CN113535872A - Multi-granularity formation motion visualization method based on object - Google Patents

Multi-granularity formation motion visualization method based on object Download PDF

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CN113535872A
CN113535872A CN202110785997.6A CN202110785997A CN113535872A CN 113535872 A CN113535872 A CN 113535872A CN 202110785997 A CN202110785997 A CN 202110785997A CN 113535872 A CN113535872 A CN 113535872A
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CN113535872B (en
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赵鑫科
曹一冰
杨飞
张江水
陈云海
崔虎平
杨振凯
俞鑫楷
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Information Engineering University of PLA Strategic Support Force
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Abstract

The invention relates to an object-based multi-granularity formation motion visualization method, which belongs to the technical field of geographic information visualization. The invention can keep the logic structure of the father object and the son object in the formation movement and also can keep the basic formation of the formation, and simultaneously, the method stores the information generated in the formation in the database, can dynamically display the information in real time, gives more comprehensive multi-granularity and multi-level information to users, has more visual formation perception of the formation in battle formation and meets the actual requirement of simulation deduction.

Description

Multi-granularity formation motion visualization method based on object
Technical Field
The invention belongs to the technical field of geographic information visualization, and particularly relates to a multi-granularity formation motion visualization method based on an object.
Background
In the field of geographic information systems, a space-time trajectory is a hotspot of research, and when a simulation deduction task is carried out, the motion of a space-time object is controlled through man-machine interaction, the space-time trajectory of the object is generated in real time, and the space-time trajectory plays an important role in simulation analysis. When simulation deduction is carried out, a single object is limited by functions of the single object when executing a task, the target area is difficult to observe in an all-around mode, especially when a search task in a large area range is faced, the whole reconnaissance area cannot be effectively covered, in addition, the single object has single functions, the efficiency of the whole task is influenced when problems occur, and the uncertainty of the task is increased. Aiming at the problem, the planning task always takes the formation as a unit, and the action targets and the action routes of the formation are planned in an integrated manner, so that the task style can be enriched, the task execution efficiency can be improved, and the comprehensive benefit can be maximized.
In the prior art, for example, in journal "computer application research" of 35 th volume 9 th of 2018, volume 35, by wang jiarun et al, a "visual method for visualizing battle formation based on a visual perception topological relation model" is disclosed, which can realize visualization of battle formation, but only by adding connecting lines between objects in formation, so as to embody formation perception of battle formation, but such embodying manner is not intuitive and is difficult to meet the actual requirements of simulation and deduction of battle formation.
Disclosure of Invention
The invention aims to provide an object-based multi-granularity formation motion visualization method, which is used for solving the problem that the existing visualization method cannot intuitively embody the formation of battle formations.
Based on the purpose, the technical scheme of the object-based multi-granularity formation motion visualization method is as follows:
selecting sub-objects with motion behaviors to form a formation, and determining basic information of the selected sub-objects, wherein the basic information comprises object names, IDs, current positions, motion speeds and directions; determining a parent object of the formation according to the formation center, and establishing relationship information of a child object and the parent object, wherein the relationship information comprises relationship establishing time, relationship extinction time, a relationship name, an association starting object ID and an association final object ID;
step two, calculating a formation form, wherein the formation form information of the formation comprises: the ID of each sub-object, the distance of the sub-object from the center of the formation, and the relative angle of the sub-object in the formation;
step three, acquiring a track of formation operation, wherein the track is formed by line segment tracks formed by sequentially connecting a plurality of track points, and calculating the position of each sub-object by combining the formation of each sub-object determined in the step two to generate a track coordinate of each sub-object;
step four, obtaining the track coordinates of each sub-object according to the movement speed of the whole formation and the step three, calculating the time required by each section of track, and further obtaining the complete space-time track of each sub-object;
step five, the basic information, the formation information and the space-time trajectory of each sub-object in the formation are used as an object data set of the formation and are stored in a database;
and step six, calling the relevant information of each sub-object in the formation from the database according to the current time point, and dynamically displaying according to the required granularity to realize visualization of formation motion with different granularities.
