CN110532704A - A kind of dynamic date acquisition methods and device - Google Patents
A kind of dynamic date acquisition methods and device Download PDFInfo
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Abstract
This application provides a kind of dynamic date acquisition methods and device, method includes: the dynamic date under the coordinate system of acquisition source；Determine target-based coordinate system；Obtain the transformation matrix of coordinates between the source coordinate system and the target-based coordinate system；Using the transformation matrix of coordinates, the dynamic date under the source coordinate system is handled, the dynamic date under the target-based coordinate system is obtained.As it can be seen that in the application the dynamic date that acquire under different coordinates can be converted using coordinate without re-starting dynamic experiment, to save consumption duration, and then the efficiency of data acquisition is improved.
Description
Technical field
This application involves technical field of simulation control, in particular to a kind of dynamic date acquisition methods and device.
Background technique
During the Control System Design of the objects such as aircraft and ship, the mode for generalling use mathematical simulation is set
Meter and verifying.Emulation premise is exactly to carry out mathematical modeling to controlled device ontology such as unmanned plane or ship etc..And in modeling process
In, the dynamic date by the corresponding controlled device ontology of the offers such as dynamic experiment such as aerodynamic force or hydrodynamic experiment is needed, in turn
These dynamic dates could be imported into the emulation of control system.Wherein, dynamic date can be divided into power ginseng according to purposes
Number data and kinetic moment supplemental characteristic, two class data respectively result from a determining coordinate system.
In design of Simulation, it usually needs the dynamic date under a variety of coordinate systems is provided.Currently, in order to obtain a variety of differences
Dynamic date under coordinate system, it usually needs repeatedly carried out repeating dynamic experiment according to different coordinate systems, can just obtain difference
Dynamic date under coordinate system.
But repeat dynamic experiment and generally require consumption longer time, cause to obtain dynamic date under different coordinates
Efficiency it is lower.
Summary of the invention
In view of this, the application's is designed to provide a kind of dynamic date acquisition methods and device, it is existing to solve
The lower technical problem of the efficiency of the dynamic date under different coordinates is obtained in technology.
This application provides a kind of dynamic date acquisition methods, comprising:
Dynamic date under the coordinate system of acquisition source；
Determine target-based coordinate system；
Obtain the transformation matrix of coordinates between the source coordinate system and the target-based coordinate system；
Using the transformation matrix of coordinates, the dynamic date under the source coordinate system is handled, the target is obtained
Dynamic date under coordinate system.
The above method, optionally it is determined that target-based coordinate system, comprising:
According to the dynamic date under emulation demand and the source coordinate system, at least one expanded- angle is determined；
Determine the corresponding target-based coordinate system of each expanded- angle.
The above method optionally according to the dynamic date under emulation demand and the source coordinate system, determines at least one expansion
Open up angle, comprising:
According to the dynamic date under emulation demand and the source coordinate system, extension dimension and the extension dimension pair are determined
The dimension spreading range answered；
According to the dimension spreading range and preset value interval, expanded- angle is determined.
The above method, optionally, further includes:
According to the simulation result under the target-based coordinate system, the value interval is adjusted；
Using the dimension spreading range and value interval adjusted, expanded- angle is redefined, it is every to redefine
The corresponding target-based coordinate system of a expanded- angle.
The above method, optionally, further includes:
Using preset interpolation algorithm, data fitting is carried out to the dynamic date under the target-based coordinate system, obtains data
Fitting result；
According to emulation demand, interpolation index value is determined；
Based on the interpolation index value, emulation kinetic parameter is searched in the data fitting result.
Present invention also provides a kind of dynamic date acquisition device, comprising:
Data acquiring unit, for obtaining the dynamic date under the coordinate system of source；
Coordinate system determining unit, for determining target-based coordinate system；
Matrix obtaining unit, for obtaining the transformation matrix of coordinates between the source coordinate system and the target-based coordinate system；
Coordinate transformation unit carries out the dynamic date under the source coordinate system for utilizing the transformation matrix of coordinates
Processing, obtains the dynamic date under the target-based coordinate system.
