CN117315198B - Smooth optimization method and system for smooth fine adjustment of moving target track corner - Google Patents
Smooth optimization method and system for smooth fine adjustment of moving target track corner Download PDFInfo
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Abstract
The invention belongs to the technical field of moving target track processing, and provides a smooth optimization method and a smooth optimization system for smooth fine adjustment of moving target track corners. The method comprises the following steps: determining Bezier control points according to the midpoints and fixed ratio points of all track line segments on the target track to be processed by adopting a Bezier interpolation method to construct a multi-section smooth curve; further fine-tuning the smooth curve according to the angle of the corner; connecting all sections of smooth curves end to end in sequence, removing repeated points, and synthesizing into a smooth curve; sampling and discretizing the lengths of all the line segments, constructing a smooth curve sampling point column, and performing space-time interpolation treatment; and adopting the optimized smooth curve sampling point array as a new track of the target to be processed, and redrawing to obtain a new curve of the optimized target track. The method and the device perform smooth interpolation, gentle fine adjustment, de-duplication synthesis and other treatments on the target track to be treated, and avoid the problems of visual jump, jitter and the like caused by insufficient sampling points at the severe direction change position in the traditional track.
Description
Technical Field
The invention relates to the technical field of moving target track processing, in particular to a smooth optimization method and a smooth optimization system for smooth fine adjustment of moving target track corners.
Background
Battlefield situation playback is an important link of the deduction simulation of the multiple disk battle, and is a precondition for further evaluation and other works. However, in playback display, a large number of dynamic targets (referred to as moving targets for short) are generally involved, and due to the limited number of track sampling points, uneven sampling and the like of the moving targets, problems such as visual jump and jitter can occur during playback, particularly at corners with severe direction change in tracks, the problems are more obvious, and the user experience is poor. Therefore, how to optimize the smoothing process of the moving target track, reduce the display related calculated amount in the playback process, how to solve the problems of display visual jump, jitter and the like in playback and low smoothness in playback display caused by limited number of sampling points, uneven sampling and the like of the moving target track, how to ensure that the curve after the track is smooth cannot have serious distortion problems such as rollback and how to improve aspects such as user experience and the like, and still has great improvement space.
Therefore, it is necessary to provide a novel smooth optimization method for gentle fine adjustment of the moving target track corner, so as to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a smooth optimization method and a smooth optimization system for smooth fine adjustment of a moving target track corner, so as to solve the technical problems of how to optimize smooth processing of a moving target track, reduce the display related calculated amount in the playback process, how to solve the problems of display visual jump, jitter and the like during playback and low fluency during playback display caused by limited number of moving target track sampling points, uneven sampling and the like, how to ensure that a curve after the track is smooth cannot have serious distortion problems such as rollback and how to improve user experience and the like in the prior art.
The first aspect of the present invention provides a smooth optimization method for gentle fine adjustment of a moving target track corner, including: adopting a Bezier interpolation method to carry out interpolation type smoothing on track point columns on a target track to be processed, determining Bezier control points according to midpoints and fixed ratio dividing points of track line segments on the target track to be processed, and constructing a plurality of sections of smooth curves based on the Bezier control points; further fine-tuning the smooth curve according to the angle of the corner in the target track to be processed, so that the smooth curve variation near the corner tends to be gentle; constructing each section of smooth curve according to each track segment on the target track to be processed, sequentially connecting end to end, removing repeated points, and synthesizing into a smooth curve corresponding to the target track to be processed; sampling and discretizing the smooth curve according to the length of each line segment on the target track to be processed, constructing a smooth curve sampling point row, and performing time-space interpolation processing on each sampling point in time and space positions to optimize the smooth curve sampling point row; and adopting the optimized smooth curve sampling point array as a new track of the target to be processed, and redrawing to obtain a new curve of the optimized target track.
According to an optional embodiment, the determining the bessel control point according to the midpoint and the fixed ratio point of each track segment on the target track to be processed includes: calculating the middle point of each track segment on the target track to be processed, and making a vertical line of each track segment through the middle point of each track segment; constructing fixed ratio dividing points according to the track points and the calculated midpoints of the track line segments; and constructing Bessel control points for fixed ratio points in the target track to be processed and midpoints of two track line segments corresponding to the fixed ratio points in sequence.
According to an alternative embodiment, the constructing a multi-segment smooth curve based on the bezier control points includes: constructing a first section of smooth curve by using a quadratic Bessel interpolation formula; constructing a middle section smooth curve by using a cubic Bezier interpolation formula, wherein the middle section smooth curve comprises a plurality of sections of smooth curves; and constructing a final section of smooth curve by using a quadratic Bessel interpolation formula.