The beneficial effects of the above technical scheme are:
the invention relates to a formation movement visualization method, which comprises the steps of selecting sub-objects to form a formation, obtaining the position of each object in the formation, constructing a logical composition relation (a composition relation with upper and lower levels) between the formation and each sub-object, creating a space-time track coupling the positions of the formation and each sub-object according to the composition relation, generating a formation movement track on multi-level granularity, and performing visualization expression.
Further, the basic information, the formation information and the spatiotemporal trajectory are stored in a database respectively in a basic information and relationship data table, a formation table and a trajectory table.
The method has the advantages that the information is classified and independently tabulated and stored in the database, and the information can be inquired in the following steps, so that the inquiry efficiency is improved.
Further, in order to determine the relative angle of the sub-objects in the formation, in step two, the determination step of the relative angle of the sub-objects in the formation is as follows:
(1) acquiring the current position and the motion direction of each sub-object in the formation; calculating the central coordinate of the formation at the current moment according to the spatial positions of all the sub-objects, and obtaining the direction vector of the formation motion according to the motion directions of all the sub-objects
Figure BDA0003159233330000021
(2) According to the central coordinates of the formation at the current moment and the coordinates of each object, calculating the direction vector of each object in the formation
Figure BDA0003159233330000022
Combining direction vectors of formation motion
Figure BDA0003159233330000023
Calculating the included angle theta between each sub-object and the formation motion directioniThe relative angle of the child objects in the formation.
Further, in order to determine the relative angle between the sub-object and the formation motion direction, the included angle θ between the sub-object and the formation motion directioniIs calculated as follows:
Figure BDA0003159233330000024
in the formula (I), the compound is shown in the specification,
Figure BDA0003159233330000025
to be the direction vector of the formation motion,
Figure BDA0003159233330000026
is the direction vector of the sub-objects in the formation.
Further, in the second step, the distance between the sub-object and the formation center is determined as follows:
acquiring the current position and the motion direction of each sub-object in the formation; calculating the central coordinate (x) of the formation at the current moment according to the spatial positions of all the sub-objectsc，yc，hc) Then, the distance d between each sub-object and the formation center C is calculatediThe calculation formula is as follows:
Figure BDA0003159233330000031
in the formula, xi、yiIs the current position coordinates of the sub-object.
Further, the calculation formula of the central coordinate of the formation at the current moment is as follows:
Figure BDA0003159233330000032
in the formula (x)c，yc，hc) Center coordinate, x, for formation of the current timei、yi、hiIs the current position coordinate of the sub-object, and n is the number of the sub-objects in the formation.
Further, in step three, the specific steps of the trajectory coordinates of each sub-object are as follows:
calculating according to the first section of track formed by the first two track pointsThe absolute direction of the formation track is added to the angle theta between the relative formation motion directions of the sub-objectsiObtaining the absolute angle of the corresponding sub-object, and then obtaining the distance d from each sub-object to the center of the formationiCombining the head and tail two track points of the first section of track to obtain track coordinates of the corresponding sub-object at the head and tail two points of the first section of track;
according to the steps, the absolute coordinates of each sub-object on each section of the rest track are sequentially calculated according to the connection sequence of each section of the track on the formation track, at the moment, each sub-object has two coordinates at the intersection point of the adjacent track sections, and the middle point of the coordinate connection line is taken as the track coordinate of the sub-object.
Further, the order of solving the track coordinates of each sub-object adopts any one of the following modes:
firstly, calculating the track coordinates of all the sub-objects on a first section of track according to the connection sequence of all the line segment tracks on the track, then calculating the track coordinates of all the sub-objects on a second section of track, and so on until calculating the track coordinates of all the sub-objects on the last section of track;
and secondly, sequentially calculating the track coordinates of one sub-object on each section of track according to the connection sequence of the track of each line segment on the track, and then calculating the track coordinates of the other sub-object on each section of track until all the track coordinates of the last sub-object are calculated.
