CN116564159A - Photoelectric measurement and control equipment tracking operation simulation training system and method - Google Patents
Photoelectric measurement and control equipment tracking operation simulation training system and method Download PDFInfo
- Publication number
- CN116564159A CN116564159A CN202310826549.5A CN202310826549A CN116564159A CN 116564159 A CN116564159 A CN 116564159A CN 202310826549 A CN202310826549 A CN 202310826549A CN 116564159 A CN116564159 A CN 116564159A
- Authority
- CN
- China
- Prior art keywords
- simulation target
- target
- simulation
- control equipment
- photoelectric measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 271
- 238000005259 measurement Methods 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012549 training Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 230000009466 transformation Effects 0.000 claims abstract description 19
- 239000002131 composite material Substances 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 21
- 230000036544 posture Effects 0.000 claims description 16
- 230000015572 biosynthetic process Effects 0.000 claims description 14
- 238000003786 synthesis reaction Methods 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
- 230000003190 augmentative effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 230000008447 perception Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A photoelectric measurement and control equipment tracking operation simulation training system and method relate to the field of target motion trail measurement. The method comprises the following steps: collecting an image input by photoelectric measurement and control equipment and converting the image into a real background image in a standard format; loading a three-dimensional model file to generate a simulation target three-dimensional model; calculating the motion trail of the simulation target, and obtaining the position and posture data of the simulation target at the current moment; acquiring actual visual axis pointing position data of photoelectric measurement and control equipment in real time; performing projection transformation on the simulation target position; simulating the projection transformation of the target size; and (5) superposing simulation targets and outputting a composite image. The virtual flight target information is graphically applied to the real background image by adopting the augmented reality technology, and the virtual and real information are mutually supplemented and overlapped, so that the real-time interactivity is realized, the perception range of operators is expanded, various measurement task processes can be vividly restored, a learning training environment is provided for equipment development, and the equipment intelligence level is improved.
Description
Technical Field
The invention relates to the technical field of target motion trail measurement, in particular to a photoelectric measurement and control equipment tracking operation simulation training system and method.
Background
In the follow-up tracking measurement process of the observation target of the preset track, the photoelectric measurement and control device is required to continuously adjust the observation target to the central area of the field of view through correction control of a servo manipulator through a control rod and extraction information of the target position so as to realize high-precision measurement of the motion track of the motion target. In addition, the photoelectric measurement and control device has the task of measuring the target track and also has the tasks of live image recording and live broadcasting, so that the observed target is required to be imaged in the center of the field of view as stably as possible.
The target tracking modes of photoelectric measurement and control equipment are generally divided into three types: (1) automatic tracking based on target location image extraction; (2) joystick manual tracking; and (3) the theoretical track is guided and the control rod is added for small-amplitude correction tracking. Because the automatic tracking mode needs the image processing system to realize the stable extraction of the target position in the whole process, the error tracking is easy to occur for the sudden conditions such as cloud layer interference or ground object shielding. Therefore, the tracking of the photoelectric measurement and control equipment is gradually developed into a tracking mode mainly comprising two modes and mainly comprising automatic tracking and auxiliary tracking. Both manual joystick tracking and theoretical trajectory guidance plus joystick correction tracking require a certain operating capacity of the servo manipulator. Therefore, a certain simulation training means is needed to simulate the motion trail of the target, and the purpose of long-term training of the servo manipulator is achieved through repeated tracking training of the simulated target.
Disclosure of Invention
The invention provides a photoelectric measurement and control equipment tracking operation simulation training system and method, which aim to simulate a target motion track, and achieve the purpose of realizing long-term training of a servo manipulator by repeated tracking exercises of a simulated target so as to improve the operation capability of the servo manipulator.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention provides a photoelectric measurement and control equipment tracking operation simulation training system, which comprises:
the image acquisition module is used for acquiring an image input by the photoelectric measurement and control equipment, converting the image into a real background image in a standard format and transmitting the real background image to the target synthesis module;
the moving target simulation module is used for loading the three-dimensional model file, generating a simulation target three-dimensional model, realizing the motion control of the simulation target three-dimensional model, and transmitting the simulation target three-dimensional model to the target synthesis module;
the simulation target position data measuring module at the current moment is used for carrying out position calculation and posture calculation according to the preloaded simulation target running track file and different moments to obtain the simulation target position and posture data at the current moment, and transmitting the simulation target position and posture data at the current moment to the simulation target position data measuring module in the real background image;
the device angle measurement module is used for acquiring and obtaining the actual visual axis pointing position data of the photoelectric measurement and control device in real time and transmitting the actual visual axis pointing position data of the photoelectric measurement and control device to the simulation target position data measurement module in the real background image;
the simulation target position data measuring module in the real background image is used for calculating according to the position relation between the simulation target position and posture data at the current moment and the actual visual axis pointing position data of the photoelectric measurement and control equipment to obtain the simulation target position data in the real background image, and transmitting the simulation target position data in the real background image to the target synthesizing module;
the target synthesis module is used for receiving the real background image sent by the image acquisition module, the simulation target position data in the real background image sent by the simulation target position data measurement module in the real background image and the simulation target three-dimensional model sent by the moving target simulation module, superposing the simulation target on the real background image according to the simulation target position data in the real background image, and outputting a synthesis image, thereby realizing the function of moving target simulation.