Above-mentioned apparatus, optionally, the coordinate system determining unit includes:
Angle determines subelement, for determining at least one according to the dynamic date under emulation demand and the source coordinate system
A expanded- angle；
Target determines subelement, for determining the corresponding target-based coordinate system of each expanded- angle.
Above-mentioned apparatus, optionally, the angle determine that subelement is specifically used for: according to emulation demand and the source coordinate system
Under dynamic date, determine the extension dimension and corresponding dimension spreading range of the extension dimension；It is extended according to the dimension
Range and preset value interval, determine expanded- angle.
Above-mentioned apparatus, optionally, further includes:
Interval adjustment unit, for being adjusted to the value interval according to the simulation result under the target-based coordinate system
It is whole, so that the angle determines that subelement using the dimension spreading range and value interval adjusted, redefines expansion
Angle is opened up, and the target is made to determine that subelement redefines the corresponding target-based coordinate system of each expanded- angle.
Above-mentioned apparatus, optionally, further includes:
Data fitting unit carries out the dynamic date under the target-based coordinate system for utilizing preset interpolation algorithm
Data fitting, obtains data fitting result；
Parameter searching unit, for determining interpolation index value according to emulation demand；Based on the interpolation index value, in institute
It states and searches emulation kinetic parameter in data fitting result.
As it can be seen from the above scheme being sat in a kind of dynamic date acquisition methods provided by the present application and device in the source that gets
After dynamic date under mark system, after determining target-based coordinate system and corresponding transformation matrix of coordinates, coordinate transform is utilized
Matrix handles the dynamic date under the coordinate system of source, and then obtains the dynamic date under target-based coordinate system.As it can be seen that the application
In without re-starting dynamic experiment dynamic date under different coordinates can be acquired using coordinate conversion matrix, from
And consumption duration is saved, and then improve the efficiency of data acquisition.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart for dynamic date acquisition methods that the embodiment of the present application one provides；
Fig. 2 and Fig. 3 is respectively a kind of partial process view for dynamic date acquisition methods that the embodiment of the present application one provides；
Fig. 4 is a kind of structural schematic diagram for dynamic date acquisition device that the embodiment of the present application two provides；
Fig. 5-Fig. 7 is respectively a kind of part-structure signal for dynamic date acquisition device that the embodiment of the present application two provides
Figure；
Fig. 8-Figure 12 is respectively the application exemplary diagram of the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
It is a kind of implementation flow chart of dynamic date acquisition methods provided by the embodiments of the present application with reference to Fig. 1, this method is suitable
For be able to carry out emulation data processing computer or server in, to realize to dynamic date needed for design of Simulation into
Row obtains.
Specifically, the method in the present embodiment may comprise steps of:
Step 101: obtaining the dynamic date under the coordinate system of source.
Wherein, source coordinate system can be understood as coordinate system intrinsic in aerodynamic force or hydrodynamic experiment, pass through power
Obtained dynamic date is the pneumatic or hydrodynamic(al) data under the coordinate system of source after experiment.For example, source coordinate system can be speed
Any one in coordinate system, body coordinate system, earth coordinates, trajectory coordinates system etc..
It should be noted that dynamic date can be divided into kinetic parameter data and kinetic moment supplemental characteristic according to purposes, two
Class data respectively result from determining source coordinate system.Dynamic date in the present embodiment can be in the form of data form
Existing, each data point in data form both corresponds to different dynamic conditions, such as Mach number, the angle of attack, yaw angle, different
Correspond to different family's data under dynamic condition.
Step 102: determining target-based coordinate system.
Wherein, target-based coordinate system refers to the target-based coordinate system for the coordinate system of source, that is, needs dynamic date to convert
Target-based coordinate system, for example, target-based coordinate system can be velocity coordinate system, body coordinate system, earth coordinates, trajectory coordinates system
Any one coordinate system in addition to the coordinate system of source.