Further, in step four, the determination of the spatio-temporal trajectory of each sub-object is as follows:
taking the minimum value of the motion speeds of all the sub-objects as the motion speed of the whole formation, further calculating the time required by each section of track, and accumulating to obtain the time of track points, wherein the calculation formula is as follows:
Figure BDA0003159233330000041
Figure BDA0003159233330000042
in the formula (d)iIs the length of the i-th track, Δ tiThe time required for the formation to pass through the ith track, v is the moving speed of the whole formation, tiAnd (3) the time needed for reaching the ith track point is needed, and n is the number of the line segment tracks.
Further, in step six, the visualization interface for the formation motion visualization includes: an object list window, a main window, an object basic information window, a display control window and a time control window; the object list window is used for selecting a loaded object; the main window is used for displaying specific object forms, selecting objects to form a formation in a man-machine interaction mode, and collecting the motion trail of the formation; the object basic information window is used for displaying the basic information of the selected sub-objects; the display control window is used for controlling the granularity of the sub-object display, whether the track is displayed or not and the relation; the time control window is used for displaying the current time and a time shaft, controlling the step length of the time and selecting the time to realize the trace backtracking.
Drawings
FIG. 1 is a flow chart of a multi-granular formation motion visualization method in an embodiment of the invention;
FIG. 2 is a diagram illustrating formation calculation in an embodiment of the present invention;
FIG. 3 is a schematic diagram of track coordinate calculation in an embodiment of the present invention;
FIG. 4 is a diagram of a formation movement visualization interface design in an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The embodiment provides an object-based multi-granularity formation motion visualization method, an overall flow is shown in fig. 1, and the overall idea is as follows: the method comprises the steps of selecting any object to form a formation, calculating the position of each object in the formation, establishing a logical composition relation between the formation and the object, establishing a space-time track coupled with the positions of the formation and the object according to the composition relation, generating a formation motion track on multi-level granularity, establishing a basic information table, a relation data table, a formation table and a track table, storing the basic information table, the relation data table, the formation table and the track table in a database, and finally dynamically displaying the basic information table, the relation data table, the formation table and the track table in a visual interface.
The method comprises the following concrete implementation processes:
the method comprises the following steps: object formation, namely, selecting objects with motion behaviors (also called child objects) to form formation, for example, the objects can be ships, airplanes and the like with different models (but the types of the objects need to be consistent), each object contains basic data such as positions, motion speeds, three-dimensional models and the like, a formation object (parent object) is created, and the basic information of the objects is recorded into a basic information table. When the formation is carried out, the composition relation is established between the child object and the parent object, and the composition relation is recorded in the relation data table. These two types of data tables are detailed below:
(1) basic information table:
the basic information table records information such as the name, ID, current time, current position (longitude, latitude, altitude), whether or not movement is possible, movement speed, movement direction, form, and model of an object, and the specific basic information table structure is shown in table 1.
TABLE 1 basic information Table
Name of field Alias name Data type Description of the invention
ID Encoding Integer Object unique identification code
Name Name (R) Text
CurrentTime Current time Datetime Time to create formation
Longitude Longitude (G) Float Longitude of coordinates of object when creating formation
Latitude Latitude Float Latitude of coordinates where objects are located when creating a formation
IsMove Whether or not to exercise Bool Objects that can move can form a formation
Speed Speed of rotation Float Speed of object motion
Orientation Direction Float Direction of object motion
Shape Form of the composition Text Including point morphology, line morphology, surface morphology and three-dimensional morphology
ModelName Model name Text The file called by object visualization needs to be uploaded separately
(2) Relational data sheet
The relationship data table records the relationship between the child object and the parent object, and controls the display effect under different granularities during visualization, for example, only displays the parent (child) object, and simultaneously displays the parent and child objects and displays the expression relationship state, and the specific relationship data table structure is shown in table 2 and includes relationship creation time, relationship extinction time, relationship name, relationship starting object ID and relationship ending object ID.
TABLE 2 relational data sheet
Name of field Alias name Data type Description of the invention
CreateTime Relationship creation time Datetime Time of relationship creation
DeadTime Time of relation extinction Text Time of relation extinction
RelationName Relationship names Text Name of association relationship between two objects
RelateBeginObjectID ID of the associated object Integer Object unique identification code
RelateEndObjectID ID of associated terminal object Integer Object unique identification code
In this step, the child objects constituting the formation object can be arbitrarily selected, and the child objects and the parent object logically constitute a composition relationship.