The invention provides a photoelectric measurement and control equipment tracking operation simulation training method, which is realized by adopting the photoelectric measurement and control equipment tracking operation simulation training system, and comprises the following steps:
step one, image acquisition and pretreatment;
collecting an image input by photoelectric measurement and control equipment, and converting the image into a real background image in a specified format;
loading a three-dimensional model file to generate a simulation target three-dimensional model;
step three, simulating target motion trail calculation;
s3.1, position calculation is carried out, and simulation target position data at the current moment are obtained;
s3.2, calculating the gesture to obtain simulation target gesture data at the current moment;
acquiring actual visual axis pointing position data of the photoelectric measurement and control equipment in real time;
step five, simulating projection transformation of a target;
s5.1, simulating target position projection transformation;
s5.2, simulating target size projection transformation;
s5.3, simulating target superposition and outputting a synthetic image.
Further, the specific operation flow of step S3.1 is as follows:
s3.1.1 converting the center position coordinate P of the photoelectric measurement and control equipment from an original coordinate system C0 to a corresponding position P' under a coordinate system C1 where the simulated target running track is located;
s3.1.2 calculating the relative position Tt 'of the simulation target position Tt and the corresponding position P' under the coordinate system C1 when the current moment is t;
s3.1.3 converts the relative position Tt 'into a relative position Tt' (At, et, rt) in a spherical coordinate system C2 having the position of the photoelectric measurement and control device as the origin of coordinates, thereby completing the position calculation of the simulation target; at represents the water direction deflection angle of the simulation target At the moment t relative to the photoelectric measurement and control equipment, et represents the vertical direction deflection angle of the simulation target At the moment t relative to the photoelectric measurement and control equipment, and Rt represents the distance between the simulation target At the moment t and the photoelectric measurement and control equipment.
Further, the specific operation flow of step S3.2 is as follows:
assuming that in a preset moving track of the simulation target, the position coordinate of the simulation target at the current moment is F, and the position coordinate of the simulation target at the previous moment is F ', the instantaneous speed direction of the simulation target is regarded as the same direction as the connecting line of the simulation target and the simulation target, and the direction of the speed vector V of the simulation target and the coordinate F' are regarded asThe directions of the vector F' F taking the coordinate F as the end point are the same, namely the central axis X of the simulation target P The simulation target is parallel to the vector F ', the tail part of the simulation target is arranged on the side of the coordinate F' and the head part of the simulation target is arranged on the side of the coordinate F, the front end of the simulation target corresponds to the flight direction, and the simulation target is calculated according to the instantaneous speed direction of the simulation target, namely, the included angle between the instantaneous speed direction and the horizontal direction is the pitch angle alpha, and the projection of the instantaneous speed direction in the horizontal direction and the emission coordinate system X F The included angle of the axes is the yaw angle beta; if the preset simulation target running track simultaneously comprises the rolling angle gamma, the simulation target running track is directly used.
Further, the specific operation flow of step S5.1 is as follows:
after the motion trail of the simulation target is resolved according to the third step, the projection transformation of the simulation target under the image coordinate system is realized by combining the actual visual axis pointing position data of the photoelectric measurement and control equipment obtained in the fourth step, namely, the simulation target space position Tt '(At, et, rt) is converted into a coordinate position Tt' (xt, yt) under the image coordinate system; the transformation formula is shown as formula (2):(2) The method comprises the steps of carrying out a first treatment on the surface of the Wherein xt represents the x coordinate of the pixel position of the simulation target projected into the real background image at the moment t, yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the moment t, and both xt and yt take the upper left corner of the real background image as the origin of coordinates; at represents the water direction deflection angle of the simulation target relative to the photoelectric measurement and control equipment At the moment t; ac is the azimuth angle of the center pointing value of the photoelectric measurement and control equipment; et represents the vertical deflection angle of the simulation target relative to the photoelectric measurement and control equipment at the moment t; ec is the pitch angle of the center pointing value of the photoelectric measurement and control equipment;the aperture angle of a single pixel of an image detector in photoelectric measurement and control equipment when the focal length is f; imgW is the width of the real background image in pixels; imgH is the true background image height in pixels.
Further, the specific operation flow of step S5.2 is as follows:
the geometrical optics object-image relationship formula is:(3) Rt represents the distance between the simulation target and the photoelectric measurement and control equipment at the moment t, and v is the image distance of the simulation target; f is the focal length of an image detector in the photoelectric measurement and control equipment; when the distance between the simulation target and the photoelectric measurement and control equipment at the time t is Rt, the image distance v of the simulation target is calculated by the formula (3):(4) The method comprises the steps of carrying out a first treatment on the surface of the The following formula is obtained from the geometrical optics object-image relationship similar triangle:(5) The method comprises the steps of carrying out a first treatment on the surface of the Substituting the formula (4) into the formula (5) to obtain the projection size of the simulation target size H on the image detector in the photoelectric measurement and control equipment, wherein the projection size is as follows:(6) The method comprises the steps of carrying out a first treatment on the surface of the Setting the pixel size of an image detector in photoelectric measurement and control equipment asThe number of projection pixels of the simulation target on the real background image is: （7）。
further, the specific operation flow of step S5.3 is as follows:
when the projection position of the simulation target is in the display range of the real background image, namely when the xt and yt simultaneously meet the condition shown in the formula (8), carrying out superposition display of the simulation target; when the projection position of the simulation target is not in the display range of the real background image, namely when the xt and yt simultaneously do not meet the condition shown in the formula (8), the superposition display of the simulation target is not carried out;
(8) Xt represents x of the pixel position of the simulation target projected into the real background image at time tCoordinates; yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the time t; imgW is the width of the real background image in pixels; imgH is the height of the real background image, and the unit is the number of pixels; and (3) combining the formula (2) and the formula (8) to realize superposition of simulation targets with specified positions, specified sizes and specified postures on the real background image, and outputting a composite image to realize moving target simulation.