Specifically, target-based coordinate system can be determined based on the actual needs of design of Simulation in the present embodiment, for example, power is real
Testing is carried out based on velocity coordinate system, correspondingly, dynamic date is the dynamic date under velocity coordinate system, and in aircraft and
In the Control System Imitation design of the objects such as ship, it is also necessary to the dynamic date under trajectory coordinates system or body coordinate system, at this point,
It determines trajectory coordinates system or body coordinate system is target-based coordinate system.
Step 103: obtaining the transformation matrix of coordinates between target-based coordinate system and source coordinate system.
Wherein, transformation matrix of coordinates is by dynamic date from the matrix of source coordinate system converting into target coordinate system, this reality
Corresponding transformation matrix of coordinates can be obtained by the actual needs in design of Simulation by applying in example.
Step 104: utilizing transformation matrix of coordinates, the dynamic date under the coordinate system of source is handled, coordinates of targets is obtained
Dynamic date under system.
Specifically, can be by the dynamic date and transformation matrix of coordinates progress matrix meter under the coordinate system of source in the present embodiment
It calculates, and then by under the dynamic date converting into target coordinate system under the coordinate system of source, obtains the dynamic date under target-based coordinate system.
As it can be seen from the above scheme getting source in a kind of dynamic date acquisition methods that the embodiment of the present application one provides
After dynamic date under coordinate system, after determining target-based coordinate system and corresponding transformation matrix of coordinates, become using coordinate
It changes matrix and the dynamic date under former coordinate system is subjected to coordinate conversion, and then obtain the dynamic date under target-based coordinate system.As it can be seen that
The dynamic date that acquire under different coordinates can be converted using coordinate without re-starting dynamic experiment in the present embodiment,
To save consumption duration, and then improve the efficiency of data acquisition.
In one implementation, step 102 can specifically be accomplished by the following way when determining target-based coordinate system,
It is as shown in Figure 2:
Step 201: according to the dynamic date under emulation demand and source coordinate system, determining at least one expanded- angle.
Wherein, expanded- angle can be one, or multiple.
Specifically, in a specific embodiment, step 201 can be accomplished by the following way:
Firstly, determining that extension dimension and extension dimension are corresponding according to the dynamic date under emulation demand and source coordinate system
Dimension spreading range.For example, the emulation demand during actual emulation includes the dimensions such as Mach number, the angle of attack, yaw angle, in conjunction with
The existing dimension of dynamic date under the coordinate system of source, it may be determined that extension dimension, as determination has in Mach number or the angle of attack or yaw angle
Etc. the demand that is extended in dimensions.Then dimension spreading range corresponding in the case where extending dimension is determined according to emulation demand, as-
20 degree of angle of attack angle spread ranges etc. to+20 degree.
Specifically, can be under the guidance of emulation demand, based in the dynamic date under the coordinate system of source in the present embodiment
Parameter is constituted to determine extension dimension, for example, if without required in emulation demand in dynamic date under the coordinate system of source
Angle of attack parameter, then can determine the extension dimension that extension dimension is the angle of attack in the present embodiment and determine corresponding angle of attack extension
Range；If lacking required sideslip angular dimensions, the present embodiment in emulation demand in the dynamic date under the coordinate system of source
In can determine extension dimension that extension dimension is yaw angle and determine corresponding yaw angle spreading range.
Later, according to dimension spreading range and preset value interval, expanded- angle is determined.Wherein, value interval is big
It is small rule of thumb data to be arranged, such as the big of value interval is set according to working experience or empirical data by staff
It is small, correspondingly, the number of identified expanded- angle is extended by dimension in dimension spreading range after value interval determines
Range and the size at value interval determine.For example, in the angle spread range of -20 degree to+20 degree, according to 2 degree take
Value interval carries out value, obtains 21 expanded- angles.