According to an alternative embodiment, the further fine tuning of the slip curve according to the angle of the corner in the target track to be processed comprises performing the following steps: determining a corner point to be processed, and judging an angle formed between the corner point to be processed and two adjacent track line segments thereof so as to further determine a corner tension coefficient; updating the length of the first control line segment and the length of the second control line segment of the corner point to be processed according to the determined corner tension coefficient; and carrying out gentle fine tuning optimization treatment on the curve at the corner point to be treated according to the updated length of the first control line segment and the updated length of the second control line segment.
According to an alternative embodiment, further comprising: connecting the constructed smooth curves end to end in sequence, removing the repeated points, and synthesizing the smooth curves into a smooth curve corresponding to the target track to be processed, namely constructing a Bezier curve corresponding to the target track to be processed; discrete sampling is carried out on the constructed Bezier curve to obtain a new sampling point array with a specified number, and the method specifically comprises the step of calculating the sampling point number of the corresponding Bezier curve on each track line segment.
According to an alternative embodiment, the length of each track segment is positively linearly related to the number of sampling points of the bezier curve corresponding to each track segment.
According to an alternative embodiment, the intervals [0,1] of the independent variable t of the corresponding bezier curve on each track segment are evenly divided.
According to an alternative embodiment, each track line segment is uniformly divided into a plurality of sub-line segments, and corresponding time on each sampling point is calculated by linear interpolation, so that a time queue is obtained.
According to an alternative implementation mode, according to the position queue and the time queue of each point of the target track to be processed on the smooth curve after interpolation smoothing, the optimized smooth curve is used for replacing the target track to be processed, and a new curve of the optimized target track is obtained.
A second aspect of the present invention proposes a moving target trajectory smoothing optimization system, including: the Bezier interpolation processing module is used for carrying out interpolation type smoothing processing on track point columns on the target track to be processed by adopting a Bezier interpolation method, determining Bezier control points according to the midpoint and fixed ratio dividing points of each track line segment on the target track to be processed, and constructing a plurality of sections of smooth curves based on the Bezier control points; the fine adjustment processing module is used for further fine adjustment of the smooth curve according to the angle of the corner in the target track to be processed, so that the smooth curve near the corner tends to be gentle;
the duplication elimination processing module is used for sequentially connecting the end to end and eliminating repeated points according to each section of smooth curve constructed by each track segment on the target track to be processed, so as to synthesize a smooth curve corresponding to the target track to be processed;
The discrete sampling processing module is used for carrying out sampling discretization on the smooth curve according to the length of each line segment on the target track to be processed, constructing a smooth curve sampling point row, and carrying out time-space interpolation processing on each sampling point to optimize the smooth curve sampling point row;
And the redrawing processing module adopts the optimized smooth curve sampling point array as a new track of the target to be processed, and redraws the new track to obtain a new curve of the optimized target track.
The embodiment of the invention has the following advantages:
compared with the prior art, the smooth optimization method for smooth fine adjustment of the moving target track corner performs synchronous space-time interpolation processing from position and time, combines the corner size to perform smooth optimization adjustment of the gesture, specifically utilizes all track points of the moving target track which are pre-known in advance during playback, performs interpolation type smooth processing on the moving target track to be processed by adopting a Bessel interpolation method, and can effectively optimize the target track to be processed; by adjusting the corner tension coefficient, the smooth curve at the corner tends to be gentle, so that the display shake at the corner is reduced; by adding a designated number of sampling points in each track line segment, adjusting the positions of the sampling points and performing smoothing processing in cooperation with the turning, the problem of poor user experience such as visual jump and jitter caused by insufficient sampling at the severe direction change position in the traditional track can be effectively avoided.
Drawings
FIG. 1 is a flowchart illustrating an exemplary process for smooth optimization of a gentle fine-tuning of a moving target trajectory corner according to the present invention;
FIG. 2 is a schematic diagram of a local track of a target track to be processed in an application example of a smooth optimization method for smooth fine adjustment of a moving target track corner of the present invention;
FIG. 3 is a flowchart showing an example of the interpolation type smoothing process in the smoothing optimization method of the gentle fine adjustment of the moving target trajectory corner of the present invention;
FIG. 4 is a schematic diagram of an example of calculating the midpoints of track line segments of the target track to be processed in the smooth optimization method of gentle fine adjustment of the moving target track corner of the present invention;
FIG. 5 is a schematic diagram of an example of constructing fixed ratio minute points in the smooth optimization method of gentle fine adjustment of moving target trajectory corners of the present invention;
FIG. 6 is a schematic diagram of an example of determining Bessel control points in the smooth optimization method of gentle fine-tuning of moving target trajectory corners of the present invention;
FIG. 7 is a schematic diagram of an example of sampling segment by segment to obtain a sampling point in the smooth optimization method of gentle fine adjustment of the moving object track corner of the present invention;
fig. 8 is a schematic structural view of an example of a moving object trajectory smoothing optimization system according to the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In view of the above problems, the present invention proposes a smooth optimization method for gentle fine adjustment of a moving target track corner, which performs interpolation type smoothing on a moving target track by using a bessel interpolation method by using all track points of the moving target track that have been previously predicted during playback. And adding new sampling points to the original track according to the local fine adjustment smoothness degree of the corner angle, simultaneously, carrying out interpolation processing on the time at each sampling point, and finally displaying the smooth track in situation playback after the space-time interpolation processing. In other words, the space-time interpolation processing is performed simultaneously from the position and time, and the corner smoothing processing with different degrees is performed in combination with the corner size, so that the problem of poor user experience such as visual jump and jitter caused by insufficient sampling at the severe direction change in the traditional track can be effectively avoided.