The beneficial effects of the invention are as follows:
according to the invention, an Augmented Reality (AR) technology is adopted, after the virtual flying target information of a specified type is patterned, the virtual flying target information is sequentially overlapped to the corresponding position of a real observation scene according to a preset simulation target running track by taking training time as a reference, an operator manually adjusts the pointing position of the visual axis of the photoelectric measurement and control equipment to introduce the simulation target into the center of the visual field, and continuously manually adjusts the control rod to enable the simulation target to be always close to the center of the visual field in the flying process according to the preset track, so that the aim of training the manual tracking skill is fulfilled. Meanwhile, the method and the device can be also used for operation pre-drilling before the measurement task is executed and target flight track characteristic reference pre-judging.
According to the invention, the virtual flying target information of the appointed type is applied to the real background image after being imaged, and the virtual information and the real information are mutually supplemented and overlapped, so that the perception range of an operator is expanded. The virtual flying targets of the specified types are added at the specified positions in the three-dimensional space, so that the real-time interactivity is realized, the virtual flying targets of the specified types are superimposed on the real observation scene, various measurement task processes can be vividly restored, a good learning training environment and foundation are provided for equipment development, and the intelligent level of the equipment can be greatly improved.
Drawings
FIG. 1 is a block diagram of a simulation training system for tracking operation of a photoelectric measurement and control device.
Fig. 2 is a real background image in a standard format.
Fig. 3 is a three-dimensional model of a simulation target.
Fig. 4 is a schematic diagram of a position calculation flow.
Fig. 5 is a simulated target attitude angle relationship diagram.
Fig. 6 is a schematic diagram of a preset simulated target motion trajectory.
Fig. 7 is a view of a simulation target display area in a real background image.
FIG. 8 is a projection relationship of a simulation target to its image detector in a photoelectric measurement and control device.
Fig. 9 is a simulation target superposition effect diagram.
Fig. 10 is an output composite image.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In a first aspect, the invention provides a photoelectric measurement and control equipment tracking operation simulation training system, which realizes repeated tracking practice of a simulation target through simulation of a target motion track, realizes long-term training of a servo manipulator, and further improves the operation capability of the servo manipulator. As shown in fig. 1, the system mainly includes: the system comprises an image acquisition module, a moving target simulation module, a current time simulation target position data measurement module, an equipment angle measurement module, a simulation target position data measurement module in a real background image and a target synthesis module, wherein the specific functions and actions of the modules are as follows:
the image acquisition module is mainly used for acquiring an image input by the photoelectric measurement and control equipment, converting the image into a real background image in a standard format and transmitting the real background image to the target synthesis module;
the moving target simulation module is mainly used for loading a three-dimensional model file, generating a simulation target three-dimensional model, realizing the motion control of the simulation target three-dimensional model, and transmitting the simulation target three-dimensional model to the target synthesis module;
the simulation target position data measuring module at the current moment is used for carrying out position calculation and posture calculation according to the preloaded simulation target running track file and different moments to obtain simulation target position and posture data P1 at the current moment, and transmitting the simulation target position and posture data P1 at the current moment to the simulation target position data measuring module in the real background image;
the device angle measurement module is used for acquiring actual visual axis pointing position data P2 of the photoelectric measurement and control device in real time, and transmitting the actual visual axis pointing position data P2 of the photoelectric measurement and control device to the simulation target position data measurement module in the real background image;
the simulation target position data measuring module in the real background image is used for calculating according to the position relation between the simulation target position and posture data P1 at the current moment and the actual visual axis pointing position data P2 of the photoelectric measurement and control equipment to obtain simulation target position data P3 in the real background image, and transmitting the simulation target position data P3 in the real background image to the target synthesizing module;
the target synthesis module is mainly used for receiving the real background image sent by the image acquisition module, the simulation target position data P3 in the real background image sent by the simulation target position data measurement module in the real background image and the simulation target three-dimensional model sent by the moving target simulation module, superposing the simulation target on the real background image according to the simulation target position data P3 in the real background image, and outputting a synthesis image, thereby realizing the function of moving target simulation.
In a second aspect, the present invention provides a simulation training method for tracking operation of a photoelectric measurement and control device, which is implemented mainly by using the simulation training system for tracking operation of a photoelectric measurement and control device provided in the first aspect. The method adopts an Augmented Reality (AR) technology, and the realization method of the photoelectric measurement and control equipment tracking operation simulation training system is explained from aspects such as target flight attitude simulation, target flight track simulation and the like.
