CN104464015A - Telemeasuring data-driving lunar explorer real-time monitoring system and telemeasuring data-driving lunar explorer real-time monitoring method - Google Patents
Telemeasuring data-driving lunar explorer real-time monitoring system and telemeasuring data-driving lunar explorer real-time monitoring method Download PDFInfo
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Abstract
The invention relates to a telemeasuring data-driving lunar explorer real-time monitoring method. According to the method, a two-dimensional method is combined with a three-dimensional method to display a working scene of a lunar explorer and an effective load of the lunar explorer in real time, the science exploration of the lunar explorer and the effective load of the lunar explorer in a three-dimensional scene is driven by utilizing telemeasuring data, which are downloaded from a planet in real time, of the lunar explorer and the effective load, and important parameter information of the lunar explorer and the effective load of the lunar explorer can be displayed in the three-dimensional scene in real time by adopting a way of a two-dimensional panel. The invention relates to a telemeasuring data-driving real-time monitoring system. According to the method, the working state of the lunar explorer and the effective load of the lunar explorer can be more intuitively displayed, so that the working state of the lunar explorer and the effective load of the lunar explorer can be more conveniently acquired by the working personnel, and evidence can be provided for formulating a scientific exploration plan.
Description
Technical field
The present invention relates to telemonitoring technical field, more specifically, relating to lunar orbiter real-time monitoring system and the method for a kind of telemetry driving, for carrying out real time monitoring to the duty of lunar orbiter and useful load thereof.
Background technology
After the goddess in the moon's No. three rover are separated with lander, lunar surface carries out standalone probe.Ground is controlled rover by up-on command, and the useful load controlled in the direct of travel of rover and rover carries out scientific exploration.In order to obtain the detection event of rover on lunar surface, to monitor the working condition of rover on lunar surface, the telemetry that ground application system Real-time Obtaining is downloaded from rover, judges the duty of rover and the performance of detection mission according to telemetry.Go beyond the scope once rover state parameter and may cause danger or affect completing of detection mission, ground can adjust the state of rover in time, and rover and useful load thereof are worked in safe range.
Before the goddess in the moon's No. three lunar surface detection missions, China performs Chang'e I task (CE1) and Chang'e-2 task (CE2), complete the preliminary detection to lunar surface landform, Chang'e I and Chang'e-2 are around moon engineering, and what adopt the supervision of Chang'e I and Chang'e-2 is the supervision side of two dimension.Compared with No. one and No. two task goddess in the moon No. three tasks more complicated, the goddess in the moon's No. three rover have certain independent property (such as rover can complete automatic obstacle avoiding in conduct process), its state parameter quantity compared with Chang'e I and No. two huger, more complicated to the judgement of its state, therefore the method only adopting two dimension to monitor is not sufficient to meet the supervision to the goddess in the moon's No. three rover, the how state of real time monitoring rover and useful load thereof, and intuitively, be clearly presented in face of ground surveillance personnel, be exactly in the urgent need in the face of and solve a difficult problem.
Summary of the invention
For above-mentioned technical matters, a kind of lunar orbiter real-time monitoring system and method for telemetry driving are the object of this invention is to provide, to show the telemetry that lunar orbiter passes up and down in real time, intuitively, clearly monitor the state of described lunar orbiter and useful load thereof, and according to the output control of real time monitoring and adjustment loaded-up condition.
For achieving the above object, as one aspect of the present invention, the invention provides a kind of lunar orbiter real time monitoring method that telemetry drives, for carrying out real time monitoring to the duty of lunar orbiter and useful load thereof, comprising the following steps:
True Data is used the three-dimensional scenic residing for described lunar orbiter to be carried out to the initialization of 3-D display;
Key operations parameter and the key status parameters of described lunar orbiter and useful load duty thereof is reflected from the real-time telemetry extracting data about described lunar orbiter and useful load thereof received, wherein said key operations parameter is the default key parameter of the described lunar orbiter of reflection and useful load motion conditions thereof, and described key status parameters is the default key parameter showing described lunar orbiter and useful load duty thereof;
The mode real-time update of real-time rendering is adopted to show the situation of described lunar orbiter and useful load thereof.
Wherein, described key status parameters adopts the translucent two-dimentional form floated in three-dimensional scenic to show.
Wherein, the described real-time telemetry extracting data about described lunar orbiter from receiving reflects that described ground lunar orbiter and the key operations parameter of useful load duty and the step of key status parameters thereof comprise further:
Ground-based server termination receives the real-time telemetry data coming from described lunar orbiter, carries out solution frame, obtain telemetry parameters all in described real-time telemetry data according to described real-time telemetry data frame format;
From the described telemetry parameter parsed, extract the described lunar orbiter of reflection and useful load duty thereof key operations parameter and key status parameters form new data block;
Linear interpolation is carried out to described data block, by driving data block new for the data genaration one that obtains, sends to client.