In addition, the playback system is optimized for parallel computation as a whole, specifically comprising the steps of carrying out parallel computation in a centralized manner in advance and storing each sampling point of the curve in the interpolation smoothing process of the moving target track in advance. Through the calculation pretreatment, the calculation amount related to the display in the playback process can be greatly reduced, the smoothness of the playback display can be remarkably improved, and the user experience is greatly improved.
In the present invention, the space-time interpolation means that interpolation processing is performed at each sampling point in time and interpolation processing is performed at a position, that is, the space-time interpolation is collectively referred to as "space-time interpolation".
The following describes the present invention in detail with reference to fig. 1 to 7.
Fig. 1 is a flowchart showing steps of an example of a smooth optimization method of gentle fine adjustment of a moving target trajectory corner according to the present invention. Fig. 2 is a schematic diagram of a local track of a target track to be processed in an application example of a smooth optimization method for smooth fine adjustment of a moving target track corner of the present invention.
As shown in fig. 1, in step S101, an interpolation type smoothing process is performed on a track point row on a target track to be processed by using a bezier interpolation method, a bezier control point is determined according to a midpoint and a fixed ratio division point of each track line segment on the target track to be processed, and a multi-segment smoothing curve is constructed based on the bezier control point.
In one embodiment, all track points of the moving target track (i.e., the target track to be processed) of one or more aircraft at the time of playback in the training battlefield application scene are acquired from a playback system (e.g., a battlefield situation playback system). Wherein, the moving target track of the aircraft is a moving target track which is predicted in advance.
It should be noted that the smooth optimization method for smooth fine adjustment of the moving target track corner of the invention is particularly suitable for smooth optimization of the moving target track of an aircraft flying in the air and is also suitable for smooth optimization of the moving target track of a ground moving vehicle. The foregoing is illustrative only and is not to be construed as limiting the invention.
In this embodiment, the moving object trajectory includes a plurality of trajectory line segments (or trajectory folding lines, also simply referred to as "line segments") and corner points connecting two adjacent trajectory line segments.
Optionally, the track point column includes a position parameter (for example, three components including longitude, latitude and altitude) of each track point, for example, the position information represents, and a three-dimensional vector (x, y, z) is used. Specifically, a track point column c= { (C i,Mi), i=0, 1,2,..n-1 }, where C i is position information of an i-th track point on a moving target track, and where the position is expressed in terms of longitude, latitude, and altitude; i represents the ith track point, n represents the number of track points, and n is a positive integer; m i is the corresponding time at the ith track point on the moving object track.
It should be noted that the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof.
Specifically, sampling points are obtained by sampling on each track line segment of the target track to be processed, so as to be used for smoothing processing.
Preferably, sampling is performed on each track segment of the target track to be processed according to a sampling interval threshold (denoted as delta), so as to obtain sampling points.
Fig. 2 shows a partial track segment of the target track to be processed. As can be seen from fig. 2, the target track to be processed specifically includes n-1 track segments (n is the number of points of the original track of the moving target, the index starts from 0 to n-1, that is, the position point queue { C 0,…,Cn-1 }, n-2 middle corner points (C 1,…,Cn-2), two end points (a first end point (start point) C 0 and a second end point (end point) C n-1), and the interpolation type smoothing process will be described below with reference to the local segment of the target track to be processed in fig. 2.
It should be noted that, in practice, the intermediate corner point C i+1、 Ci+2 and the like are described above as alternative examples only, and are not to be construed as limiting the present invention.
In particular, a sample interval threshold is set,
I.e. half the minimum length of each segment on the track segment. The position point queue on the total curve is denoted by S, and is initially set to be empty for collecting position points in the generation process. And using T to represent a sampling point time queue on the total curve, and setting a time point empty queue for collecting time points corresponding to points in the generation process.
And (3) performing interpolation type smoothing on the point sequence on the target track to be processed by adopting a Bessel interpolation method, wherein the Bessel interpolation formula (1) is as follows:
（1）
The highest degree of B (t) is n+1 control points { P i, i=0, …, n }, and the polynomial indicates that a complex smooth curve can be constructed by a limited control point array.
