CN111666694B - Position-balanced target group motion process simulation calculation method - Google Patents
Position-balanced target group motion process simulation calculation method Download PDFInfo
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Abstract
The invention provides a position-balanced target group motion process simulation calculation method, which comprises the following steps: 1. presetting a description file of the target group, and defining information such as member number, relative position and the like of the target group in detail; 2. in the motion process, selecting main targets in a target group, and calculating the core motion track of the main targets; 3. calculating the positions and postures of other targets according to main targets in the target group, and avoiding the phenomena of position rollback, mutual overlapping and the like; 4. and two-dimensional and three-dimensional effect visualization is realized. The invention better realizes the simulation calculation and display of the target group in the motion process by analyzing the information of the structure, the relative position, the motion speed and the like of the target group and fully considering the actual performance and the motion background of the target group.
Description
Technical Field
The invention relates to a position-balanced target group motion process simulation calculation method.
Background
How to simulate the combined multi-target motion process more truly is a research direction of more attention in the simulation field. In various group activity simulation calculations, such as crowd activity planning and vehicle race condition simulation, the information system develops related preview and interpretation software, and in the process, simulation calculation of the motion process of a target group is involved, and the motion process is displayed through two three-dimensional platforms, so that an operator is assisted in setting a plan and a reheating process.
In the aspect of motion simulation calculation of the target group, two methods, namely static calculation and dynamic calculation, are available, wherein the static calculation is to pre-process the effects of all the target groups, including the target group composition, relative position, type category and the like, and strictly move in the motion process in the way, so that the method has the advantages of simple calculation but has the defect of not being flexible enough, and is easy to deform particularly when the target group turns, maneuvers or adjusts the formation; the dynamic calculation is carried out by reasoning and calculating through a mathematical method in the moving process of the target group, and the method has the advantages that the actual conditions including the characteristics, the moving mode, the speed and the like of the target can be fully considered, the rapid on-line treatment can be realized, the simulation effect is good, but the defects are that the calculation pressure is high, and the resource consumption is high. In addition, in the aspect of displaying the simulation effect, the current display method has more attention positions, the attitude information such as the direction, the roll, the pitch and the like is not considered sufficiently, and the capability in the aspect of displaying the detail simulation needs to be improved.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the actual requirements of the existing application, the invention discloses a position-balanced target group motion process simulation calculation method, which is based on target group description information, target group actual activity condition, target actual maneuvering characteristics and two-three-dimensional real-time display technology, and firstly, strictly defines the description file of a target group by using a general computer language, and forms the static outline of the target group according to the content including the composition, relative position, formation, quantity and the like of the target group; secondly, selecting a main target from a target group, and describing a motion track and a maneuvering process of the main target by taking the target as a center to form a backbone path; then, according to the backbone flight path and the target group description file, the position and attitude information of other targets in the target group is calculated, the activity characteristics of the targets are fully considered in the process, the problems of target group member backing, position scattering and the like are avoided, and the method is also the core of the invention; and finally, according to the calculation result, realizing the live-action simulation of the motion process of the target group on the two three-dimensional graphs.
A position-balanced target group motion process simulation calculation method is characterized in that the motion process simulation of a target group is better realized through target group information description, characteristic-based motion process calculation and two-dimensional and three-dimensional simulation,
the invention relates to a position-balanced target group motion process simulation calculation method, which comprises the steps of fully describing the composition information of a target group, and defining the basic connotation of the target group through language; selecting main targets in the target group, carrying out comprehensive analysis on the tracks of the main targets, and calculating the positions and postures of other targets in the target group according to the motion characteristics of the target group on the basis; and (4) according to the calculation results of the first two steps, performing simulation display on two dimensions and three dimensions.