Wherein, described server end adopts socket communication mode that data are passed to described client.
Wherein, described lunar orbiter is moonfall detector, residing environment is moonscape, the dimensional topography of the moon is carried out to the menology terrain graph data using Chang'e I, Chang'e-2 or the goddess in the moon No. three to obtain in initialized step, comprise and carry out the space photography measurement rear landform digital elevation data DEM of parsing and the landform image data DOM after geometry and spectrum are corrected.
Wherein, make the OSGDEM instrument that menology terrain data uses open source software VPB, and DEM and DOM data that resolution identical identical to scope are processed, and generate the menology dimensional topography file of corresponding IVE form.
As another aspect of the present invention, present invention also offers the lunar orbiter real-time monitoring system that a kind of telemetry drives, for carrying out real time monitoring to the duty of lunar orbiter and tool useful load, comprising:
True Data is used to carry out initialized device to the three-dimensional scenic residing for described lunar orbiter;
The key operations parameter of described lunar orbiter duty and the device of key status parameters is reflected from the real-time telemetry extracting data about described lunar orbiter and useful load thereof received, wherein said key operations parameter is the default key parameter reflecting described lunar orbiter motion conditions, and described key status parameters is the default key parameter showing described lunar orbiter duty;
The mode real-time update of real-time rendering is adopted to show the display device of described lunar orbiter and useful load situation thereof.
Wherein, described key operations parameter is used for driving the three-dimensional real-time scene in described display device to run.
Wherein, described key status parameters adopts the translucent two-dimentional form floated in three-dimensional scenic to show.
Can find out from technique scheme, the present invention extracts the lunar orbiter telemetry parameter that star passes up and down, only display and the closely-related important parameter of lunar orbiter duty, can the duty of clearer displaying lunar orbiter, improves the display efficiency of client simultaneously; The method that the present invention uses three peacekeeping two dimensions to combine illustrates the duty of lunar orbiter, compared with the display mode of pure two dimension, can show the lunar surface duty of lunar orbiter more intuitively.According to method of the present invention, can in real time, comprehensively, monitor the duty of lunar orbiter and useful load thereof intuitively, according to the result of real time monitoring, the survey plan of adjustment lunar orbiter and useful load thereof in time.
Accompanying drawing explanation
Fig. 1 is the system structural framework figure of lunar orbiter real-time monitoring system/method that telemetry of the present invention drives.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
The present invention is applicable to monitor in real time the duty of lunar orbiter and useful load thereof, for convenience of description, the present invention is specifically addressed for the real-time telemetry control method of monitoring process to lunar orbiter of the goddess in the moon's No. three rover (" Jade Hare number ").
The running parameter of all parts of rover and useful load thereof is contained in the telemetry parameter of the goddess in the moon's No. three rover, the state parameter such as position and attitude and temperature of rover and useful load thereof can be reflected, the telemetry parameter that rover and useful load thereof are correlated with has nearly thousand, kind and quantity various, in order to improve the efficiency of the three-dimensional display in real time of client and increase interpretability, the present invention screens telemetry parameter, only extract and wherein can judge that parameter (about 100) that rover and useful load duty thereof are relevant is as driving data, consider the intuitive of display and the convenience of method realization, these parameters are divided into following two classes by the present invention:
Key operations parameter is mainly used in the real time execution driving client three-dimensional scenic and 3D solid thereof, by checking the situation of the position and attitude of rover and useful load thereof in three-dimensional scenic, the motion conditions of rover and each mechanism of useful load thereof can be obtained intuitively, whether whether decision mechanism motion puts in place by the requirement operation of ground injection instruction, break down.
How key status parameters is mainly used in showing rover and the current duty of useful load thereof, whether equipment work is normal, whether the operating voltage of such as load is in normal range etc., and key status parameters usually all directly cannot embody and but has important references meaning to the duty interpretation of described detector and useful load thereof in three-dimensional scenic, therefore key status parameters is with the display of the form of two-dimentional form in client three-dimensional scenic, and ground monitoring personnel can select displaying contents as required.
By to the supervision of two type data above and interpretation, rover and the current duty of useful load thereof and detection event can be obtained, and adjust the mode of operation, running parameter, detected object etc. of rover and useful load thereof accordingly, and formulate next step survey plan.
