiring the screen size and the screen resolution of the projection screen, and acquiring the actual distance from the observation point of the television equipment to the projection screen and the projection zero position of the point source of the television equipment in the projection screen according to the screen size and the screen resolution combined with the relative relation;
Acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size;
determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle;
acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment;
the size of the point source in the projection screen is determined according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
determining the display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle, wherein the display position is determined by the following steps:
wherein x is ip Y is the X-axis coordinate of the point source in the projection screen ip X is the Y-axis coordinate of the point source in the projection screen io ，y io For the coordinates of the projected zero position, l is the actual distance, alpha is the high-low angle, beta is the azimuth angle, k i Physical size for the single pixel.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
determining the size of the point source in the projection screen from the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size by:
wherein D is the physical size of the point source on the projection screen, L is the actual distance, L is the target distance, D is the target cross-sectional diameter, k i D for the single pixel physical size i The size of the pixel in the projection screen for the point source.
Further, the television tracking semi-physical simulation program also realizes the following operations when being executed by the processor:
transmitting the display position and the display size to the projection screen through a video line;
the simulation equipment, the television equipment and the computer are connected through the communication line, and the motion state of the semi-physical object is simulated when the communication line is normal and each equipment operates normally.
According to the embodiment, through the scheme, the simulation imaging environment is constructed; calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation; transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object; the method has the advantages that the relative motion process of television tracking can be simulated through virtual point source motion, the requirements of experimental equipment and the limit of experimental sites are greatly reduced, the imaging environment is prevented from being interfered by the outside, the relative motion precision of a tracking target can be improved, various deviations are conveniently added in the test, the semi-physical simulation is more real, the cost of the television tracking semi-physical simulation is saved, the television tracking semi-physical simulation is more convenient and efficient, and the simulation efficiency is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The television tracking semi-physical simulation method is characterized by comprising the following steps of:
Constructing a simulated imaging environment;
calibrating the relative relation between television equipment and a projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object;
the method for calibrating the relative relation between the television equipment and the projection screen in the simulated imaging environment, determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation, and comprises the following steps:
calibrating a target holding distance between the television equipment and the projection screen in the analog imaging environment;
acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance;
determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
Optionally, said determining, according to said relative relationship, a display position and a size of a point source of said television apparatus relative to an observed semi-physical object in said projection screen includes:
acquiring the screen size and the screen resolution of the projection screen, and acquiring the actual distance from the observation point of the television equipment to the projection screen and the projection zero position of the point source of the television equipment in the projection screen according to the screen size and the screen resolution combined with the relative relation;
acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size;
determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle;
acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment;
the size of the point source in the projection screen is determined according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size.
2. The television tracking semi-physical simulation method of claim 1, wherein said constructing an analog imaging environment comprises:
the method comprises the steps that a television device and a projection screen are in a relatively closed imaging environment through a box body, one side of the box body is the projection screen, and the other side of the box body is the television device fixed through a fixing bracket;
and controlling the television equipment to be opposite to the projection screen, controlling the projection screen to display the image of the semi-physical object, and forming a simulated imaging environment through the box body, the television equipment and the projection screen.
3. The television tracking semi-physical simulation method of claim 1, wherein said determining a display position of a point source in said projection screen relative to an observed semi-physical object based on coordinates of said projected zero position, said actual distance, said single pixel physical size, said elevation angle, and said azimuth angle comprises:
determining the display position of the point source in the projection screen relative to the observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle, wherein the display position is determined by the following steps: Wherein x is ip Y is the X-axis coordinate of the point source in the projection screen ip X is the Y-axis coordinate of the point source in the projection screen io ，y io For the coordinates of the projected zero position, l is the actual distance, alpha is the high and low angle,beta is the azimuth angle, k i Physical size for the single pixel.
4. The television tracking semi-physical simulation method of claim 1, wherein said sizing said point source in said projection screen based on said target cross-sectional diameter, said target distance, said actual distance and said single pixel physical size comprises:
determining the size of the point source in the projection screen from the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size by:wherein D is the physical size of the point source on the projection screen, L is the actual distance, L is the target distance, D is the target cross-sectional diameter, k i D for the single pixel physical size i The size of the pixel in the projection screen for the point source.
5. The television tracking semi-physical simulation method of any of claims 1-4, wherein said communicating said display location and size to said projection screen via a video line, connecting a simulation device to begin simulating said semi-physical comprises:
Transmitting the display position and the display size to the projection screen through a video line;
the simulation equipment, the television equipment and the computer are connected through the communication line, and the motion state of the semi-physical object is simulated when the communication line is normal and each equipment operates normally.
6. The television tracking semi-physical simulation device is characterized by comprising:
the building module is used for building the simulated imaging environment;
the calibration module is used for calibrating the relative relation between the television equipment and the projection screen in the simulated imaging environment, and determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
the simulation module is used for transmitting the display position and the display size to the projection screen through a video line, and connecting simulation equipment to start simulation of the semi-physical object;
the calibration module is also used for calibrating the target keeping distance between the television equipment and the projection screen in the simulated imaging environment; acquiring a high-low angle and an azimuth angle of an observation point of the television equipment, and determining the relative relation between the television equipment and the projection screen according to the high-low angle, the azimuth angle and the target keeping distance; determining the display position and the display size of the point source of the television equipment in the projection screen relative to the observed semi-physical object according to the relative relation;
The calibration module is further configured to obtain a screen size and a screen resolution of the projection screen, and obtain an actual distance from an observation point of the television device to the projection screen and a projection zero position of a point source of the television device in the projection screen according to the screen size and the screen resolution in combination with the relative relationship; acquiring coordinates of the projection zero position, and determining the physical size of a single pixel of a projection screen according to the screen resolution and the screen size; determining the display position of a point source in the projection screen relative to an observed semi-physical object according to the coordinates of the projection zero position, the actual distance, the physical size of the single pixel, the high-low angle and the azimuth angle; acquiring a target cross-sectional diameter of an observed semi-physical object and a target distance between the semi-physical object and the television equipment; the size of the point source in the projection screen is determined according to the target cross-sectional diameter, the target distance, the actual distance, and the single pixel physical size.
7. A television tracking semi-physical simulation device, characterized in that the television tracking semi-physical simulation device comprises: a memory, a processor, and a television tracking semi-physical simulation program stored on the memory and executable on the processor, the television tracking semi-physical simulation program configured to implement the steps of the television tracking semi-physical simulation method of any of claims 1 to 5.
8. A storage medium having stored thereon a television tracking semi-physical simulation program which when executed by a processor performs the steps of the television tracking semi-physical simulation method of any of claims 1 to 5.
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