The invention specifically provides a position-balanced target group motion process simulation calculation method, which is characterized by comprising the following steps of:
step 1, a target group description file is formulated, the key point is to extract the characteristics of a target group, and the invention provides description with certain universality on the basis of fully analyzing various target groups, thereby being beneficial to subsequent calculation;
step 2, finding out a target which accords with the description of the target group in the step 1 from the accessed activity data, and calculating the backbone activity process of the target by taking the target as a main datum point to form a motion track with key feature description information;
step 3, calculating the position and posture information of other targets in the target group according to the target group description file in the step 1 and the motion track calculated in the step 2, comprehensively considering the motion characteristics and the context background, and designing a calculation factor to obtain the reasonable information and the mutual relation of each target in the target group;
and 4, performing two-dimensional and three-dimensional simulation display according to the calculation result of the step 3.
The step 1 comprises the following steps: and describing the basic situation of the target group in detail by using an XML language, wherein the basic situation of the target group comprises composition, quantity, relative position, type and name, and the content of the XML language describing the basic situation of the target group is saved as a target group description file.
The step 2 comprises the following steps:
step 2-1, defining a current time T, a total number Cnt of active points of a target, a point information description Vector = { Lng, lat, alt, yaw, pitch, roll and T }, wherein Lng is longitude, lat is latitude, alt is height, yaw is course, pitch is Pitch angle, roll is Roll angle, and a history point container Vector is an array of which the members are Vector data types; the vCur is a Vector type variable and is used for recording the acquired position and posture; vPre is a Vector type variable and is used for recording the position and the posture of the previous point;
step 2-2, finding a position point vector [ i ] closest to the distance T and a previous point vector [ i-1] in the Vectors (the Vectors are historical activity point arrays and describe historical activity information), and starting linear interpolation:
define floating point number fMulti = (T-Vectors [ i-1]. T)/(Vectors [ i ]. T-Vectors [ i-1]. T),
vectors [ i-1] T represents the time at point i-1;
defining an interpolated longitude vCur.Lng = Vectors [ i-1]. Lng + (Vectors [ i ]. Lng-Vectors [ i-1]. Lng) fMulti,
vectors [ i-1]. Lng denotes the longitude of the i-1 st point;
defining an interpolated latitude vcur.Lat = Vectors [ i-1]. Lat + (Vectors [ i ]. Lat-Vectors [ i-1]. Lat): fMulti,
vectors [ i ] Lat represents the latitude of the ith point
Defining an interpolated height vCur.Alt = Vectors [ i-1]. Alt + (Vectors [ i ]. Alt-Vectors [ i-1]. Alt): fMulti,
vectors [ i ] Alt denotes the height of the ith point;
defining a floating point number k = 180.0/3.14159265358972384626433832795;
step 2-3, defining a type variable vec of the Vector, and calculating to realize the posture smoothing of the main target as follows:
vec.Yaw＝(cos(Vectos[i-1].Yaw*0.5)+cos(Vectos[i].Yaw*0.5))/2；
vec.Pitch＝(cos(Vectos[i-1].Pitch*0.5)+cos(Vectos[i].Pitch*0.5))/2。
vec.Roll＝(cos(Vectos[i-1].Roll*0.5)+cos(Vectos[i].Roll*0.5))/2；
current point heading angle vcur.yaw = vec.yaw × k;
current point pitch angle vcur. Pitch = vec. Yitch k;
current point roll angle vcur.