Fig. 1 is the system construction drawing of the method for real-time monitoring that telemetry of the present invention drives, as shown in Figure 1, real-time monitoring system of the present invention adopts C/S model to realize, be made up of server end and client, server end uses Linux server to take remote measurement the reception of data and process, client uses graphics workstation as display client, the driving data that reception server end sends, and with the content of the form display data of realtime three dimensional animation and two-dimentional form, the communication module of server end and client realizes exchanges data by socket communication.
To monitor the detection mission of rover on the moon, the specific implementation process of real time monitoring method of the present invention is as follows:
(1) telemetry that passes up and down from rover of received server-side, and telemetry is processed, treatment step is as follows:
A) according to telemetry frame format, carry out solution frame, obtain telemetry parameters all in telemetry;
B) extract in the telemetry parameter analytically gone out and form new data block with rover and the closely-related important parameter of useful load running status thereof;
C) linear interpolation is carried out to data block: the time interval between the two frame telemetries that rover obtains is larger, need to carry out interpolation to it, make the three-dimensional scenic at client place run remarkable fluency.Server end uses linear interpolation, and temporally proportional logarithmic carries out linear interpolation according to block, carries out an interpolation every 30 milliseconds, generates a driving data block, and passes to client by socket.
(2) the three-dimensional scenic terrain data that client uses needs to make in advance, the menology terrain graph data that Chang'e I, Chang'e-2 or the goddess in the moon No. three can be used to obtain make, and comprise and carry out the rear landform digital elevation data (DEM) of parsing of space photography measurement and the landform image data (DOM) after geometry and spectrum are corrected.From DEM and DOM, intercept region near landing point as input data, the region that DEM and DOM intercepts wants strict corresponding, and is sampled into the view data of equal resolution, and resolution is higher, and the terrain data of generation is meticulousr, and the dimensional topography of generation is more careful.The OSGDEM instrument of open source software VPB (Virtual Planet Builder) is used in the present invention, and DEM and DOM data that resolution identical identical to scope are processed, and generate corresponding menology dimensional topography file (IVE form).
(3) after client terminal start-up, carry out initialization to three-dimensional scenic, client adopts OSG (the Open Scene Graph) render engine of increasing income create three-dimensional scenic and play up.Initialization content mainly comprises:
A) read menology three dimensional topographic data file (IVE form), be loaded into menology three-dimensional terrain model, IVE form is the binary data format of OSG, and the function using OSG to provide can read fast;
B) lander and rover model (* .flt form) is loaded;
C) load menology illumination and Shadow Parameters, the menology illumination special efficacy of initial time is played up;
D) based on above-mentioned data and state parameter, the menology three-dimensional environment of function to init state adopting OSG to provide is played up.
(4) after client initialization completes, connection request is sent to server end, connect with server end, the every 30ms of server end sends one group of driving data block to client, client carries out real-time rendering to scene after receiving new driving data block, and it is as follows that flow process is played up in client renewal:
A) after client receives driving data block, the driving data block received is carried out classification process, be divided into key operations parameter and key status parameters, and distribute, be respectively used to drive three-dimensional scenic rendering module to carry out the real-time update implementing to play up renewal and two-dimentional form.
B) the 3-D display module of client receives key operations parameter, triggers the display of three-dimensional scenic real-time update, mainly comprises three aspects: 1. calculate position in three-dimensional scenic of rover and useful load thereof and attitude according to key operations parameter; 2. lunar surface illumination and Shadow Parameters is calculated according to the position and attitude data etc. of the almanac data of the sun and the moon, rover and useful load; 3. according to the evolution relation of object in scene, upgrade and play up menology landform.
C) key status parameters mainly comprises the information such as voltage status, state of temperature, mode of operation of equipment, significant to the duty interpretation of rover and useful load thereof, these parameters adopt translucent bivariate table case form to show in three-dimensional scenic, every 30ms upgrades the parameter values in a form, keeps numerical value to be in last state.Key status parameters is divided into several independent forms by load type, facilitates show or hide, is convenient to check.The display format of key status parameters is as table 1.
Table 1 key status parameters table
| Parameter name | Parameter value |
| Parameter 1 title | Parameter 1 physical values |
| Parameter 2 title | Parameter 2 physical values |
| … | |
| Parameter n title | Parameter 3 physical values |
(5) specific implementation method that in above-mentioned client, in 3-D display module, the position and attitude parameter of rover is determined is as follows:
A) obtain the absolute geographic coordinate of menology of the last dormancy of rover, and be stored as txt file and read for client;
B) client's side link server end, the initial position of rover is read from the txt file of dormancy point, after starting to receive driving data, the positional information of rover relative to dormancy point is obtained from driving data, if the dormancy point position of rover is (x, y, z), the relative position in driving data is (dx, dy, dz), so can obtain the actual position coordinate of rover for (x+dx, y+dy, z+dz), the attitude parameter value of rover and useful load thereof can directly obtain by driving data, with the operation of rover in this more new scene.