It should be noted that, theoretically, the more control points, the better the smooth curve effect. However, to avoid complex factorial and power operations and to ensure a good smoothing effect, in the application of the present invention, two-order (n=2) or three-order (n=3) bessel interpolation is used, that is, three control points { P i, i=0, 1,2} or four control points { P i, i=0, 1,2,3} are used. And (3) carrying out interpolation type smoothing on the point columns on the track by utilizing a Bessel interpolation formula, namely generating a smooth curve of the whole track through each track point on the target track to be processed, so as to ensure that the track curve after the smoothing process can be fitted with an original track line segment as much as possible.
The interpolation type smoothing process performed on the moving object trajectory to be processed will be specifically described below.
For the interpolation type smoothing process, as shown in fig. 3, the following steps are specifically included.
Step S301: and calculating the midpoint of each track segment on the target track to be processed.
The method specifically comprises the steps of calculating the middle point of each track segment on the target track to be processed, and making the perpendicular line of each track segment through the middle point of each track segment, and can be seen in fig. 4.
For example, the midpoint E i, i=1, 2, …, n-1 of the track segment C i-1Ci is calculated, and a perpendicular to the track segment C i- 1Ci is made via the midpoint E i.
It should be noted that the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof.
Step S302: and constructing a fixed ratio dividing point.
Specifically, a definite fraction point is constructed from the locus points and the calculated midpoints of the locus line segments.
As shown in fig. 5, two adjacent track segments (a proportional division point F i-1 between the track segment C 0Ci-1 and the track segment C i-1Ci, specifically, a midpoint E i-1 of the track segment C 0Ci-1 and a midpoint E i of the track segment C i-1Ci are connected, and the proportional division point F i-1 is configured such that , i=2, …, n-2, where i and n are positive integers) are calculated.
For example, a scaling point F i between two adjacent track segments (track segment C i-1Ci and track segment C iCi+1) is calculated, specifically, a scaling point F i is constructed by connecting the midpoint E i of track segment C i-1Ci and the midpoint E i+1 of track segment C iCi+1.
Step S303: bessel control points are constructed.
Specifically, the segment E i-1Ei is translated to the segment L i-1Ri-1 (which passes through the trajectory point C i-1), i=2, …, n-1, constructing the bessel control points L i-1 and R i-1, see fig. 6 in particular.
For example, the segment E iEi+1 is translated to the segment L iRi (which passes through the trajectory point C i), i=2, …, n-1, constructing the bessel control points L i- and R i, see fig. 6 in particular.
And then, sequentially constructing a Seer control point for the fixed ratio dividing point in the target track to be processed and the midpoints of the two corresponding track line segments, thereby obtaining a control point sequence, namely a control point sequence . It can be demonstrated by the triangle inequality: l i-1 does not appear to the left of the perpendicular bisector through E i-1, while R i-1 does not appear to the right of the perpendicular bisector through E i. Therefore, the problem that the curve after the existing interpolation type smoothing or track smoothing is seriously distorted such as rollback can be effectively avoided.
Step S304: and constructing a multi-section smooth curve based on the Bessel control points.
In particular, the left endpoint, i.e., the first endpoint (start point) C 0. Specifically, the first end point P 0=C0 is connected to the adjacent P 1= Li-1 (i=2 here), three control points P 0=C0、 P1= Li-1、P2= Ci-1 (i=2 here) are recorded, and the first smooth curve, i.e., the black curve (i=2 here) in the triangle C 0Li-1Ci-1 shown in fig. 7 is constructed by substituting the second bezier interpolation formula (1).
Next, the processing of the intermediate points, for example, two control points L i-1、 Ri-1、 Li-、 Ri are added to both sides of the intermediate point C i-1、Ci. And recording four control points , substituting the control points into the three-time Bezier interpolation formula (1) to construct an ith smooth curve (i=2, …, n-2). The i-th smooth curve is a black curve in the quadrangle as shown in fig. 7. The process includes a middle multi-segment smooth curve (i=2, …, n-2).
Then, the right endpoint processing, that is, the processing of the second endpoint (end point) C n-1 is performed. Specifically, three control points will be passed , at which point i=n-2 in C i-、Ri. Note P 0=Cn-2、 P1= Rn-2、 P2= Cn-1, substituting into the quadratic bezier interpolation equation (1), and constructing the last smooth curve, i.e. the black curve in triangle C iRiCn-1 as shown in fig. 7 (i=n-2 at this time).
By adopting the Bessel interpolation method, after interpolation type smooth processing is carried out on the track point row on the target track to be processed (namely the moving target track), an optimized smooth curve is obtained, and the problem that the curve after the conventional interpolation type smooth processing or the track smooth processing has serious distortion such as rollback can be effectively avoided.
It should be noted that the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof.
Next, in step S102, the smooth curve is further fine-tuned according to the angle of the corner in the target trajectory to be processed so that the smooth curve variation in the vicinity of the corner tends to be gentle.