Vector [ i ] Yaw represents the course angle of the ith point, vector [ i ] Pitch represents the Pitch angle of the ith point, and vector [ i ] Roll represents the Roll angle of the ith point. The step 3 comprises the following steps:
defining a circumferential ratio PI = 3.14159265897932384626433832795;
defining an earth radius ER =6378137;
defining a floating point number dLng = (vpre.lng-vcur.lng) × cos (vcur.lat × PI/180.0);
defining a floating point number dLat = vpre.lat-vcur.lat;
define floating point number d0= ER PI/180.0 sqrt (dLat + dLng),
lng represents the longitude of the previous point, vpre.lat represents the latitude of the previous point, vcur.lng represents the longitude of the current point, vcur.lat represents the latitude of the current point, and sqrt is the standard root-opening number operation;
defining Offset description information Offset = { xDif, ydre, zDif }, wherein xDif, ydre, zDif respectively represent offsets on three coordinate axes of space x, y, z, sequentially traversing each target group member to obtain a relative position Offset and a posture Offset, recording the position Offset as pOffset (Offset type variable), recording the posture Offset as gOffset (Offset type variable), and recording a Vector type variable vMem for recording the position and posture information of a specific member in the target group;
defining a floating point number k1= (d 0-poffset. YDif)/d 0;
defining a floating point number k2= pOffset.yDif/d0;
height of the population members vmem. Alt = vpre. Alt. K2+ vcur. Alt. K1;
longitude vmem.lng = vpre.lng × k2+ vCur × k1 of the group member;
(ii) the latitude vmem. Lat = vpre. Lat. K2+ vcur. Lat. K1 of the population member;
pitch of the population members vmem. Pitch = vpre. Pitch k2+ vcur. Pitch k1;
roll angle of group members vmem. Roll = vpre. Roll k2+ vcur. Roll k1;
vMem.Yaw＝vCur.Yaw+k2*(vPre.Yaw-vCur.Yaw)；
process corrections are implemented according to the following formula:
vMem.Yaw＝vCur.Yaw+gOffset.Yaw+k2*vMem.Yaw；
vMem.Pitch＝vCur.Yaw+gOffset.Pitch+k2*vMem.Pitch；
vMem.Roll＝vCur.Yaw+gOffset.Roll+k2*vMem.Roll；
vMem.Alt+＝pOffset.zDif；
vMem.Lng+＝pOffset.xDif*sin((vMem.Yaw+90)*PI/180)/(ER*PI/180)；
vMem.Lat+＝pOffset.xDif*cos((vMem.Yaw+90)*PI/180)/(ER*PI/180)。
where Cos represents a cosine value, PI represents a circumference ratio, and ER represents an earth radius.
Has the advantages that: the invention can abstract the characteristics of the moving target to form a generalized factor, thereby facilitating the definition and analysis of the target group. The state and position information of the target group can be calculated in real time in the motion process, and the simulation effect is good. The calculation process is simple, the consumption of computer resources is low, and the calculation efficiency is high. By interpolation in the motion process, the whole simulation effect is smooth, and the phenomena of jamming and pause can not occur.
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The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a diagram of target group effects without feature conversion;
FIG. 3 is a graph of the target group effect of the present invention.
Detailed Description
As shown in fig. 1, the present invention provides a position-balanced target group motion process simulation calculation method, which includes the following steps:
step 1, formulating a target group description file, describing the basic situation of a target group in detail by using an XML language, quickly realizing the visual depiction of the target group, wherein the content comprises composition, quantity, relative position, type, name and the like, and adjusting description information to assist subsequent simulation calculation;
step 2, finding out a target which accords with the description of the target group in the step 1 from the accessed activity data, calculating the activity process of the target by taking the target as a main target to form a smooth motion track, and supporting the position and posture calculation and the simulation display of a subsequent target group;
step 3, according to the description file in the step 1 and the motion track obtained by calculation in the step 2, the actual motion characteristics of the targets are fully considered, the position and posture information of other targets in the target group is calculated, and reasonable information and the mutual relation of each target in the target group are obtained by adjusting the calculation factors such as speed, direction, roll angle and the like;
step 4, performing two-dimensional and three-dimensional simulation display according to the calculation result of the step 3;
the following is a detailed description of the steps of the invention:
step one, the basic situation of the target group is described in detail by using an XML language, and the file with the format can display information content in a structured mode and can support and realize efficient arrangement. In the description file, the image of the target group is comprehensively depicted, the content comprises composition, quantity, relative position, type, name and the like, and the description information can be adjusted to assist subsequent simulation calculation. Examples of file content are as follows:
in the example file above, two groups of target groups, "group 1" and "group 2", are stored, with four members in each group, each member having a relative position and a relative attitude description, with positional offsets referring to relative differences in three spatial axes, X, Y, Z, and attitude offsets referring to relative differences in three dimensions, heading, roll, and pitch, in space. Through the arrangement mode, the descriptions of various target groups can be flexibly organized.