Step 202: determining the corresponding target-based coordinate system of each expanded- angle.
Wherein, when having dimension to extend demand, the corresponding target-based coordinate system of each expanded- angle is simulated object specific
Corresponding coordinate system under posture.It is multiple in the expanded- angle determined according to dimension spreading range and preset value interval
When, a kind of corresponding simulated object corresponding coordinate system under particular pose of each expanded- angle, i.e., multiple expanded- angle difference
Corresponding different posture.Certainly, when the demand of emulation is only to emulate a posture of simulated object, corresponding expanded- angle
Only one, does not need the assistance at preset value interval when determining expanded- angle at this time yet.Power under the coordinate system of source
It when data are unsatisfactory for emulation demand due to lacking dimension, is extended by dimension, can solve the problems, such as this, it is final achievable various imitative
True demand.
In another implementation, in step 102 when determining target-based coordinate system, just according to emulation demand and source coordinate
Dynamic date under system, to determine target-based coordinate system, without carrying out angle spread in extension dimension, at this point, coordinates of targets
System can be any one in addition to the coordinate system of source in velocity coordinate system, body coordinate system, earth coordinates, trajectory coordinates system etc.
Kind coordinate system.
Correspondingly, step 103 is obtaining target-based coordinate system and source coordinate after determining target-based coordinate system in a step 102
When transformation matrix of coordinates between system, can specifically it be accomplished by the following way:
Firstly, the transformation angle value between target-based coordinate system and source coordinate system is obtained, such as the transformation angle value in Eulerian angles:
Nutational angle, angle of precession and angle value of angle of rotation etc., transformation angle value here can be based in design of Simulation to coordinates of targets
It is the angular transformation demand between the coordinate system of source to determine.
Later, based on transformation angle value, corresponding transformation matrix of coordinates is generated using preset transformation matrix formula.
Wherein, in one implementation, preset transformation matrix formula can be determined based on Euler's rotation theorem, benefit
Transformation matrix formula is determined with Euler's rotation, and then generates corresponding transformation matrix of coordinates using transformation angle value.For example,
Transformation matrix of coordinates in the present embodiment can be as follows:
Wherein, X`, Y`, Z` are the dynamic date under the coordinate system of source, i.e. dynamic date before coordinate transform, X, Y, Z is
Dynamic date under target-based coordinate system, i.e. dynamic date after coordinate transform, Eulerian angles θ, φ, ψ are source coordinate system and target
Euler's transformation angle between coordinate system.Specifically, the coordinate system according to representated by X`, Y`, Z` is different in the present embodiment, it will
Source data corresponds on the position X`, Y`, Z`, later, by the conversion angle demand between source coordinate system and target-based coordinate system, really
Determine Eulerian angles θ, φ, ψ, and then generate corresponding transformation matrix of coordinates, the coordinate system for dynamic date is converted.
In one implementation, the method in the present embodiment can also include the following steps, as shown in Figure 3:
Step 105: utilizing preset interpolation algorithm, data fitting is carried out to the dynamic date under target-based coordinate system, is obtained
Data fitting result.
Wherein, interpolation algorithm can be real for such as linear interpolation algorithm, quadratic interpolation algorithm, Amire spy's interlude method
It is existing.Correspondingly, being obtained under target-based coordinate system after carrying out data fitting to dynamic date using interpolation algorithm in the present embodiment
The data fitting result of continuous feature is presented.
Step 106: according to emulation demand, determining interpolation index value.
For example, according to the demand during actual emulation, the demand that such as needs to be emulated in angle of attack dimension or
The demand emulated on yaw angle determines one group of angle of attack index value or yaw angle index value as interpolation index value.
Step 107: being based on interpolation index value, in data fitting result, search emulation kinetic parameter.