The method mainly comprises the following steps:
step one, image acquisition and pretreatment;
collecting an image input by photoelectric measurement and control equipment, and converting the image into a real background image in a specified format, as shown in fig. 2; specifically, when the image input by the photoelectric measurement and control equipment is a single-channel gray level image, the single-channel gray level image is converted into an 8-bit gray level image, and when the image input by the photoelectric measurement and control equipment is a color image, the single-channel gray level image is converted into a 24-bit RGB color image;
step two, loading a three-dimensional model file to generate a simulation target three-dimensional model, and realizing motion control of the simulation target three-dimensional model as shown in fig. 3;
step three, simulating target motion trail calculation;
before the target background synthesis is carried out, the motion trail of the simulation target is required to be calculated so as to determine the relative position of the three-dimensional model of the simulation target and the actual visual axis pointing position of the photoelectric measurement and control equipment, and then the accurate superposition of the simulation target and the actual background is realized. The specific operation steps are as follows:
s3.1, position calculation is carried out, and simulation target position data at the current moment are obtained;
the position calculation is to convert the preset moving track of the simulation target from the position of the original coordinate system (generally, the rectangular coordinate system of the earth) to the position of the spherical coordinate system taking the position of the photoelectric measurement and control equipment as the origin of coordinates. The specific operation steps of the position calculation are as follows:
s3.1.1 converting the center position coordinate P of the photoelectric measurement and control equipment from an original coordinate system C0 to a corresponding position P' under a coordinate system C1 where the simulated target running track is located;
s3.1.2 calculating the relative position Tt 'of the simulation target position Tt and the corresponding position P' under the coordinate system C1 when the current moment is t;
s3.1.3 converts the relative position Tt 'into a relative position Tt' (At, et, rt) in a spherical coordinate system C2 with the position of the photoelectric measurement and control device as the origin of coordinates, thereby completing the position calculation of the simulation target. Wherein At represents the water direction deflection angle of the t-moment simulation target relative to the photoelectric measurement and control equipment, et represents the vertical direction deflection angle of the t-moment simulation target relative to the photoelectric measurement and control equipment, and Rt represents the distance between the t-moment simulation target and the photoelectric measurement and control equipment.
The following is an example description of specific steps for position calculation:
as shown in fig. 4, a coordinate system in which the center position of the photoelectric measurement and control device is located is a BLH space coordinate system C0, and a coordinate of the center position is P (B, L, H), wherein B is a longitude coordinate, L is a latitude coordinate, and H represents an elevation; setting a coordinate system in which a motion track of the simulation target is located as a ground rectangular coordinate system C1, and setting the space coordinate of the simulation target under the ground rectangular coordinate system C1 as Tt (Xt, yt, zt) when the current moment is t;
according to the above-mentioned procedure step S3.1.1, the central position coordinates P (B, L, H) of the photoelectric measurement and control device are converted from the BLH space coordinate system C0 to the corresponding positions P' (Xg, yg, zg) under the earth rectangular coordinate system C1;
according to the above-mentioned procedure S3.1.2, the relative position Tt '(Xtg, ytg, ztg) of the simulation target position Tt (Xt, yt, zt) and the corresponding position P' (Xg, yg, zg) is calculated under the coordinate system C1 when the current time is t; wherein the relation among the coordinates Xtg, xt and Xg, the relation among Ytg, yt and Yg, and the relation among Ztg, zt and Zg are shown in the formula (1):
（1）；
according to the above-mentioned procedure S3.1.3, the relative position Tt '(Xtg, ytg, ztg) is converted into the relative position Tt' (At, et, rt) in the spherical coordinate system C2 having the position of the photoelectric measurement and control device as the origin of coordinates, thereby completing the position calculation of the simulation target. Wherein At represents the water direction deflection angle of the t-moment simulation target relative to the photoelectric measurement and control equipment, et represents the vertical direction deflection angle of the t-moment simulation target relative to the photoelectric measurement and control equipment, and Rt represents the distance between the t-moment simulation target and the photoelectric measurement and control equipment.
S3.2, calculating the gesture to obtain simulation target gesture data at the current moment;
according to the current time simulation target position data calculated in the step S3.1, the photoelectric measurement and control equipment can adjust the azimuth angle and the pitch angle of the photoelectric measurement and control equipment according to the current time simulation target position data and the preset simulation target running track, so that the theoretical position of the current time simulation target is aligned.
The simulation target is generally an aircraft, and the attitude information mainly comprises: the pitch angle alpha, the yaw angle beta and the roll angle gamma are shown in figure 5. Wherein, the definition and explanation of the pitch angle alpha, the yaw angle beta and the roll angle gamma are as follows:
pitch angleAlpha refers to the central axis X of the target P The included angle between the axis and the horizontal plane of the emission coordinate system; pitch angle alpha is primarily used to measure the central axis X of the target P Floating up and down in the horizontal plane of the emission coordinate system; defining a pitch angle alpha to be positive on a horizontal plane, and defining the pitch angle alpha not to be negative on the horizontal plane; the pitch angle alpha has the value range of。
Yaw angle beta refers to target volume coordinate X P Projection of an axis onto the horizontal plane of an emission coordinate system and emission coordinate system X F The angle of the axes, i.e. the coordinates X of the object P Projection of the axis onto the horizontal plane of the emission coordinate system is wound around Y P A rotation angle of the shaft; the yaw angle beta is mainly used for measuring the central axis X of the target P Left-right offset in the transmit coordinate system horizontal plane; defining a yaw angle beta to be positive anticlockwise and negative clockwise; the range of the yaw angle beta is。
The roll angle gamma refers to the target coordinates Y P Axis and inclusion of target volume coordinates X P The angle of the vertical plane of the axis, i.e. the coordinate Y of the target body P Around axis X P A rotation angle of the shaft; along X by simulation target tail P Viewed axially forwards, Y P The axis is positioned on the right side of the vertical plane and is positive, Y P The axis is negative on the left side of the vertical plane; the value range of the rolling angle gamma is。
As shown in fig. 6, assuming that in the preset moving track of the simulation target, the current time simulation target position coordinate is F and the previous time simulation target position coordinate is F ', the instantaneous velocity direction of the simulation target can be approximately regarded as the same direction as the connecting line of the current time simulation target position coordinate F and the previous time simulation target position coordinate F', and the direction of the simulation target velocity vector V is the same as the direction of the vector F 'F taking the coordinate F' as the starting point and the coordinate F as the end point, namely the central axis X of the simulation target P Should be parallel to the vector F' F, imitateThe tail part of the true target is arranged on the side of the coordinate F' and the head part of the true target is arranged on the side of the coordinate F, and the front end of the simulation target corresponds to the flight direction, so that the calculation is carried out according to the instantaneous speed direction of the simulation target, namely, the included angle between the instantaneous speed direction and the horizontal direction is the pitch angle alpha, and the projection of the instantaneous speed direction in the horizontal direction and the emission coordinate system X F The included angle of the axes is the yaw angle beta. If the preset simulation target running track simultaneously comprises the rolling angle gamma, the simulation target running track can be directly used; if the rolling angle gamma of the simulation target cannot be obtained, the simulation target such as an airplane can be approximately regarded as a cylinder, the simulation target can rotate around the central axis of the simulation target by any angle, and the form of the simulation target can be considered to be basically unchanged, so that the influence of the rolling angle on the posture of the simulation target can be avoided in the simulation process.
