CN108595771A - Spacecraft equipment visual field analog analysing method - Google Patents
Spacecraft equipment visual field analog analysing method Download PDFInfo
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- CN108595771A CN108595771A CN201810262227.1A CN201810262227A CN108595771A CN 108595771 A CN108595771 A CN 108595771A CN 201810262227 A CN201810262227 A CN 201810262227A CN 108595771 A CN108595771 A CN 108595771A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
Abstract
The present invention relates to a kind of spacecraft equipment visual field analog analysing methods, including step：A. it utilizes three-dimensional artificial software to import spacecraft equipment model, completes the foundation of spacecraft equipment visual field sunykatuib analysis basic model；B. the principle point location and posture information of spacecraft equipment visual field are extracted；C. spacecraft equipment visual field analog video camera model is established in three-dimensional artificial software, and shade is set to each analog video camera, completes the simulation of each camera field of view angular region；D. the principle point location and posture information for utilizing spacecraft equipment visual field, each analog video camera that shade is arranged is loaded onto in spacecraft equipment visual field sunykatuib analysis basic model, completes the foundation of spacecraft equipment visual field sunykatuib analysis model；E. the two dimensional image at the first visual angle of analog video camera in three-dimensional artificial software is exported and is stored；F. pixel color is carried out to two dimensional image and compares analysis, statistics removes the region and masking ratio that the equipment visual field in the effective coverage of analog video camera shade is blocked.
Description
Technical field
The invention belongs to Spacecraft guidance and control technical fields, are related to the verification that the visual field after spacecraft equipment layout meets situation
Method, and in particular to a kind of spacecraft equipment visual field analog analysing method, for spacecraft equipment visual field be blocked region and
The quick analysis and calculating for the rate that is blocked.
Background technology
The equipment such as optical sensor, TT＆C antenna, radar are configured on spacecraft, are used for attitude measurement, communication, ranging etc.,
The certain angle range of these equipment requirement assigned directions cannot have other objects to block, and otherwise can influence the normal work of spacecraft
Make.Visual field is carried out to this kind of equipment and meets situation analysis, is the important component of configuration layouts' design of spacecraft.Boat at present
The three dimensional design of its device is carried out based on Three-dimensional Design Softwares such as ProE (the renaming as Creo of new edition), Catia, and use is this kind of
When software carries out blinding analysis, by designer using static threedimensional model analysis method, assembled in Three-dimensional Design Software
The nacelle model and device model of spacecraft, the cone model of loading equipemtn, the cone model are wanted sufficiently large, can be covered whole
The edge of a space flight is relied on the observation of vision, the interference situation of artificial judgment visual field cone model and other equipment by designer.
This method mainly has the disadvantage that：It is needed other equipment by designer's visual determination when analyzing individual equipment visual field
Cone model hide, each visual field is required to designer and does a large amount of rotation, zoom model operation, dry from all angles from
Situation is related to, and manual sectional drawing records, efficiency is low, and the analysis work that can not accomplish batch, automate, this method can not provide visual field
The ratio of the precise area and the rate that is blocked that are blocked.For the Large Spacecraft of space station type, combined by multiple spacecrafts
It forms, the visual field number of devices of each spacecraft is more, and assembly configuration is more, each new assembly configuration is required for reanalysing
All devices visual field meets situation, and heavy workload, the efficiency of manual analysis are low, error rate is high.
Therefore, it is badly in need of a kind of method, realizes automatically quickly analysis and the calculating of spacecraft equipment visual field.
Invention content
It is an object of the invention to solve the above problems, providing one kind can realize that the automation of spacecraft equipment visual field is quick
Analysis and the spacecraft equipment visual field analog analysing method calculated.