As can be seen here, the present invention proposes a kind of to lunar orbiter, the method of the real time monitoring of such as rover and useful load thereof, it is characterized in that, the three-dimensional detection scene of the real-time telemetry data-driven lunar orbiter passed up and down with lunar orbiter, the mode adopting three-dimensional and two dimension to combine shows lunar orbiter and useful load thereof the duty at lunar surface in real time, on the one hand with the key status parameters of the mode of two-dimentional form explicitly lunar orbiter and useful load thereof, on the other hand by the real-time rendering of data-driven lunar orbiter at three-dimensional scenic, not only directly perceived but also comprehensively illustrate the task process of lunar orbiter.The method mainly comprises the following aspects:
(1) mode that present invention uses data-driven realizes supervision lunar orbiter being detected to scene, and adopt C/S (Client/Server) framework to build monitoring platform, its composition comprises: driving data, server end, client.Driving data content is the important parameter extracted in the telemetry passed from lunar orbiter, and server end is used for receiving telemetry and processing, and client is for generating the detection scene of dimensional topography and display lunar orbiter.Client and server end carries out data transmission by socket communication means.
(2) telemetry that passes down of server end real-time reception lunar orbiter, and these data are processed, concrete contents processing comprises: the form according to down-transmitting data frame carries out solution frame to telemetry frame, parse the physical parameter that telemetry comprises, and the parameter extracted wherein for driving client to run forms new data block, and interpolation is carried out to the data block of new composition.The speed passed down in real time due to telemetry is less than client refreshes speed, and server end carries out linear interpolation to two of extract real-time groups of data, and such as every 30ms sends one group of driving data to client, is consistent with the frequency of playing up of client.
(3) client and server end is connected by network, and carries out data transmission with socket communication mode.The every 30 milliseconds of driving data receiving one group of server end and pass over of client, two parts are divided into by content, a part is moved relevant to lunar orbiter and useful load thereof, for driving the 3-D display part of client, another part is relevant to lunar orbiter and useful load state thereof, shows in three-dimensional scenic in the mode of two-dimentional form.
(4) specific to the scene that lunar orbiter lands at lunar surface, lunar surface mainly contains landform, illumination, shade to lunar orbiter and the larger visual factor of useful load impact thereof, therefore client 3-D display partial content mainly comprises topography of lunar surface, lunar orbiter three-dimensional model, menology illumination and shade.Carry out renewal to three-dimensional scenic after client receives driving data to play up, the position and attitude of lunar orbiter model is upgraded according to driving data, and the shade coverage condition of menology solar irradiation and lunar orbiter and menology landform is upgraded according to the sun and moon ephemeris, the scene of lunar orbiter in a certain moment that menology detects can be shown really.
(5) the two-dimentional table section of above-mentioned client adopts transparent two-dimentional form to realize, the content of transparent form display can be configured according to actual task content, with keep interface and content succinct, and can carry out hiding operation to form, keep the maximum visual degree of three-dimensional scenic, client upgrades display table content after receiving driving data immediately, keeps content of parameter to be in up-to-date state.
(6) the menology real terrain data (comprising the Law of DEM Data (DEM) of parsing and digital orthoimage (DOM) data after geometry and spectrum are corrected after space photography is measured) that the present invention uses China's Chang'e I (CE1), Chang'e-2 (CE2) and the goddess in the moon No. three (CE3) to obtain make the menology terrain data in client, make the three-dimensional scenic in client have actual reference significance.
(7) the present invention uses the topographic database of increasing income to create the paged data storehouse that instrument VPB (Virtual PlanetBuilder) creates menology landform, use the osgdem instrument of VPB, be corresponding menology terrain data file (suffix is * .ive) by above-mentioned DEM and corresponding DOM data transformations, when client terminal start-up, be loaded into this menology terrain data document creation menology three-dimensional terrain model.
Real time monitoring method under driving with remote measurement of the present invention is corresponding, present invention also offers the real-time monitoring system under a kind of remote measurement driving, realizes object of the present invention by the real time monitoring method performed under above-mentioned remote measurement driving.Real-time monitoring system under remote measurement of the present invention drives comprises:
Receive and process in real time reception and the treating apparatus of telemetry;
The mode of real-time rendering is adopted to upgrade the display device showing described lunar orbiter situation.