And step two, accessing target activity data of various real-time or modes, finding out a target which is in accordance with the description of the target group in the step 1 from the data, taking the target as a main target, calculating the activity process of the target, forming a smooth motion track, and supporting the position and posture calculation and the simulation display of a subsequent target group. The method for calculating the motion track of the main target is more, and the core of the method focuses on the simulation and display of the target group effect, so that a simpler linear interpolation method is selected for the motion track of the main target, the basic track smoothing can be realized, and the process is as follows:
defining the current time T, the total number Cnt of active points of the target, and a point information description Vector = { Lng, lat, alt, yaw, pitch, roll, T } (Lng is longitude, lat is latitude, alt is altitude, yaw is course, pitch is Pitch angle, and Roll is Roll angle), wherein a history point container is that Vectors are arrays with the Vector type as members, vCur is a variable with the Vector type and is used for recording the acquired position and posture, and vPre is a variable with the Vector type and is used for recording the position and posture of the previous point.
Firstly, finding a vector [ i ] and a previous vector [ i-1] which are closest to T in Vectors, and starting linear interpolation.
Defining a floating point number fMulti = (T-Vectors [ i-1]. T)/(Vectors [ i ]. T-Vectors [ i-1]. T);
vCur.Lng＝Vectors[i-1].Lng+(Vectors[i].Lng-Vectors[i-1].dLng)*fMulti；
vCur.Lat＝Vectors[i-1].Lat+(Vectors[i].Lat-Vectors[i-1].Lat)*fMulti；
vCur.Alt＝Vectors[i-1].Alt+(Vectors[i].Alt-Vectors[i-1].Alt)*fMulti；
floating point number k =180.0/3.1415926535897932384626433832795 is defined;
defining a type variable vec of a Vector, and calculating to realize the posture smoothing of the main target as follows:
vec.Yaw＝(cos(Vectos[i-1].Yaw*0.5)+cos(Vectos[i].Yaw*0.5))/2；
vec.Pitch＝(cos(Vectos[i-1].Pitch*0.5)+cos(Vectos[i].Pitch*0.5))/2；
vec.Roll＝(cos(Vectos[i-1].Roll*0.5)+cos(Vectos[i].Roll*0.5))/2；
vCur.Yaw＝vec.Yaw*k；
vCur.Pitch＝vec.Yitch*k；
vCur.Roll＝vec.Roll*k；
and step three, dynamically calculating the position and posture information of other targets in the target group on the basis of fully considering the actual motion characteristics of the targets according to the description file in the step 1 and the backbone track V calculated in the step 2, and obtaining the reasonable information and the mutual relation of each target in the target group by adjusting the calculation factors such as speed, direction, roll angle and the like.
Defining a circumferential ratio PI = 3.14159265897932384626433832795;
defining the earth radius ER =6378137;
defining a floating point number dLng = (vpre.lng-vcur.lng) × (vcur.lat × PI/180.0);
defining a floating point number dLat = vpre.lat-vcur.lat;
defining a floating point number d0= ER PI/180.0 sqrt (dLat + dLng) ·; the// sqrt is the standard root-opening number operation;
defining Offset description information Offset = { xDif, yDif, zDif }, sequentially traversing each target group member to obtain the relative position Offset and posture Offset, recording the position Offset as pooffset and the posture Offset as gOffset, and recording the Vector type variable vMem for recording the position and posture information of the specific member in the target group.