For achieving the above object, the present invention provides a kind of spacecraft equipment visual field analog analysing method, including following
Step：
A. the spacecraft equipment model built up by 3 d modeling software is imported using three-dimensional artificial software, is completed spacecraft and is set
The foundation of standby visual field sunykatuib analysis basic model；
B. the principle point location and posture information of spacecraft equipment visual field are extracted；
C. all kinds of spacecraft equipment visual field analog video camera models are established in three-dimensional artificial software, and are imaged to each simulation
Shade is arranged in machine, completes the simulation of each camera field of view angular region；
D. using the principle point location and posture information of the spacecraft equipment visual field of extraction, each simulation that shade is arranged is imaged
Machine is loaded onto in spacecraft equipment visual field sunykatuib analysis basic model, completes building for spacecraft equipment visual field sunykatuib analysis model
It is vertical；
E. the two dimensional image at the first visual angle of all analog video cameras in three-dimensional artificial software is exported and is stored；
F. pixel color is carried out to the two dimensional image and compares analysis, statistics removes the effective of each analog video camera shade
The region and masking ratio that equipment visual field in region is blocked.
According to an aspect of the present invention, in a steps, the spacecraft equipment model that is imported in three-dimensional artificial software
Only retain appearance information.
According to an aspect of the present invention, in the b step, spacecraft equipment visual field is exported by 3 d modeling software
Transformational relation of the principal point coordinate system relative to spacecraft cabin origin system, to obtain the principal point position of spacecraft equipment visual field
It sets and posture information.
According to an aspect of the present invention, each spacecraft equipment visual field principle point location information is defined by 3 floating numbers, each to navigate
Its device equipment visual field principal point posture information is defined by 9 floating numbers.
According to an aspect of the present invention, in the f steps, the analysis of individual element point is carried out to two dimensional image, is hidden
The pixel of cover portion point is not counted in statistics and calculates, and is blocked rate using pixel quantity ratio calculation visual field.
A scheme according to the present invention can be by program after spacecraft equipment visual field sunykatuib analysis model buildings
The automatic output for carrying out visual field the first multi-view image of video camera, does not need designer and is largely manually operated, the accuracy rate of analysis
With it is more efficient；In addition, the precise area that visual field is blocked and hundred can be accurately calculated in the above method according to the present invention
Divide ratio；The movement that the mechanism class equipment of spacecraft is set in three-dimensional artificial software, may be implemented mechanism class equipment moving process
Influence to visual field circumstance of occlusion.
A scheme according to the present invention can realize spacecraft equipment visual field sunykatuib analysis automation, mass export
Blinding analysis is as a result, solve that traditional artificial heavy workload, efficiency to spacecraft equipment blinding analysis is low, error rate is high
Problem.
Description of the drawings
Fig. 1 schematically shows the flow chart of spacecraft equipment visual field analog analysing method according to the present invention；
Fig. 2 schematically shows state diagram of the spacecraft model in Three-dimensional Design Software；
Fig. 3 schematically shows state diagram of the spacecraft model in three-dimensional artificial software；
Fig. 4 schematically shows the square taper field conditions figure formed after analog video camera shade；
Fig. 5 schematically shows the analog video camera structure chart of the side's of being formed taper visual field；
Fig. 6 schematically shows the conical field conditions figure formed after analog video camera shade；
Fig. 7 schematically shows to form the analog video camera structure chart of conical visual field；
Fig. 8 schematically shows the hemispherical field of view state diagram formed after analog video camera shade；
Fig. 9 schematically shows to form the analog video camera structure chart of hemispherical field of view；
Taper visual field the first visual angle state diagram of the sides of schematically showing Figure 10；
Figure 11 schematically shows the first visual angle state diagram of conical visual field；
Figure 12 schematically shows the visual field sunykatuib analysis result figure for the rate that is blocked using pixel quantity ratio calculation visual field；
Figure 13 schematically shows influence state diagram of the spacecraft solar wing motion process to star sensor circumstance of occlusion.
Specific implementation mode
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Needed in attached drawing be briefly described.It should be evident that the accompanying drawings in the following description is only some of the present invention
Embodiment for those of ordinary skills without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
When being described for embodiments of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
" rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", the orientation or positional relationship expressed by "outside" are to be based on phase
Orientation or positional relationship shown in the drawings is closed, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore above-mentioned term cannot
It is interpreted as limitation of the present invention.
The present invention is described in detail with reference to the accompanying drawings and detailed description, embodiment cannot go to live in the household of one's in-laws on getting married one by one herein
It states, but therefore embodiments of the present invention are not defined in following implementation.