Acquiring actual visual axis pointing position data of the photoelectric measurement and control equipment in real time;
step five, simulating projection transformation of a target;
s5.1, simulating target position projection transformation;
after the motion trail of the simulation target is resolved according to the third step, projection transformation of the simulation target under an image coordinate system is realized by combining the actual visual axis pointing position data of the photoelectric measurement and control device obtained in the fourth step, namely, the simulation target space position Tt '(At, et, rt) is converted into a coordinate position Tt' (xt, yt) under the image coordinate system. Wherein xt represents the x-coordinate of the pixel position of the simulation target projected into the real background image at time t; yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the time t; both xt and yt take the upper left corner of the real background image as the origin of coordinates; the transformation formulas of xt and yt are shown in formula (2):
（2）；
wherein At represents the water direction deflection angle of the simulation target relative to the photoelectric measurement and control equipment At the moment t; ac is the azimuth angle of the central pointing value of the photoelectric measurement and control equipment (namely the included angle between the visual axis of the photoelectric measurement and control equipment projected to the horizontal plane and the pointing position of 0 degrees,) The method comprises the steps of carrying out a first treatment on the surface of the Et represents the vertical deflection angle of the simulation target relative to the photoelectric measurement and control equipment at the moment t; ec is the pitch angle of the central pointing value of the photoelectric measurement and control device (i.e. the angle between the visual axis of the photoelectric measurement and control device and the 0 degree horizontal plane,) Ac and Ec can be directly measured by photoelectric measurement and control equipment;the aperture angle of a single pixel of the image detector in the photoelectric measurement and control equipment when the focal length is f can be directly measured by the photoelectric measurement and control equipment; imgW is the width of the real background image in pixels; imgH is the true background image height in pixels.
S5.2, simulating target size projection transformation;
after the projection transformation of the simulation target position is completed, before the simulation target superposition is carried out, the projection transformation of the simulation target size is carried out by combining the distance Rt between the simulation target and the photoelectric measurement and control equipment at the time t. The projection relation between the simulation target and the image detector in the photoelectric measurement and control equipment is shown in fig. 8, (3) represents the simulation target, (4) represents the image detector in the photoelectric measurement and control equipment, and (5) represents the projection of the simulation target on the image detector in the photoelectric measurement and control equipment. The method comprises the following steps:
the geometrical optics object-image relationship formula is:(3) Wherein Rt represents the distance between the simulation target and the photoelectric measurement and control equipment at the moment t, and v is the image distance of the simulation target; f is the focal length of the image detector in the photoelectric measurement and control equipment. When the distance between the simulation target and the photoelectric measurement and control equipment at the time t is Rt, the image distance v of the simulation target can be calculated by the formula (3) to be:(4) The method comprises the steps of carrying out a first treatment on the surface of the From geometrical optics, the object-image relationship is similar to triangleThe following formula:(5) The method comprises the steps of carrying out a first treatment on the surface of the Substituting the formula (4) into the formula (5) can obtain the projection size of the simulation target size H on the image detector in the photoelectric measurement and control equipment, wherein the projection size is as follows:(6). Setting the pixel size of an image detector in photoelectric measurement and control equipment asThe number of projection pixels of the simulation target on the real background image is: （7）。
s5.3, overlapping simulation targets and outputting a synthetic image;
as shown in fig. 7, the region (1) is a simulation target display region, the region (2) is a non-simulation target display region, the upper left corner of the real background image is the origin of coordinates (0, 0), the upper right corner of the real background image is coordinates (ImgW, 0), the lower left corner of the real background image is coordinates (0, imgH), and the lower right corner of the real background image is coordinates (ImgW, imgH). When the projection position of the simulation target is in the display range of the real background image, namely when the xt and yt simultaneously meet the condition shown in the formula (8), carrying out superposition display of the simulation target; otherwise, when the projection position of the simulation target is not in the display range of the real background image, namely, the xt and yt do not meet the condition shown in the formula (8) at the same time, the superposition display of the simulation target is not carried out;
(8) Wherein xt represents the x-coordinate of the pixel position of the simulation target projected into the real background image at time t; yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the time t; imgW is the width of the real background image in pixels; imgH is the true background image height in pixels.