And further fine-tuning the smooth curve according to the angle of the corner in the target track to be processed, specifically, carrying out fine-tuning smooth optimization processing on the target track to be processed according to the angle of the corner, and carrying out linear interpolation on the time of each sampling point of the smooth curve on each line segment of the target track to be processed, thereby completing space-time interpolation processing.
And for the fine tuning smooth optimization processing of the target track to be processed, the following steps are specifically executed.
Step S401, determining a corner point to be processed, and judging an angle formed between the corner point to be processed and two adjacent track line segments thereof to further determine a corner tension coefficient.
Step S402, updating the length of the first control line segment and the length of the second control line segment of the corner point to be processed according to the determined corner tension coefficient.
Step S403, performing gentle fine adjustment processing on the curve at the corner point to be processed according to the updated length of the first control line segment and the updated length of the second control line segment.
Specifically, according to the included angle formed by two adjacent track line segments, the corner tension coefficient (or curve tension) is adaptively adjusted, and/> is the included angle formed by three points C i-1、Ci、Ci+1, (i=1, …, n-2).
If (i.e., included angle/> ) is not greater than/> , the corner tension coefficient t=1.0 is noted.
If , note t=0.6. If/> , note t=0.3
Specifically, the length of the line segment L iCi is d i1, and the length of the line segment R iCi is d i2. According to the corner tension coefficient t, along the straight line L iRi, the positions of L i and R i are adjusted to adjust the lengths of the left control line segment L iCi and the right line segment R iCi of the corner point C i, so that the length of the updated left line segment L iCi is td i1 and the length of the right control line segment R iCi is td i2.
The smaller the corner angle, the more the direction change at the corner becomes. Since the corner angle is inversely related to the corner tension coefficient, the corner tension coefficient is adjusted to make the smooth curve near the corner smooth, thereby reducing the display shake at the corner.
It should be noted that the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof.
Next, in step S103, each segment of smooth curve is constructed according to each track segment on the target track to be processed, and the smooth curves corresponding to the target track to be processed are synthesized by sequentially connecting end to end and removing the repeated points.
And particularly, connecting the constructed smooth curves end to end in sequence, removing the repeated points, and synthesizing the smooth curves into a smooth curve corresponding to the target track to be processed, namely constructing a Bezier curve corresponding to the target track to be processed, namely constructing a new curve of the optimized target track.
On the bezier curves corresponding to the line segments on the target track to be processed, the track points of each segment of bezier curve are C i, i=0, 1,2, …, n-2, n-1. When i=1, 2, …, n-2, i.e. not the first end point (specifically, not including the first end point and the second end point), since these track points are both the end point of the previous segment of the bezier curve and the start point of the present segment of the bezier curve, these track points overlap, the track points recorded twice are removed once in the re-synthesis of the final whole curve.
Next, in step S104, sampling discretization is performed according to the length of each line segment on the target track to be processed, a smooth curve sampling point column is constructed, and temporal-spatial interpolation processing is performed on each sampling point to optimize the smooth curve sampling point column.
In this example, the target track to be processed includes n-2 corner points (end points from beginning to end are removed), and for simplicity of illustration, three corner points C i-1、Ci、Ci+1, two end points of a start end point C 0 and an end point C n-1 are shown in fig. 2. In addition, the target track to be processed comprises n-1 track segments such as a track segment C 0Ci-1, a track segment C i-1Ci, a track segment C iCi+1, a track segment C i+ 1Ci+2、… 、Cn-2Cn-1 and the like.
In one embodiment, for example, the interval [0,1] of the corresponding bessel smooth curve argument t on each track segment (for example, track segment C i-1Ci) is uniformly divided into n i -1 parts, each sampling point on the smooth curve is calculated, so as to obtain a position point queue S i, that is, a mark position point queue is S i, and the queue is added to the tail of the position point queue S, where i=1, l, n-1.
Specifically, the corresponding Bezier smooth curve on each track segment (e.g., track segment C i-1Ci) is sampled segment by segment.
For example, a specified number of sampling points are obtained by sampling on each track segment of the target track to be processed. In this example, sampling is performed segment by segment.
Further, the number of sampling points (also simply referred to as "sampling points") of the corresponding bezier curve on each track segment is calculated. For example, for trace segment C i-1Ci, the total number of corresponding smooth curve sampling points on trace segment C i-1Ci is marked using n i:
，i=1,2,…, n-1；
where δ is the sampling interval threshold, , i.e., half of the minimum value of the lengths of the segments on the track line segment.
The sampling points a, b, c, e, f, h, z, w, v shown in fig. 7 are obtained by the above sampling.
Preferably, the length of each track line segment is in positive linear correlation with the number of sampling points of the smooth curve corresponding to each track line segment, so that the track curve can be generated after interpolation type smooth processing, and further the problems of visual jump, jitter and the like caused by insufficient sampling at the traditional corners can be effectively avoided.