Specifically, can thus search target using interpolation index value as the input of data fitting result in the present embodiment
Emulation kinetic parameter under coordinate system in data fitting result.The emulation kinetic parameter can be used for carrying out emulation experiment, obtain
To simulation result.By way of interpolation, the no dynamic date in coordinate transform front and back can be obtained, meet more emulation need
It asks.
In another implementation, it can also be fitted without the data of interpolation algorithm in the present embodiment, it can basis
Emulation demand, the dynamic date after determining the lookup variable of a target angle of attack or yaw angle, under target-based coordinate system
Middle to search corresponding emulation kinetic parameter, which can be used for carrying out emulation experiment, obtain simulation result.
In practical applications, value interval can be adjusted for size according to demand.
Specifically, after obtaining the dynamic date under target-based coordinate system or can be obtained by data in the present embodiment
After data fitting result after fitting, moved by the dynamic date under target-based coordinate system or by the emulation that interpolation index is found
Force parameter is input in simulation model, obtains simulation result.
Later, value interval is adjusted according to the simulation result under target-based coordinate system in the present embodiment.For example,
If the emulation index in simulation result cannot reach requirement, it can accordingly adjust value interval and increase or reduce, later,
Dimension spreading range and value interval adjusted are recycled, redefines expanded- angle, and then redefine each extended corner
Spend corresponding target-based coordinate system.Correspondingly, can accordingly make under target-based coordinate system after redefining target-based coordinate system
Corresponding transformation occurs for dynamic date, as a result, after re-starting emulation, checks whether simulation result meets the requirements, if
Requirement is still not satisfied, then can continue to adjust value interval or readjust expanded- angle range, if simulation result
It has been met the requirements that, just no longer need to the adjustment for carrying out value interval at this time.
With reference to Fig. 4, for a kind of structural schematic diagram for dynamic date acquisition device that the embodiment of the present application two provides, the device
Suitable for the computer or server for being able to carry out emulation data processing, to realize to dynamic date needed for design of Simulation
It is obtained.
Specifically, the device in the present embodiment may include with flowering structure:
Data acquiring unit 401, for obtaining the dynamic date under the coordinate system of source.
Wherein, source coordinate system can be understood as coordinate system intrinsic in dynamic experiment, in the gained after dynamic experiment
To dynamic date be data under the coordinate system of source.For example, source coordinate system can be velocity coordinate system, body coordinate system, big
Any one in ground coordinate system, trajectory coordinates system etc..
It should be noted that dynamic date can be divided into kinetic parameter data and kinetic moment supplemental characteristic according to purposes, two
Class data respectively result from determining source coordinate system.Dynamic date in the present embodiment can be in the form of data form
Existing, each data point in data form both corresponds to different dynamic conditions, such as Mach number, the angle of attack, yaw angle, different
Correspond to different family's data under dynamic condition.
Coordinate system determining unit 402, for determining target-based coordinate system.
Wherein, target-based coordinate system refers to the target-based coordinate system for the coordinate system of source, that is, needs dynamic date to convert
Target-based coordinate system, for example, target-based coordinate system can be velocity coordinate system, body coordinate system, earth coordinates, trajectory coordinates system
Any one coordinate system in addition to the coordinate system of source.
Specifically, target-based coordinate system can be determined based on the actual needs of design of Simulation in the present embodiment, for example, power is real
Testing is carried out based on velocity coordinate system, correspondingly, dynamic date is the dynamic date under velocity coordinate system, and in aircraft and
In the Control System Imitation design of the objects such as ship, it is also necessary to the dynamic date under trajectory coordinates system or body coordinate system, at this point,
It determines trajectory coordinates system or body coordinate system is target-based coordinate system.
Matrix obtaining unit 403, for obtaining the transformation matrix of coordinates between target-based coordinate system and source coordinate system.
Wherein, transformation matrix of coordinates is by dynamic date from the matrix of source coordinate system converting into target coordinate system, this reality
Corresponding transformation matrix of coordinates can be obtained by the actual needs in design of Simulation by applying in example.