Step two: and determining the formation. In the formation movement, the formation needs to be kept consistent, namely the relative position of each object in the formation is kept unchanged, and the relative position is determined by the direction and the distance of the object in the formation. The method specifically comprises the following steps:
(1) first, the current position and motion of each object in the formation are obtainedAnd (4) direction. Then, the central coordinates of the formation at the current moment are calculated according to the space positions of all the objects, and then the direction vector of the formation motion is obtained according to the motion directions of all the objects
Figure BDA0003159233330000066
The method for determining the formation direction according to the motion direction of the object comprises the following steps: and forming a vector by taking the formation center coordinate calculated at the current moment as a starting point and a first point in a track independently designed by a user as an end point, wherein the direction of the vector is a direction vector.
With four objects (O) in FIG. 21，O2，O3，O4) Formation of the formation as an example, the coordinates (x) of the formation center C at the current timec，yc，hc) The calculation formula of (a) is as follows:
Figure BDA0003159233330000061
where n is the number of objects in the formation, where n is 4 (x) in this embodimenti，yi，hi) Is the coordinates of the ith object.
(2) According to the central coordinates of the formation at the current moment and the coordinates of each object, calculating the direction vector of each object in the formation
Figure BDA0003159233330000062
Calculating the included angle theta between each object and the formation motion direction by combining the formation motion directioni。
In this embodiment, the direction of formation motion is taken as the initial direction, and clockwise is taken as positive, and the included angle θ between each object and the direction of formation motion is calculatediThen, the distance d between the position of each object and the coordinates of the formation center is calculatediThe calculated relative distance diAnd angle thetaiAnd storing the data into a queue table.
In this step, the distance d between each object and the formation center C is set by using the formation center C as the originiAnd angle thetaiIs calculated as follows:
Figure BDA0003159233330000063
Figure BDA0003159233330000064
in the formula (I), the compound is shown in the specification,
Figure BDA0003159233330000065
is a vector formed by the coordinates of the ith object and the formation center C.
And storing the calculated relative distance and angle into a formation table, wherein the formation table comprises an object ID, creation time, death time, distance and angle, and the specific structure is shown in table 3.
Table 3 formation table
Name of field Alias name Data type Description of the invention
ID Encoding Integer Object unique identification code
CreateTime Formation creation time Datetime Time of formation creation
DeadTime Time of relation extinction Text Time of formation extinction
Distance Distance between two adjacent plates Float Distance of sub-object from center of formation
Angle Angle of rotation Float Relative angle of sub-object in team
Step three: obtaining a formation running track, namely a track of a formation object, through an interactive mode, wherein the track is formed by a line segment track formed by sequentially connecting a plurality of track points; and combining the formation of each object determined in the second step, calculating the position of each object, and generating the track coordinates of each object.
The method comprises the following specific steps:
firstly, a first section of track consisting of the first two track points is generated, the absolute direction of the formation track is calculated, and the absolute direction and the object O are combinedi(i ═ 1,2,3,4) and the angle θ between the directions of formation motioniAdding the relative angles to obtain the absolute angle of the object, and then obtaining the absolute angle of the object according to the distance d from the object to the center of the formationiCombining the head and tail two track points of the first section of track to obtain an object OiAbsolute coordinates of the head and the tail of the track segment.
Then, according to the method, the object O on each section of the rest tracks is calculated in sequence according to the connection sequence of the section tracks on the formation trackiThe absolute coordinates of the object are determined, two coordinates are arranged at the intersection point of the adjacent track segments of each object, and the middle point of the coordinate connecting line is taken as the unique coordinate of the object.