Fig. 1 schematically shows the flow chart of spacecraft equipment visual field analog analysing method according to the present invention.Such as Fig. 1 institutes
Show, spacecraft equipment visual field analog analysing method according to the present invention includes the following steps：
A. the spacecraft equipment model built up by 3 d modeling software is imported using three-dimensional artificial software, is completed spacecraft and is set
The foundation of standby visual field sunykatuib analysis basic model；
B. the principle point location and posture information of spacecraft equipment visual field are extracted；
C. all kinds of spacecraft equipment visual field analog video camera models are established in three-dimensional artificial software, and are imaged to each simulation
Shade is arranged in machine, completes the simulation of each camera field of view angular region；
D. using the principle point location and posture information of the spacecraft equipment visual field of extraction, each simulation that shade is arranged is imaged
Machine is loaded onto in spacecraft equipment visual field sunykatuib analysis basic model, completes building for spacecraft equipment visual field sunykatuib analysis model
It is vertical；
E. the two dimensional image at the first visual angle of all analog video cameras in three-dimensional artificial software is exported and is stored；
F. pixel color is carried out to the two dimensional image and compares analysis, statistics removes the effective of each analog video camera shade
The region and masking ratio that equipment visual field in region is blocked.
A kind of embodiment according to the present invention, such as the spacecraft in the Three-dimensional Design Softwares such as ProE and Catia is set
Meter model is directed into Unity3D three-dimensional artificial softwares, and spacecraft equipment visual field analog video camera is completed in Unity3D softwares
Setting, the first multi-view image of each video camera of batch capture carries out sheltering analysis, is as follows based on this：
1) light-weight technologg is carried out to the spacecraft model in Three-dimensional Design Software, only retains appearance information, then by three
The file that dimension module is converted to obj formats is directed into Unity3D softwares, establishes visual field sunykatuib analysis model.Confirm after importing
Threedimensional model is consistent with the model under Unity3D scenes, ensures the correctness of simulating scenes.Fig. 2 and Fig. 3 schematically illustrates boat
Its state diagram of device model in Three-dimensional Design Software and the state diagram in three-dimensional artificial software.From the figure 3, it may be seen that spacecraft mould
Type only remains the appearance information of spacecraft model in Unity3D three-dimensional artificial softwares.
2) position of spacecraft equipment visual field principal point, posture information in Three-dimensional Design Software are extracted, and exports as txt formats
Information, including the x, y, z coordinate position of each visual field principal point and 3 × 3 attitude matrix.In the present embodiment, it is set in three-dimensional
It counts in model, needs the title for identifying equipment visual field principal point coordinate system in advance, such as " CSYS_SC_ "+device numbering, pass through
The mode of ProE secondary development, batch export Three Dimensional Design Model equipment visual field principal point coordinate system relative to nacelle origin system
Transformational relation, each equipment visual field principle point location information defines by 3 floating numbers, each equipment visual field principal point posture information by
9 floating number (3 × 3 matrix) definition.
3) various kinds of equipment visual field analog video camera model is established in Unity3D, by giving camera configuration specifically to hide
Cover, completes the simulation of visual field scope.In the present embodiment, Camera is established in Unity3D, according to equipment visual field can
Depending on range, the visible angle of Camera is defined, for non-rectangle visual field, needs to configure shade to Camera, to meet personalization
Visual field define demand, the Camera configured is converted to the precast body of Unity3D, title and the visual field equipment of precast body
Title corresponds, square taper, cone, spherical field of view and corresponding video camera respectively such as Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and
Shown in Fig. 9,1 in Fig. 7, Fig. 9 is video camera shade, and 2 be visual field effective coverage.
4) the 2) visual field principle point location, posture information derived from step is utilized, the visual field video camera of the 3) step is loaded onto the
1) in the blinding analysis basic model that step is established, the foundation of spacecraft equipment visual field sunykatuib analysis model is completed.
5) in Unity3D three-dimensional artificial softwares, the two dimensional image at all the first visual angles of visual field video camera is exported in batches, and
It is stored in corresponding file.In the present embodiment, the defeated of visual field the first multi-view image of video camera is set in Unity3D
Go out file, and export the image at all the first visual angles of visual field video camera, the image of output is with spacecraft equipment name nominating, figure
As black part be non-occluded area, as shown in Figure 10 and Figure 11.