Meanwhile, each track segment (e.g., track segment C i-1Ci) is uniformly divided into n i -1 sub-segments, using the following linear interpolation formula:
（2）
t represents interpolation of time at the sampling point s. For example, the time corresponding to the corner point C i-1、Ci is T i-1、 ti (readable by the playback system), where represents the distance between the sampling point s and the corner point (i.e., the trace point) C i-1, so that the corresponding time of each sampling point can be calculated to obtain the time queue T i, i.e., the sampling time point queue T i on the corresponding curve of each trace line segment. And using a time queue on the track line segment to approximate the time of each sampling point on the smooth curve corresponding to the track line segment. And adding the calculated current time queue T i to the tail part of the T to obtain a sampling point time queue on the total curve (namely the whole Bezier curve).
And then, performing time interpolation on the time of each sampling point on each line segment of the target track to be processed, and combining the prior Bessel space interpolation to complete space-time interpolation processing.
Next, in step S105, the optimized smooth curve sampling point sequence is adopted as a new track of the target to be processed, and a new curve of the optimized target track is obtained through redrawing.
Specifically, the optimized smooth curve sampling point array is adopted as a new track of the target to be processed, and the new track is reconnected to form a new smooth curve, so that the new curve of the optimized target track is obtained.
In one embodiment, a geometric object of a track point of a target track to be processed is constructed for three-dimensional display.
Specifically, the position queue and time queue of each point on the smooth curve after the smooth processing are interpolated according to the target track to be processed (namely, the moving target track), for example, a track point geometric object of the target track to be processed is constructed by adopting a three-dimensional graphic rendering engine, and three-dimensional display is performed.
Optionally, the display effect of the ground vertical indication line or the track wall is increased, so that the three-dimensional sense of the track is enhanced.
In an alternative embodiment, for the situation that each moving target track in the whole playback system is mutually independent and a large-scale moving target track exists, a parallel computing technology is adopted for the playback system (such as a battlefield situation playback system), and by means of a programming interface OpenMP or CUDA and hardware multi-accounting force of a CPU or GPU, interpolation type smoothing can be performed on a plurality of target tracks at the same time, so that time consumed by smoothing is reduced, and overall performance of the system can be improved.
Specifically, for the playback system, the interpolation type smoothing of the moving target track of the whole playback system is accelerated in parallel in advance, and the sampling points after the interpolation type smoothing are stored in advance, and can be directly read and displayed in the playback process, so that complex calculation in the playback process can be greatly reduced, and the display performance is obviously improved as a whole.
It should be noted that the foregoing is merely illustrative of the present invention and is not to be construed as limiting thereof. Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously among the plurality of modules.
Compared with the prior art, the smooth optimization method for smooth fine adjustment of the moving target track corner performs space-time interpolation processing simultaneously from the space position and time, specifically utilizes all track points of the moving target track which are pre-known in advance during playback, and performs interpolation type smooth processing on the target track to be processed (namely the moving target track) by adopting a Bessel interpolation method, so that the target track to be processed can be effectively optimized; by adjusting the corner tension coefficient (particularly reducing the corner tension coefficient), the smooth curve near the corner tends to be gentle, so that the display shake at the corner is reduced; by sampling the corresponding smooth curves in the track segments, the smooth processing of the vicinity of the turning is realized, the shaking problem of severe steering can be avoided, and the problems of visual jump, shaking and the like caused by insufficient sampling at the traditional corners can be effectively avoided.
The following are system embodiments of the present invention that may be used to perform method embodiments of the present invention. For details not disclosed in the system embodiments of the present invention, please refer to the method embodiments of the present invention.
Fig. 8 is a schematic structural view of an example of a moving object trajectory smoothing optimization system according to the present invention.
As shown in fig. 8, a second aspect of the present disclosure provides a moving target trajectory smoothing optimization system 800, the moving target trajectory smoothing optimization system 800 including: a Bessel interpolation processing module 810, a fine tuning processing module 820, a deduplication processing module 830, a discrete sampling processing module 840, and a redrawing module 850. The moving target trajectory smoothing optimization system 800 is particularly suitable for performing the smooth optimization method of gentle corner fine-tuning of the moving target trajectory of fig. 1.
In an alternative embodiment, the Bezier interpolation processing module 810 performs interpolation type smoothing on the track point row on the target track to be processed by adopting a Bezier interpolation method, determines Bezier control points according to the midpoint and fixed ratio division points of each track line segment on the target track to be processed, and constructs a multi-segment smoothing curve based on the Bezier control points. The fine tuning processing module 820 further fine-tunes the smooth curve according to the angle of the corner in the target track to be processed, so that the smooth curve near the corner changes smoothly. The deduplication processing module 830 sequentially connects end to end and removes the repeated points according to each segment of smooth curve constructed by each track segment on the target track to be processed, and synthesizes one smooth curve corresponding to the target track to be processed. The discrete sampling processing module 840 performs sampling discretization on the smooth curve according to the length of each line segment on the target track to be processed, constructs a smooth curve sampling point column, and performs time-space interpolation processing on each sampling point in time and space positions to optimize the smooth curve sampling point column. The redrawing module 850 uses the optimized smooth curve sampling point array as the new track of the target to be processed, and redraws the new track of the optimized target track.