The following specifically describes the calculation process of the track coordinates of each object by taking the motion track ABCD of the formation objects as shown in fig. 3 as an example:
firstly, calculating the track of the sub-object corresponding to the AB segment track, wherein the segment track is controlled by A, B two key points, and the sub-object o1For example, the coordinates of the object at the point A
Figure BDA0003159233330000071
Comprises the following steps:
Figure BDA0003159233330000072
wherein (x)A,yA) Is the coordinate of point A, alpha is
Figure BDA0003159233330000073
Angle of vector to horizontal, d1As an object o1Distance from point A, θ1As an object o1And
Figure BDA0003159233330000074
angle of vector (relative angle). Since the key point B belongs to both the AB segment and the BC segment, similarly, similar to the solution principle of the above formula, the sub-object o can be calculated in the AB segment and the BC segment respectively1Corresponding B point track coordinate
Figure BDA0003159233330000075
Taking the middle point of the two coordinates as a sub-object o1Track coordinates at point B
Figure BDA0003159233330000081
In the same way, the child object o can be obtained1Coordinates of the locus at point C, D
Figure BDA0003159233330000082
In this step, the following two ways are available for solving the order of the trajectory coordinates of each sub-object:
in the first mode, according to the connection sequence of each line segment track on the track, the track coordinates of all the sub-objects on the first section of track are calculated, then the track coordinates of all the sub-objects on the second section of track are calculated, and so on until the track coordinates of all the sub-objects on the last section of track are calculated.
And secondly, sequentially calculating the track coordinates of one sub-object on each section of track according to the connection sequence of the track of each line segment on the track, and then calculating the track coordinates of the other sub-object on each section of track until all the track coordinates of the last sub-object are calculated.
In this step, the trajectory formed by the trajectory coordinates of each object is a multi-granularity trajectory, and the trajectory can enable the parent object and the child object to move according to a predetermined route, maintain a logical relationship, and maintain a basic formation during the movement.
Step four: a spatiotemporal trajectory is generated. The track coordinates (i.e. multi-granularity tracks) of each object are obtained according to the movement speed of the whole formation and the step three, the time required by each section of track is calculated, the complete space-time track of each object is further obtained, and the generated space-time track is stored in a track table.
In this step, the minimum value of the motion speeds in all the sub-objects is taken as the motion speed of the whole formation, and the time required by each section of track is further calculated, and the time of the track point is obtained after accumulation, and the calculation formula is as follows:
Figure BDA0003159233330000083
Figure BDA0003159233330000084
wherein d isiIs the length of the i-th track, Δ tiRequired for formation through i-th trackTime, v is the speed of movement of the entire formation, tiAnd (3) the time needed for reaching the ith track point is needed, and n is the number of the line segment tracks. At this time, a complete space-time trajectory is generated, and the generated space-time trajectory is stored in a trajectory table, where the trajectory table includes an object ID, and the time, longitude, and latitude of the current trajectory point, and the specific structure is shown in table 4.
TABLE 4 track table
Name of field Alias name Data type Description of the invention
CurrentTime Current time Datetime Time point corresponding to position change
Longitude Longitude (G) Float Longitude of the coordinates of the object at the current point in time
Latitude Latitude Float Latitude of coordinates of object at current time point
Height Height Float Altitude of the object at the current point in time
Step five: and taking the basic information table, the relation data table, the queue form table and the track table obtained in the step as a current formation object data set, and storing the current formation object data set in a database.
In the step, the four tables are connected through object ID keys, and when a new formation is established, a relational data table, a formation table and a track table are generated on the basis of a basic information table; when the formation track changes, only the track of the track table needs to be modified, and the access and modification to other tables are reduced.
Step six: and (6) visually expressing. According to the current time point, the attribute, relation, form and position information of each object in the formation are called from the formation object data set in the database, and are dynamically displayed according to the required granularity, so that formation motion visualization with different granularities is realized. And moreover, historical data is searched by using the track of the track table, and backtracking of the formation motion process is realized.