By combining the above formulas (2) and (8), the superposition of the simulation targets at the specified positions, the specified sizes and the specified postures on the real background image can be realized, and the synthesized image is output, so that the simulation of the moving target is realized. In fig. 9, Δa represents the deviation of the horizontal directional angle between the center of the simulation target and the center of the cross wire, Δe represents the deviation of the pitch directional angle between the center of the simulation target and the center of the cross wire, and the output composite image is shown in fig. 10.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (7)
1. A photoelectric measurement and control equipment tracking operation simulation training system is characterized by comprising:
the image acquisition module is used for acquiring an image input by the photoelectric measurement and control equipment, converting the image into a real background image in a standard format and transmitting the real background image to the target synthesis module;
the moving target simulation module is used for loading the three-dimensional model file, generating a simulation target three-dimensional model, realizing the motion control of the simulation target three-dimensional model, and transmitting the simulation target three-dimensional model to the target synthesis module;
the simulation target position data measuring module at the current moment is used for carrying out position calculation and posture calculation according to the preloaded simulation target running track file and different moments to obtain the simulation target position and posture data at the current moment, and transmitting the simulation target position and posture data at the current moment to the simulation target position data measuring module in the real background image;
the device angle measurement module is used for acquiring and obtaining the actual visual axis pointing position data of the photoelectric measurement and control device in real time and transmitting the actual visual axis pointing position data of the photoelectric measurement and control device to the simulation target position data measurement module in the real background image;
the simulation target position data measuring module in the real background image is used for calculating according to the position relation between the simulation target position and posture data at the current moment and the actual visual axis pointing position data of the photoelectric measurement and control equipment to obtain the simulation target position data in the real background image, and transmitting the simulation target position data in the real background image to the target synthesizing module;
the target synthesis module is used for receiving the real background image sent by the image acquisition module, the simulation target position data in the real background image sent by the simulation target position data measurement module in the real background image and the simulation target three-dimensional model sent by the moving target simulation module, superposing the simulation target on the real background image according to the simulation target position data in the real background image, and outputting a synthesis image, thereby realizing the function of moving target simulation.
2. The photoelectric measurement and control equipment tracking operation simulation training method is characterized by comprising the following steps of:
step one, image acquisition and pretreatment;
collecting an image input by photoelectric measurement and control equipment, and converting the image into a real background image in a specified format;
loading a three-dimensional model file to generate a simulation target three-dimensional model;
step three, simulating target motion trail calculation;
s3.1, position calculation is carried out, and simulation target position data at the current moment are obtained;
s3.2, calculating the gesture to obtain simulation target gesture data at the current moment;
acquiring actual visual axis pointing position data of the photoelectric measurement and control equipment in real time;
step five, simulating projection transformation of a target;
s5.1, simulating target position projection transformation;
s5.2, simulating target size projection transformation;
s5.3, simulating target superposition and outputting a synthetic image.
3. The simulation training method for tracking operation of photoelectric measurement and control equipment according to claim 2, wherein the specific operation flow of step S3.1 is as follows:
s3.1.1 converting the center position coordinate P of the photoelectric measurement and control equipment from an original coordinate system C0 to a corresponding position P' under a coordinate system C1 where the simulated target running track is located;
s3.1.2 calculating the relative position Tt 'of the simulation target position Tt and the corresponding position P' under the coordinate system C1 when the current moment is t;
s3.1.3 converts the relative position Tt 'into a relative position Tt' (At, et, rt) in a spherical coordinate system C2 having the position of the photoelectric measurement and control device as the origin of coordinates, thereby completing the position calculation of the simulation target; at represents the water direction deflection angle of the simulation target At the moment t relative to the photoelectric measurement and control equipment, et represents the vertical direction deflection angle of the simulation target At the moment t relative to the photoelectric measurement and control equipment, and Rt represents the distance between the simulation target At the moment t and the photoelectric measurement and control equipment.
4. The simulation training method for tracking operation of photoelectric measurement and control equipment according to claim 3, wherein the specific operation flow of step S3.2 is as follows:
assuming that in a preset moving track of the simulation target, the current time simulation target position coordinate is F, and the previous time simulation target position coordinate is F ', the instantaneous speed direction of the simulation target is regarded as the same direction as the connecting line of the simulation target and the simulation target, and the direction of the velocity vector V of the simulation target is the same as the direction of the vector F ' F taking the coordinate F ' as the starting point and taking the coordinate F as the end point, namely the central axis X of the simulation target P The simulation target is parallel to the vector F ', the tail part of the simulation target is arranged on the side of the coordinate F' and the head part of the simulation target is arranged on the side of the coordinate F, the front end of the simulation target corresponds to the flight direction, and the simulation target is calculated according to the instantaneous speed direction of the simulation target, namely, the included angle between the instantaneous speed direction and the horizontal direction is the pitch angle alpha, and the projection of the instantaneous speed direction in the horizontal direction and the emission coordinate system X F The included angle of the axes is the yaw angle beta; if the preset simulation target running track simultaneously comprises the rolling angle gamma, the simulation target running track is directly used.