In an optional embodiment, the determining the bessel control point according to the midpoint and the fixed ratio point of each track segment on the target track to be processed includes: calculating the middle point of each track segment on the target track to be processed, and making a vertical line of each track segment through the middle point of each track segment; constructing fixed ratio dividing points according to the track points and the calculated midpoints of the track line segments; and constructing Bessel control points for fixed ratio points in the target track to be processed and midpoints of two track line segments corresponding to the fixed ratio points in sequence.
In an alternative embodiment, the constructing a multi-segment smooth curve based on the bessel control points includes: constructing a first section of smooth curve by using a quadratic Bessel interpolation formula; constructing a middle section smooth curve by using a cubic Bezier interpolation formula, wherein the middle section smooth curve comprises a plurality of sections of smooth curves; and constructing a final section of smooth curve by using a quadratic Bessel interpolation formula.
In an alternative embodiment, the further fine tuning of the sliding curve according to the angle of the corner in the target track to be processed comprises the following steps: determining a corner point to be processed, and judging an angle formed between the corner point to be processed and two adjacent track line segments thereof so as to further determine a corner tension coefficient; updating the length of the first control line segment and the length of the second control line segment of the corner point to be processed according to the determined corner tension coefficient; and carrying out gentle fine tuning optimization treatment on the curve at the corner point to be treated according to the updated length of the first control line segment and the updated length of the second control line segment.
In an alternative embodiment, further comprising: connecting the constructed smooth curves end to end in sequence, removing the repeated points, and synthesizing the smooth curves into a smooth curve corresponding to the target track to be processed, namely constructing a Bezier curve corresponding to the target track to be processed; discrete sampling is carried out on the constructed Bezier curve to obtain a new sampling point array with a specified number, and the method specifically comprises the step of calculating the sampling point number of the corresponding Bezier curve on each track line segment.
In an alternative embodiment, the length of each track segment is positively linearly related to the number of sampling points of the bezier curve corresponding to each track segment.
In an alternative embodiment, the intervals [0,1] of the independent variable t of the corresponding bezier curve on each track segment are uniformly divided.
In an alternative embodiment, each track line segment is uniformly divided into a plurality of sub-line segments, and corresponding time on each sampling point is calculated by linear interpolation to obtain a time point queue.
In an alternative embodiment, the optimized smooth curve is used to replace the target track to be processed according to the position queue and the time queue of each point on the smooth curve after interpolation smoothing, so as to obtain a new curve of the optimized target track.
Note that, in the example of fig. 8, the smooth optimization method of the smooth fine adjustment of the moving target trajectory corner performed by the moving target trajectory smooth optimization system is substantially the same as the smooth optimization method of the smooth fine adjustment of the moving target trajectory corner in the example of fig. 1, and therefore, the description of the same portions is omitted.
Compared with the prior art, the smooth optimization method for smooth fine adjustment of the moving target track corner performs space-time interpolation processing simultaneously from the space position and time, specifically utilizes all track points of the moving target track which are pre-known in advance during playback, and performs interpolation type smooth processing on the target track to be processed (namely the moving target track) by adopting a Bessel interpolation method, so that the target track to be processed can be effectively optimized; by adjusting the corner tension coefficient (particularly reducing the corner tension coefficient), the smooth curve near the corner tends to be gentle, so that the display shake at the corner is reduced; by sampling the corresponding smooth curves in the track segments, the smooth processing of the vicinity of the turning is realized, the shaking problem of severe steering can be avoided, and the problems of visual jump, shaking and the like caused by insufficient sampling at the traditional corners can be effectively avoided.
The exemplary embodiments of the present invention have been particularly shown and described above. It is to be understood that this invention is not limited to the precise arrangements, instrumentalities and instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (9)
1. A smooth optimization method for gentle fine adjustment of a moving target track corner is characterized by comprising the following steps of
Adopting a Bezier interpolation method to carry out interpolation type smoothing on track point columns on a target track to be processed, determining Bezier control points according to midpoints and fixed ratio dividing points of track line segments on the target track to be processed, and constructing a plurality of sections of smooth curves based on the Bezier control points;
further fine-tuning the smooth curve according to the angle of the corner in the target track to be processed so as to enable the smooth curve change near the corner to be smooth, and specifically executing the following steps for fine-tuning smooth optimization processing of the target track to be processed: step S401, determining a corner point to be processed, and judging an angle formed between the corner point to be processed and two adjacent track line segments thereof so as to further determine a corner tension coefficient; step S402, updating the length of a first control line segment and the length of a second control line segment of the corner point to be processed according to the determined corner tension coefficient; step S403, performing gentle fine adjustment treatment on the curve at the corner point to be treated according to the updated length of the first control line segment and the updated length of the second control line segment;
constructing smooth curves on each section according to each track line section on the target track to be processed, sequentially connecting end to end, removing repeated points, and synthesizing a smooth curve corresponding to the target track to be processed;
Sampling and discretizing the smooth curve according to the length of each line segment on the target track to be processed, constructing a smooth curve sampling point row, and performing time-space interpolation processing on each sampling point in time and space positions to optimize the smooth curve sampling point row;
And adopting the optimized smooth curve sampling point array as a new track of the target to be processed, and redrawing to obtain a new curve of the optimized target track.