The visual interface shown in fig. 4 is composed of 5 windows, which are an object list window, a main window, an object basic information window, a display control window, and a time control window. The object list window can select the loaded objects, which are object 1 to object 5 in fig. 4; the main window displays a specific object form, objects can be selected to form a formation in a man-machine interaction mode, the motion track of the formation is collected (the formation motion track is designed by a user independently), and basic functions of roaming, zooming and the like can be completed; the object basic information window displays the basic information of the selected object, including ID, name, speed, form, whether to create a grouping, association relation, association object, formation distance and object angle; the display control window is used for controlling the granularity of object display, whether to display tracks, relations and the like; the time control window displays the current time and the time axis, the step length of the time can be controlled, and the trace backtracking can be realized by clicking the time.
The object-based granularity formation motion visualization method has the following advantages:
(1) by means of user-defined formation, object combinations with hierarchical structures are obtained, and by means of tracks obtained through interaction (tracks set manually), multi-granularity tracks of parent objects and child objects can be obtained according to the method, and good logical relations and formation of the parent objects and the child objects can be kept in the motion process.
(2) The formation can be visually expressed on different granularities, on one hand, the time granularity is convenient for a user to adjust the step length of the simulation time and control the time rate; and on the other hand, the spatial granularity is convenient for a user to control and display the granularity of the parent object and the granularity of the child object, and the granularity switching under the scaling ratio is realized. The method has the effects of displaying the space-time trajectory in real time, realizing backtracking of formation movement and meeting the actual requirements of simulation deduction.
(3) The method integrates the information generated by intermediate calculation into a basic information table, a relation data table, a formation table and a track table, stores the basic information table, the relation data table, the formation table and the track table in a database, and establishes the track information separately, so that the speed of changing and storing the same formation track can be increased, and the query efficiency is improved.
As another implementation manner, the information about formation may not be stored in a table manner in this embodiment, but may also be stored in another manner, for example, the basic information, the relationship data, the formation and the track may also be stored in a file, but the file reading speed is slow, which affects the visualization efficiency, and therefore, it is preferable to store the information in a table manner.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (10)

1. A multi-granularity formation motion visualization method based on an object is characterized by comprising the following steps:
selecting sub-objects with motion behaviors to form a formation, and determining basic information of the selected sub-objects, wherein the basic information comprises object names, IDs, current positions, motion speeds and directions; determining a parent object of the formation according to the formation center, and establishing relationship information of a child object and the parent object, wherein the relationship information comprises relationship establishing time, relationship extinction time, a relationship name, an association starting object ID and an association final object ID;
step two, calculating a formation form, wherein the formation form information of the formation comprises: the ID of each sub-object, the distance of the sub-object from the center of the formation, and the relative angle of the sub-object in the formation;
step three, acquiring a track of formation operation, wherein the track is formed by line segment tracks formed by sequentially connecting a plurality of track points, and calculating the position of each sub-object by combining the formation of each sub-object determined in the step two to generate a track coordinate of each sub-object;
step four, obtaining the track coordinates of each sub-object according to the movement speed of the whole formation and the step three, calculating the time required by each section of track, and further obtaining the complete space-time track of each sub-object;
step five, the basic information, the formation information and the space-time trajectory of each sub-object in the formation are used as an object data set of the formation and are stored in a database;
and step six, calling the relevant information of each sub-object in the formation from the database according to the current time point, and dynamically displaying according to the required granularity to realize visualization of formation motion with different granularities.
2. The method for visualizing the motion of object-based multi-granularity formation according to claim 1, wherein the basic information, the formation information and the spatiotemporal trajectory are stored in a database as a basic information and relational data table, a formation table and a trajectory table, respectively.
3. The method for visualization of multi-granularity formation based on objects according to claim 1, wherein in the second step, the relative angle of the sub-objects in the formation is determined as follows:
(1) acquiring the current position and the motion direction of each sub-object in the formation; calculating the central coordinate of the formation at the current moment according to the spatial positions of all the sub-objects, and obtaining the direction vector of the formation motion according to the motion directions of all the sub-objects
Figure FDA0003159233320000011
(2) Calculating the direction vector of each sub-object in the formation according to the central coordinate of the formation at the current moment and the coordinate of each object
Figure FDA0003159233320000012
Combining direction vectors of formation motion
Figure FDA0003159233320000013
Calculating the included angle theta between each sub-object and the formation motion directioniThe relative angle of the child objects in the formation.