5. The simulation training method for tracking operation of photoelectric measurement and control equipment according to claim 2, wherein the specific operation flow of step S5.1 is as follows:
after the motion trail of the simulation target is resolved according to the third step, the projection transformation of the simulation target under the image coordinate system is realized by combining the actual visual axis pointing position data of the photoelectric measurement and control equipment obtained in the fourth step, namely, the simulation target space position Tt '(At, et, rt) is converted into a coordinate position Tt' (xt, yt) under the image coordinate system; the transformation formula is shown as formula (2):(2) The method comprises the steps of carrying out a first treatment on the surface of the Wherein xt represents the x coordinate of the pixel position of the simulation target projected into the real background image at the moment t, yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the moment t, and both xt and yt take the upper left corner of the real background image as the origin of coordinates; at represents the water direction deflection angle of the simulation target relative to the photoelectric measurement and control equipment At the moment t; ac is the azimuth angle of the center pointing value of the photoelectric measurement and control equipment; et represents the vertical deflection angle of the simulation target relative to the photoelectric measurement and control equipment at the moment t; ec is the pitch angle of the center pointing value of the photoelectric measurement and control equipment; />The aperture angle of a single pixel of an image detector in photoelectric measurement and control equipment when the focal length is f; imgW is the width of the real background image in pixels; imgH is the true background image height in pixels.
6. The simulation training method for tracking operation of photoelectric measurement and control equipment according to claim 5, wherein the specific operation flow of step S5.2 is as follows:
the geometrical optics object-image relationship formula is:(3) Rt represents the distance between the simulation target and the photoelectric measurement and control equipment at the moment t, and v is the image distance of the simulation target;f is the focal length of an image detector in the photoelectric measurement and control equipment; when the distance between the simulation target and the photoelectric measurement and control equipment at the time t is Rt, the image distance v of the simulation target is calculated by the formula (3): />(4) The method comprises the steps of carrying out a first treatment on the surface of the The following formula is obtained from the geometrical optics object-image relationship similar triangle: />(5) The method comprises the steps of carrying out a first treatment on the surface of the Substituting the formula (4) into the formula (5) to obtain the projection size of the simulation target size H on the image detector in the photoelectric measurement and control equipment, wherein the projection size is as follows: />(6) The method comprises the steps of carrying out a first treatment on the surface of the Setting the pixel size of the image detector in the photoelectric measurement and control equipment to be +.>The number of projection pixels of the simulation target on the real background image is: /> （7）。
7. The simulation training method for tracking operation of photoelectric measurement and control equipment according to claim 6, wherein the specific operation flow in step S5.3 is as follows:
when the projection position of the simulation target is in the display range of the real background image, namely when the xt and yt simultaneously meet the condition shown in the formula (8), carrying out superposition display of the simulation target; when the projection position of the simulation target is not in the display range of the real background image, namely when the xt and yt simultaneously do not meet the condition shown in the formula (8), the superposition display of the simulation target is not carried out;
(8) Xt represents the x-coordinate of the pixel position of the simulation target projected into the real background image at time tThe method comprises the steps of carrying out a first treatment on the surface of the yt represents the y coordinate of the pixel position of the simulation target projected into the real background image at the time t; imgW is the width of the real background image in pixels; imgH is the height of the real background image, and the unit is the number of pixels; and (3) combining the formula (2) and the formula (8) to realize superposition of simulation targets with specified positions, specified sizes and specified postures on the real background image, and outputting a composite image to realize moving target simulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310826549.5A CN116564159A (en) | 2023-07-07 | 2023-07-07 | Photoelectric measurement and control equipment tracking operation simulation training system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310826549.5A CN116564159A (en) | 2023-07-07 | 2023-07-07 | Photoelectric measurement and control equipment tracking operation simulation training system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116564159A true CN116564159A (en) | 2023-08-08 |
Family
ID=87486477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310826549.5A Withdrawn CN116564159A (en) | 2023-07-07 | 2023-07-07 | Photoelectric measurement and control equipment tracking operation simulation training system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116564159A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117116113A (en) * | 2023-10-19 | 2023-11-24 | 中国科学院长春光学精密机械与物理研究所 | Ship-borne photoelectric theodolite simulation training device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738139A (en) * | 2009-12-31 | 2010-06-16 | 中国科学院长春光学精密机械与物理研究所 | Image filling type target simulator |