Wherein, described device drives operation by telemetry;
Wherein, the real-time telemetry data of described reception are key operations parameter and the key status parameters of the described lunar orbiter of reflection and useful load duty thereof.
Wherein, key operations parameter is used for driving the three-dimensional real-time scene in display device to run.
Wherein, key status parameters adopts translucent two-dimentional form to show.
In sum, the invention provides the real-time monitoring system under a kind of remote measurement driving and method, according to the method, can in real time, comprehensively, monitor the duty of lunar orbiter and useful load thereof intuitively, according to the result of real time monitoring, the survey plan of adjustment lunar orbiter and useful load thereof in time.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a lunar orbiter real time monitoring method for telemetry driving, for carrying out real time monitoring to the duty of lunar orbiter and useful load thereof, comprises the following steps:
True Data is used the three-dimensional scenic residing for described lunar orbiter to be carried out to the initialization of 3-D display;
Key operations parameter and the key status parameters of described lunar orbiter and useful load duty thereof is reflected from the real-time telemetry extracting data about described lunar orbiter and useful load thereof received, wherein said key operations parameter is the default key parameter of the described lunar orbiter of reflection and useful load motion conditions thereof, and described key status parameters is the default key parameter showing described lunar orbiter and useful load duty thereof;
The mode real-time update of real-time rendering is adopted to show the situation of described lunar orbiter and useful load thereof.
2. the lunar orbiter real time monitoring method of telemetry driving according to claim 1, wherein said key status parameters adopts the translucent two-dimentional form floated in three-dimensional scenic to show.
3. the lunar orbiter real time monitoring method of telemetry driving according to claim 1, the wherein said real-time telemetry extracting data about described lunar orbiter from receiving reflects that the key operations parameter of described lunar orbiter and useful load duty thereof and the step of key status parameters comprise further:
Ground-based server termination receives the real-time telemetry data coming from described lunar orbiter, carries out solution frame, obtain telemetry parameters all in described real-time telemetry data according to described real-time telemetry data frame format;
From the described telemetry parameter parsed, extract the described lunar orbiter of reflection and useful load duty thereof key operations parameter and key status parameters form new data block;
Linear interpolation is carried out to described data block, by driving data block new for the data genaration one that obtains, sends to client.
4. the lunar orbiter real time monitoring method of telemetry driving according to claim 3, wherein said server end adopts socket communication mode that data are passed to described client.
5. the lunar orbiter real time monitoring method of telemetry driving according to claim 1, wherein said lunar orbiter is moonfall detector, residing environment is moonscape, the dimensional topography of the moon is carried out to the menology terrain graph data using Chang'e I, Chang'e-2 or the goddess in the moon No. three to obtain in initialized step, comprise and carry out the space photography measurement rear landform digital elevation data DEM of parsing and the landform image data DOM after geometry and spectrum are corrected.
6. the lunar orbiter real time monitoring method of telemetry driving according to claim 5, wherein make the OSGDEM instrument that menology terrain data uses open source software VPB, and DEM and DOM data that resolution identical identical to scope are processed, and generate the menology dimensional topography file of corresponding IVE form.
7. a lunar orbiter real-time monitoring system for telemetry driving, for carrying out real time monitoring to the duty of lunar orbiter and useful load thereof, comprising:
True Data is used to carry out initialized device to the three-dimensional scenic residing for described ground lunar orbiter;
The key operations parameter of described lunar orbiter duty and the device of key status parameters is reflected from the real-time telemetry extracting data about described lunar orbiter and useful load thereof received, wherein said key operations parameter is the default key parameter reflecting described lunar orbiter motion conditions, and described key status parameters is the default key parameter showing described lunar orbiter duty;
The mode real-time update of real-time rendering is adopted to show the display device of described lunar orbiter and useful load situation thereof.
8. the lunar orbiter real-time monitoring system of telemetry driving according to claim 7, wherein said key operations parameter is used for driving the three-dimensional real-time scene in described display device to run.
9. the lunar orbiter real-time monitoring system of telemetry driving according to claim 7, wherein said key status parameters adopts the translucent two-dimentional form floated in three-dimensional scenic to show.
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| CN116362045A (en) * | 2023-03-31 | 2023-06-30 | 中国科学院空间应用工程与技术中心 | Lunar geographic information system and lunar surface activity simulation method |
| CN116362045B (en) * | 2023-03-31 | 2024-02-06 | 中国科学院空间应用工程与技术中心 | Lunar geographic information system and lunar surface activity simulation method |
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