4. The method of claim 3, wherein an angle θ between the sub-objects and the direction of the formation motion isiIs calculated as follows:
Figure FDA0003159233320000014
in the formula (I), the compound is shown in the specification,
Figure FDA0003159233320000021
to be the direction vector of the formation motion,
Figure FDA0003159233320000022
is the direction vector of the sub-objects in the formation.
5. The method for visualizing the motion of object-based multi-granularity formation according to claim 1, wherein in the second step, the distances of the sub-objects from the center of the formation are determined as follows:
acquiring the current position and the motion direction of each sub-object in the formation; calculating the central coordinate (x) of the formation at the current moment according to the spatial positions of all the sub-objectsc，yc，hc) Then, the distance d between each sub-object and the formation center C is calculatediThe calculation formula is as follows:
Figure FDA0003159233320000023
in the formula, xi、yiIs the current position coordinates of the sub-object.
6. The method for visualization of multi-granularity object-based formation motion according to claim 3 or 5, wherein the central coordinates of the formation at the current time are calculated as follows:
Figure FDA0003159233320000024
in the formula (x)c，yc，hc) Center coordinate, x, for formation of the current timei、yi、hiIs the current position coordinate of the sub-object, and n is the number of the sub-objects in the formation.
7. The object-based multi-granularity formation motion visualization method according to claim 1, wherein in step three, the specific steps of the trajectory coordinates of each sub-object are as follows:
calculating the absolute direction of the formation track according to the first section of track formed by the first two track points, and adding the absolute direction to the included angle theta between the relative formation motion directions of the sub-objectsiTo obtain the absolute value of the corresponding sub-objectFor the angle, the distance d from each sub-object to the center of the formation is calculatediCombining the head and tail two track points of the first section of track to obtain track coordinates of the corresponding sub-object at the head and tail two points of the first section of track;
according to the steps, the absolute coordinates of each sub-object on each section of the rest track are sequentially calculated according to the connection sequence of each section of the track on the formation track, at the moment, each sub-object has two coordinates at the intersection point of the adjacent track sections, and the middle point of the coordinate connection line is taken as the track coordinate of the sub-object.
8. The object-based multi-granularity formation motion visualization method according to claim 7, wherein the order of solving the trajectory coordinates of the respective sub-objects is any one of the following ways:
firstly, calculating the track coordinates of all the sub-objects on a first section of track according to the connection sequence of all the line segment tracks on the track, then calculating the track coordinates of all the sub-objects on a second section of track, and so on until calculating the track coordinates of all the sub-objects on the last section of track;
and secondly, sequentially calculating the track coordinates of one sub-object on each section of track according to the connection sequence of the track of each line segment on the track, and then calculating the track coordinates of the other sub-object on each section of track until all the track coordinates of the last sub-object are calculated.
9. The method for object-based multi-granularity formation motion visualization according to claim 1, wherein in step four, the spatiotemporal trajectory of each sub-object is determined as follows:
taking the minimum value of the motion speeds of all the sub-objects as the motion speed of the whole formation, further calculating the time required by each section of track, and accumulating to obtain the time of track points, wherein the calculation formula is as follows:
Figure FDA0003159233320000031
Figure FDA0003159233320000032
in the formula (d)iIs the length of the i-th track, Δ tiThe time required for the formation to pass through the ith track, v is the moving speed of the whole formation, tiAnd (3) the time needed for reaching the ith track point is needed, and n is the number of the line segment tracks.
10. The method according to claim 1, wherein in step six, the visualization interface of the formation motion visualization comprises: an object list window, a main window, an object basic information window, a display control window and a time control window; the object list window is used for selecting a loaded object; the main window is used for displaying specific object forms, selecting objects to form a formation in a man-machine interaction mode, and collecting the motion trail of the formation; the object basic information window is used for displaying the basic information of the selected sub-objects; the display control window is used for controlling the granularity of the sub-object display, whether the track is displayed or not and the relation; the time control window is used for displaying the current time and a time shaft, controlling the step length of the time and selecting the time to realize the trace backtracking.
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