Coordinate transformation unit 404, for handling the dynamic date under the coordinate system of source using transformation matrix of coordinates,
Obtain the dynamic date under target-based coordinate system.
Specifically, can be by the dynamic date and transformation matrix of coordinates progress matrix meter under the coordinate system of source in the present embodiment
It calculates, and then by under the dynamic date converting into target coordinate system under the coordinate system of source, obtains the dynamic date under target-based coordinate system.
As it can be seen from the above scheme getting source in a kind of dynamic date acquisition device that the embodiment of the present application two provides
After dynamic date under coordinate system, after determining target-based coordinate system and corresponding transformation matrix of coordinates, become using coordinate
It changes matrix and the dynamic date under former coordinate system is subjected to coordinate conversion, and then obtain the dynamic date under target-based coordinate system.As it can be seen that
The dynamic date that acquire under different coordinates can be converted using coordinate without re-starting dynamic experiment in the present embodiment,
To save consumption duration, and then improve the efficiency of data acquisition.
In one implementation, coordinate system determining unit 402 may include with flowering structure, as shown in Figure 5:
Angle determines subelement 421, for determining at least according to the dynamic date under emulation demand and the source coordinate system
One expanded- angle；
Wherein, angle determines that subelement 421 is specifically used for: according to the power number under emulation demand and the source coordinate system
According to determining extension dimension and the corresponding dimension spreading range of the extension dimension；According to the dimension spreading range and preset
Value interval, determine expanded- angle.
Target determines subelement 422, for determining the corresponding target-based coordinate system of each expanded- angle.
Wherein, when expanded- angle is multiple, the corresponding target-based coordinate system of each expanded- angle is simulated object not
With coordinate system corresponding under posture.
In one implementation, the device in the present embodiment can also include with flowering structure, as shown in Figure 6:
Data fitting unit 405, for utilize preset interpolation algorithm, to the dynamic date under the target-based coordinate system into
The fitting of row data, obtains data fitting result；
Parameter searching unit 406, for determining interpolation index value according to emulation demand；Based on the interpolation index value, In
Emulation kinetic parameter is searched in the data fitting result.
In one implementation, the realization structure based on coordinate system determining unit 402 in Fig. 5, the dress in the present embodiment
Setting can also include with flowering structure, as shown in Figure 7:
Interval adjustment unit 407, for being carried out to the value interval according to the simulation result under the target-based coordinate system
Adjustment, so that the angle determines that subelement 421 utilizes the dimension spreading range and value interval adjusted, again really
The fixed expanded- angle, so that the target determines that subelement 422 redefines the corresponding target of each expanded- angle
Coordinate system.
Below by taking controlled device main body is flight control design of Simulation as an example, in conjunction with the acquisition process in Fig. 8,
It is illustrated to the implementation for emulating the dynamic date under required different coordinates is obtained in this case:
As shown in figure 8, being broadly divided into process performed below in this case:
It successively carries out original dynamic date and arranges and import dynamic date, confirmation source coordinate system and target-based coordinate system, true
Recognize transformation angle value, converted according to Euler matrivx, generate interpolating module it is spare after, complete data acquisition.
Wherein, the dynamic date of certain fixed coordinate system is as shown in Figure 9, which is two-dimensional interpolation tables of data, according to
It is that interpolation index value carries out interpolation according to Mach number and the angle of attack, obtains the kinetic parameter uniquely determined by Mach number and the angle of attack.It should
Coordinate system where group dynamic date is that velocity coordinate system will be utilized when needing to apply the dynamic date in body coordinate system
Kinetic parameter, is transformed into body coordinate system by Eulerian angles by Euler's rotation in a certain order.Between Two coordinate system
Relationship can be described by transformation matrix, can also complete to convert by transformation matrix, wherein transformation matrix is coordinate change hereinbefore
Change matrix.