2. The smooth optimization method for gentle fine adjustment of a moving target track corner according to claim 1, wherein the determining a bezier control point according to a midpoint and a fixed ratio point of each track line segment on the target track to be processed comprises:
calculating the middle point of each track segment on the target track to be processed, and making a vertical line of each track segment through the middle point of each track segment;
constructing fixed ratio dividing points according to the track points and the calculated midpoints of the track line segments;
and constructing Bessel control points for fixed ratio points in the target track to be processed and midpoints of two track line segments corresponding to the fixed ratio points in sequence.
3. The smooth optimization method for gentle fine adjustment of a moving target track corner according to claim 1, wherein the constructing a multi-segment smooth curve based on bezier control points comprises:
constructing a first section of smooth curve by using a quadratic Bessel interpolation formula;
Constructing a smooth curve of a middle section by using a cubic Bessel interpolation formula, wherein the smooth curve of the middle section comprises a plurality of sections of smooth curves;
And constructing a final section of smooth curve by using a quadratic Bessel interpolation formula.
4. The smooth optimization method of gentle turning of a moving object trajectory according to claim 3, further comprising:
Connecting the constructed smooth curves end to end in sequence, removing the repeated points, and synthesizing the smooth curves into a smooth curve corresponding to the target track to be processed, namely constructing a Bezier curve corresponding to the target track to be processed;
Discrete sampling is carried out on the constructed Bezier curve to obtain a new sampling point array with a specified number, and the method specifically comprises the step of calculating the sampling point number of the corresponding Bezier curve on each track line segment.
5. The smooth optimizing method for gentle turning of moving object track according to claim 4, characterized in that,
The length of each track line segment is in positive linear correlation with the number of sampling points of the Bezier curve corresponding to each track line segment.
6. The smooth optimizing method for gentle turning of moving object track according to claim 4, characterized in that,
And uniformly dividing intervals of independent variables of corresponding Bezier curves on each track line segment.
7. The smooth optimizing method for gentle turning of moving object track according to claim 1 or 6, characterized in that,
And uniformly dividing each track line segment into a plurality of sub-line segments, and calculating the corresponding time on each sampling point by adopting linear interpolation to obtain a time queue.
8. The smooth optimization method for smooth fine adjustment of the corners of the moving target track according to claim 1, wherein the optimized smooth curve is used for replacing the target track to be processed according to the position queue and the time queue of each point of the target track to be processed on the smooth curve after interpolation smoothing, so as to obtain a new curve of the optimized target track.
9. A moving object trajectory smoothing optimization system, comprising:
The Bezier interpolation processing module is used for carrying out interpolation type smoothing processing on track point columns on the target track to be processed by adopting a Bezier interpolation method, determining Bezier control points according to the midpoint and fixed ratio dividing points of each track line segment on the target track to be processed, and constructing a plurality of sections of smooth curves based on the Bezier control points;
The fine adjustment processing module is used for further fine adjustment of the smooth curve according to the angle of the corner in the target track to be processed so as to enable the smooth curve near the corner to change gradually, and for fine adjustment smooth optimization processing of the target track to be processed, the following steps are specifically executed: step S401, determining a corner point to be processed, and judging an angle formed between the corner point to be processed and two adjacent track line segments thereof so as to further determine a corner tension coefficient; step S402, updating the length of a first control line segment and the length of a second control line segment of the corner point to be processed according to the determined corner tension coefficient; step S403, performing gentle fine adjustment treatment on the curve at the corner point to be treated according to the updated length of the first control line segment and the updated length of the second control line segment;
the duplication elimination processing module is used for sequentially connecting the end to end and eliminating repeated points according to each section of smooth curve constructed by each track segment on the target track to be processed, so as to synthesize a smooth curve corresponding to the target track to be processed;
The discrete sampling processing module is used for carrying out sampling discretization on the smooth curve according to the length of each line segment on the target track to be processed, constructing a smooth curve sampling point row, and carrying out time-space interpolation processing on each sampling point to optimize the smooth curve sampling point row;
and the redrawing module adopts the optimized smooth curve sampling point array as a new track of the target to be processed, and redraws the new track to obtain a new curve of the optimized target track.
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