| JP2010230925A (en) * | 2009-03-26 | 2010-10-14 | Tamura Seisakusho Co Ltd | Projection system, projection method, projection program, and projection vector operation device |
| CN102654576A (en) * | 2012-05-16 | 2012-09-05 | 西安电子科技大学 | Image registration method based on synthetic aperture radar (SAR) image and digital elevation model (DEM) data |
| CN105067011A (en) * | 2015-09-15 | 2015-11-18 | 沈阳飞机工业（集团）有限公司 | Overall measurement system calibration method based on vision calibration and coordinate transformation |
| CN106556835A (en) * | 2016-12-01 | 2017-04-05 | 西安电子科技大学 | Object localization method based on double-basis Forward-looking SAR image |
| CN109636927A (en) * | 2018-11-26 | 2019-04-16 | 中国科学院长春光学精密机械与物理研究所 | A kind of system and method for aircraft attitude measurement algorithm training and identification |
| CN110765620A (en) * | 2019-10-28 | 2020-02-07 | 上海科梁信息工程股份有限公司 | Aircraft visual simulation method, system, server and storage medium |
| CN112884798A (en) * | 2021-01-27 | 2021-06-01 | 湖北三江航天红峰控制有限公司 | Verification method of moving target tracking and aiming system |
| CN115876197A (en) * | 2022-11-03 | 2023-03-31 | 西安应用光学研究所 | Mooring lifting photoelectric imaging target positioning method |
-
2023
- 2023-07-07 CN CN202310826549.5A patent/CN116564159A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010230925A (en) * | 2009-03-26 | 2010-10-14 | Tamura Seisakusho Co Ltd | Projection system, projection method, projection program, and projection vector operation device |
| CN101738139A (en) * | 2009-12-31 | 2010-06-16 | 中国科学院长春光学精密机械与物理研究所 | Image filling type target simulator |
| CN102654576A (en) * | 2012-05-16 | 2012-09-05 | 西安电子科技大学 | Image registration method based on synthetic aperture radar (SAR) image and digital elevation model (DEM) data |
| CN105067011A (en) * | 2015-09-15 | 2015-11-18 | 沈阳飞机工业（集团）有限公司 | Overall measurement system calibration method based on vision calibration and coordinate transformation |
| CN106556835A (en) * | 2016-12-01 | 2017-04-05 | 西安电子科技大学 | Object localization method based on double-basis Forward-looking SAR image |
| CN109636927A (en) * | 2018-11-26 | 2019-04-16 | 中国科学院长春光学精密机械与物理研究所 | A kind of system and method for aircraft attitude measurement algorithm training and identification |
| CN110765620A (en) * | 2019-10-28 | 2020-02-07 | 上海科梁信息工程股份有限公司 | Aircraft visual simulation method, system, server and storage medium |
| CN112884798A (en) * | 2021-01-27 | 2021-06-01 | 湖北三江航天红峰控制有限公司 | Verification method of moving target tracking and aiming system |
| CN115876197A (en) * | 2022-11-03 | 2023-03-31 | 西安应用光学研究所 | Mooring lifting photoelectric imaging target positioning method |
Non-Patent Citations (3)
| Title |
|---|
| CE GAO ETL: "infrared and Visible Image Fusion Method Based on ResNet in a Nonsubsampled Contourlet Transform Domain", 《IEEE ACCESS》, vol. 9, pages 91883 - 205 * |
| 于洋等: "跟踪图像生成技术应用于光电设备模拟训练", 《液晶与显示》, vol. 30, no. 2, pages 347 - 352 * |
| 盛磊等: "光电经纬仪三维视频模拟仿真***及遮挡效果的实现", 《仪器仪表学报》, vol. 32, no. 6, pages 6 - 10 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117116113A (en) * | 2023-10-19 | 2023-11-24 | 中国科学院长春光学精密机械与物理研究所 | Ship-borne photoelectric theodolite simulation training device |
| CN117116113B (en) * | 2023-10-19 | 2024-01-02 | 中国科学院长春光学精密机械与物理研究所 | Ship-borne photoelectric theodolite simulation training device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7260269B2 (en) | Positioning system for aeronautical non-destructive inspection | |
| CN110347186B (en) | Ground moving target autonomous tracking system based on bionic binocular linkage | |
| CN111459046B (en) | Real-time dynamic generation system and method for target and scene for image seeker | |
| CN109887025B (en) | Monocular self-adjusting fire point three-dimensional positioning method and device | |
| WO2018216536A1 (en) | Video image generation device and video image generation method | |
| US20200012756A1 (en) | Vision simulation system for simulating operations of a movable platform | |
| CN116564159A (en) | Photoelectric measurement and control equipment tracking operation simulation training system and method | |
| CN103226838A (en) | Real-time spatial positioning method for mobile monitoring target in geographical scene | |
| CN112184812B (en) | Method for improving identification and positioning precision of unmanned aerial vehicle camera to april tag and positioning method and system | |
| CN111192318A (en) | Method and device for determining position and flight direction of unmanned aerial vehicle and unmanned aerial vehicle | |
| CN115291536B (en) | Visual unmanned aerial vehicle tracking ground target semi-physical simulation platform verification method | |
| CN112381935A (en) | Synthetic vision generation and multi-element fusion device | |
| CN113126126A (en) | All-time automatic target-scoring system and ammunition drop point positioning method thereof | |
| CN100443859C (en) | Target simulation method for photoelectric theodolite | |
| CN114923477A (en) | Multi-dimensional space-ground collaborative map building system and method based on vision and laser SLAM technology | |
| Proctor et al. | Vision-only aircraft flight control methods and test results | |
| CN113177918B (en) | Intelligent and accurate inspection method and system for electric power tower by unmanned aerial vehicle | |
| CN104786227A (en) | Drop type switch replacing control system and method based on high-voltage live working robot | |
| CN112927356B (en) | Three-dimensional display method for unmanned aerial vehicle image | |
| CN116661334B (en) | Missile tracking target semi-physical simulation platform verification method based on CCD camera | |
| CN113063401A (en) | Unmanned aerial vehicle aerial survey system | |
| Oehler et al. | A flexible framework for virtual omnidirectional vision to improve operator situation awareness | |
| CN116149371A (en) | Multi-moving body three-dimensional tracking and controlling platform based on visual sensor network | |
| Ross et al. | Vision-based target geolocation and optimal surveillance on an unmanned aerial vehicle | |
| CN114136314A (en) | Auxiliary attitude calculation method for aerospace vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230808 |