Specifically, for having a certain group kinetic moment parameter number of the dimension such as by Mach number as unique index condition
According to as shown in the curve synoptic diagram of the kinetic moment supplemental characteristic of a dimension in Figure 10, wherein lateral coordinates indicate horse in Figure 10
Conspicuous number, kinetic moment supplemental characteristic under the conditions of longitudinal coordinate is indicated when angle of attack ALF2 is 0 using Mach number as unique index
mx2.When such as needing to obtain the data under the different angles of attack in design of Simulation at this time, kinetic moment supplemental characteristic will be unable to meet need
It asks.And in the present embodiment, dimension extension is carried out to kinetic moment supplemental characteristic by the method for Euler's angular transformation, select 0,2,4,6,
8,10 degree are angle of attack transformed value, the dynamic date under the conditions of available one group of difference angle of attack, such as moving for dimensions multiple in Figure 11
Shown in the curve synoptic diagram of torque supplemental characteristic, wherein lateral coordinates indicate Mach number, the longitudinal coordinate of a plurality of curve in Figure 11
Kinetic moment supplemental characteristic mx2 under the conditions of expression under the different angles of attack using Mach number as index.Correspondingly, expanding completing data
Zhan Hou can use Software Create interpolating module, and index variables are two dimensions of Mach number and the angle of attack, as shown in Figure 12, point
The input of Mach number and the angle of attack is not indicated with u1 and u2.
It is summarized as follows the step of realizing kinetic parameter coordinate transform processing in the present embodiment as a result:
Step 1: obtaining the original pneumatic dynamic date of TXT text formatting, and confirm the source coordinate where source data
System.
Step 2: determining the target to be converted of dynamic date according to the needs for carrying out motion simulation under different coordinates
Coordinate system.And the transformation angle value between source coordinate system and target-based coordinate system is provided, it is obtained only according to foregoing transformation Matrix Formula
One transformation matrix determined.
Step 3: completing coordinate transform by transformation calculations formula.
In practical applications, it may be necessary to it carries out data dimension and extends to complete coordinate transform, it specifically, can be according to data
Dimension extension needs, and the transformation angle value of one group of confirmation in a certain range (such as mentions in the range of -20 ° to 20 ° of angle of attack direction
For one group with 2 ° of transformation angles for interval), calculating is coordinately transformed to each transformation angle, obtains one group of new data.
For example, be only capable of calculating aircraft longitudinal characteristic when being emulated in the only angle of attack and Mach number dimension, such as need into
When row transverse movement is analyzed, need to increase yaw angle dimension, as one of institute's dependent variable.
Step 4: by new data using the methods of linear interpolation, quadratic interpolation, Amire spy's interpolation in data interpolating into
The fitting of row data, generates new interpolating module, under normal circumstances, linear interpolation or quadratic interpolation is selected when limited calculated amount
Can, if not only thinking the stabilization of holding curve, but also want to guarantee in junction smooth enough, Amire spy interpolation method can be used,
But calculation amount can be larger at this time.So far, kinetic parameter index dimension is increased, data processing is completed, and data fitting result is obtained.
Later, it can be emulated according to fitting result.
As it can be seen that in the present embodiment by dynamic date by Euler's transformation can complete velocity coordinate system, body coordinate system,
The conversion of any Two coordinate system between earth coordinates, trajectory coordinates system.Moreover, when coordinate is converted for a certain in the present embodiment
Eulerian angles choose multiple values and complete a certain range of conversion, former data can be increased to one-dimensional interpolation index, to make up former data
The single or insufficient situation of index condition.