6) it to the first multi-view image that 5) step is got, is analyzed, is counted using the mode that pixel color compares
In the effective coverage for removing shade, the quick analysis of spacecraft visual field is completed in the region and masking ratio that equipment visual field is blocked.
In the present embodiment, using third parties' tool such as OpenCV, to the image of the 5) step output, the analysis put pixel-by-pixel,
The pixel of shade part is not counted in statistics and calculates, and non-black subregion is the region that is blocked, and ater subregion is
De-occlusion region is blocked rate, as shown in figure 12 using pixel quantity ratio calculation visual field.
In addition, in Unity3D, the equipment moving mode for the class that sets up an organization, and set relevant device visual field video camera
Sampling step length, can be to show the sun during analysis institution's class equipment moving to the dynamic effects process of equipment visual field, Figure 13
Influence of the wing motion process to star sensor circumstance of occlusion.
The above method according to the present invention can be by program after spacecraft equipment visual field sunykatuib analysis model buildings
The automatic output for carrying out visual field the first multi-view image of video camera, does not need designer and is largely manually operated, the accuracy rate of analysis
With it is more efficient；In addition, the precise area that visual field is blocked and hundred can be accurately calculated in the above method according to the present invention
Divide ratio；The movement that the mechanism class equipment of spacecraft is set in Unity3D, may be implemented mechanism class equipment moving process to visual field
The influence of circumstance of occlusion.
The above method according to the present invention can realize spacecraft equipment visual field sunykatuib analysis automation, mass export
Blinding analysis is as a result, solve that traditional artificial heavy workload, efficiency to spacecraft equipment blinding analysis is low, error rate is high
Problem.
The foregoing is merely an embodiment of the invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of spacecraft equipment visual field analog analysing method, includes the following steps：
A. the spacecraft equipment model built up by 3 d modeling software is imported using three-dimensional artificial software, is completed spacecraft equipment and is regarded
The foundation of field stimulation analysis foundation model；
B. the principle point location and posture information of spacecraft equipment visual field are extracted；
C. all kinds of spacecraft equipment visual field analog video camera models are established in three-dimensional artificial software, and are set to each analog video camera
Shade is set, the simulation of each camera field of view angular region is completed；
D. using the principle point location and posture information of the spacecraft equipment visual field of extraction, each analog video camera that shade is arranged is added
It is loaded onto in spacecraft equipment visual field sunykatuib analysis basic model, completes the foundation of spacecraft equipment visual field sunykatuib analysis model；
E. the two dimensional image at the first visual angle of all analog video cameras in three-dimensional artificial software is exported and is stored；
F. pixel color is carried out to the two dimensional image and compares analysis, statistics removes the effective coverage of each analog video camera shade
The region and masking ratio that interior equipment visual field is blocked.
2. spacecraft equipment visual field analog analysing method according to claim 1, which is characterized in that in a steps,
The spacecraft equipment model imported in three-dimensional artificial software only retains appearance information.
3. spacecraft equipment visual field analog analysing method according to claim 1, which is characterized in that in the b step,
Conversion of the spacecraft equipment visual field principal point coordinate system relative to spacecraft cabin origin system is exported by 3 d modeling software
Relationship, to obtain the principle point location and posture information of spacecraft equipment visual field.
4. spacecraft equipment visual field analog analysing method according to claim 3, which is characterized in that each spacecraft equipment regards
Field principle point location information is defined by 3 floating numbers, and each spacecraft equipment visual field principal point posture information is defined by 9 floating numbers.
5. spacecraft equipment visual field analog analysing method according to claim 1, which is characterized in that in the f steps,
The analysis of individual element point is carried out to two dimensional image, the pixel of shade part is not counted in statistics and calculates, and uses pixel quantity
Ratio calculation visual field is blocked rate.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113916236A (en) * | 2021-10-13 | 2022-01-11 | 北京卫星环境工程研究所 | Spacecraft panoramic view navigation method based on three-dimensional physical model |
| GB2598110A (en) * | 2020-08-18 | 2022-02-23 | Daimler Ag | A method for verifying a mounting position of a lidar sensor device on a motor vehicle by an electronic computing device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2598110A (en) * | 2020-08-18 | 2022-02-23 | Daimler Ag | A method for verifying a mounting position of a lidar sensor device on a motor vehicle by an electronic computing device |
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