In the concrete realization, the application is for the kinetic parameter tabular data under intrinsic a certain fixed coordinate system, energy
It is enough to pass through selection source coordinate system and target-based coordinate system in design of Simulation, a variety of coordinate transforms can be efficiently rapidly performed by,
Obtain the pneumatic or hydrodynamic(al) data under different coordinates.Further, former data can be increased interpolation index dimension by the application,
New dynamic date is constructed, the single deficiency of former data dimension can be made up to a certain extent, to keep emulation more quasi-
Really, the performance of Control System Design is improved.Applicable object can be aircraft, be also possible to submersible.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of dynamic date acquisition methods provided herein and device are described in detail above, to disclosed
Embodiment above description, can be realized professional and technical personnel in the field or using the application.To the more of these embodiments
Kind modification will be readily apparent to those skilled in the art, and the general principles defined herein can be not
In the case where being detached from spirit herein or range, realize in other embodiments.Therefore, the application is not intended to be limited to this
These embodiments shown in text, and it is to fit to the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. a kind of dynamic date acquisition methods characterized by comprising
Dynamic date under the coordinate system of acquisition source；
Determine target-based coordinate system；
Obtain the transformation matrix of coordinates between the source coordinate system and the target-based coordinate system；
Using the transformation matrix of coordinates, the dynamic date under the source coordinate system is handled, the coordinates of targets is obtained
Dynamic date under system.
2. the method according to claim 1, wherein determining target-based coordinate system, comprising:
According to the dynamic date under emulation demand and the source coordinate system, at least one expanded- angle is determined；
Determine the corresponding target-based coordinate system of each expanded- angle.
3. according to the method described in claim 2, it is characterized in that, according to the power number under emulation demand and the source coordinate system
According to determining at least one expanded- angle, comprising:
According to the dynamic date under emulation demand and the source coordinate system, determine that extension dimension and the extension dimension are corresponding
Dimension spreading range；
According to the dimension spreading range and preset value interval, expanded- angle is determined.
4. according to the method described in claim 3, it is characterized by further comprising:
According to the simulation result under the target-based coordinate system, the value interval is adjusted；
Using the dimension spreading range and value interval adjusted, expanded- angle is redefined, to redefine each expansion
Open up the corresponding target-based coordinate system of angle.
5. method according to any one of claims 1 to 4, which is characterized in that further include:
Using preset interpolation algorithm, data fitting is carried out to the dynamic date under the target-based coordinate system, obtains data fitting
As a result；
According to emulation demand, interpolation index value is determined；
Based on the interpolation index value, emulation kinetic parameter is searched in the data fitting result.
6. a kind of dynamic date acquisition device characterized by comprising
Data acquiring unit, for obtaining the dynamic date under the coordinate system of source；
Coordinate system determining unit, for determining target-based coordinate system；
Matrix obtaining unit, for obtaining the transformation matrix of coordinates between the source coordinate system and the target-based coordinate system；
Coordinate transformation unit, for handling the dynamic date under the source coordinate system using the transformation matrix of coordinates,
Obtain the dynamic date under the target-based coordinate system.
7. device according to claim 6, which is characterized in that the coordinate system determining unit includes:
Angle determines subelement, for determining at least one expansion according to the dynamic date under emulation demand and the source coordinate system
Open up angle；
Target determines subelement, for determining the corresponding target-based coordinate system of each expanded- angle.
8. device according to claim 7, which is characterized in that the angle determines that subelement is specifically used for: according to emulation
Dynamic date under demand and the source coordinate system determines that extension dimension and the corresponding dimension of the extension dimension extend model
It encloses；According to the dimension spreading range and preset value interval, expanded- angle is determined.
9. device according to claim 8, which is characterized in that further include:
Interval adjustment unit, for being adjusted to the value interval according to the simulation result under the target-based coordinate system, with
So that the angle determines that subelement using the dimension spreading range and value interval adjusted, redefines extended corner
Degree, and the target is made to determine that subelement redefines the corresponding target-based coordinate system of each expanded- angle.
10. according to the described in any item devices of claim 6 to 9, which is characterized in that further include:
Data fitting unit carries out data to the dynamic date under the target-based coordinate system for utilizing preset interpolation algorithm
Fitting, obtains data fitting result；
Parameter searching unit, for determining interpolation index value according to emulation demand；Based on the interpolation index value, in the number
Kinetic parameter is emulated according to searching in fitting result.
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