Defining a floating point number k1= (d 0-poffset.ydre)/d 0;
define floating point number k2= poffset.
vMem.Alt＝vPre.Alt*k2+vCur.Alt*k1；
vMem.Lng＝vPre.Lng*k2+vCur*k1；
vMem.Lat＝vPre.Lat*k2+vCur.Lat*k1；
vMem.Pitch＝vPre.Pitch*k2+vCur.Pitch*k1；
vMem.Roll＝vPre.Roll*k2+vCur.Roll*k1；
vMem.Yaw＝vCur.Yaw+k2*(vPre.Yaw-vCur.Yaw)；
The above steps are to complete the basic position calculation, but when the target group accelerates, decelerates or turns, the phenomena of position disorder, member exceeding the main target, target position rollback and the like exist according to the above steps, and the speed and the course of the target group are deduced according to the distance and the direction difference between the front point and the rear point, so as to realize the process correction on the basis.
vMem.Yaw＝vCur.Yaw+gOffset.Yaw+k2*vMem.Yaw；
vMem.Pitch＝vCur.Yaw+gOffset.Pitch+k2*vMem.Pitch；
vMem.Roll＝vCur.Yaw+gOffset.Roll+k2*vMem.Roll；
vmem. Alt + = poffset.zdif; v/offset up and down, solve the problem of different heights during turning
The left-right offset is as follows:
vMem.Lng+＝pOffset.xDif*sin((vMem.Yaw+90)*PI/180)/(ER*PI/180)；
vMem.Lat+＝pOffset.xDif*cos((vMem.Yaw+90)*PI/180)/(ER*PI/180)。
and step four, performing two-dimensional simulation display according to the calculation result of the step 3. Fig. 2 is a diagram showing the effect of the present invention after the conventional characteristics are converted into appearance, and fig. 3 is a diagram showing the effect of the present invention after the present invention is implemented.
The present invention provides a position-balanced target group motion process simulation calculation method, and a number of methods and approaches for implementing the technical solution are provided, the above description is only a preferred embodiment of the present invention, it should be noted that, for those skilled in the art, a number of improvements and modifications may be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. All the components not specified in this embodiment can be implemented by the prior art.
Claims (1)
1. A position-balanced target group motion process simulation calculation method is characterized by comprising the following steps:
step 1, formulating a target group description file;
step 2, finding out a target which accords with the description of the target group in the step 1 from the accessed activity data, and calculating the backbone activity process of the target by taking the target as a main reference point to form a motion track with key feature description information;
step 3, calculating the position and posture information of other targets in the target group according to the target group description file in the step 1 and the motion track calculated in the step 2, comprehensively considering the motion characteristics and the context background, and designing a calculation factor to obtain the reasonable information and the mutual relation of each target in the target group;
step 4, performing two-dimensional and three-dimensional simulation display according to the calculation result of the step 3;
the step 1 comprises the following steps: describing the basic situation of the target group in detail by using an XML language, wherein the basic situation of the target group comprises composition, quantity, relative position, type and name, and the content of the XML language describing the basic situation of the target group is saved as a target group description file;
the step 2 comprises the following steps:
step 2-1, defining a current time T, the total number Cnt of active points of a target, a point information description Vector = { Lng, lat, alt, yaw, pitch, roll, T }, wherein Lng is longitude, lat is latitude, alt is height, yaw is course, pitch is Pitch angle, roll is Roll angle, and historical point container Vectors are arrays of which the members are Vector data types; the vCur is a Vector type variable and is used for recording the acquired position and posture; vPre is a Vector type variable and is used for recording the position and the posture of the previous point;
step 2-2, finding a vector [ i ] which is the nearest position point to T in the Vectors and a vector [ i-1] which is the previous point, and starting linear interpolation:
define floating point number fMulti = (T-Vectors [ i-1]. T)/(Vectors [ i ]. T-Vectors [ i-1]. T),
vectors [ i-1] T represents the time at point i-1;
defining an interpolated longitude vCur.Lng = Vectors [ i-1]. Lng + (Vectors [ i ]. Lng-Vectors [ i-1]. Lng): fMulti,
vectors [ i-1]. Lng represents the longitude of the i-1 st point;
defining an interpolated latitude vcur.lat = Vectors [ i-1]. Lat + (Vectors [ i ]. Lat-Vectors [ i-1]. Lat) fMulti,
defining an interpolated height vCur.Alt = Vectors [ i-1]. Alt + (Vectors [ i ]. Alt-Vectors [ i-1]. Alt) fMulti,
vectors [ i ] Alt denotes the height of the ith point;
floating point number k =180.0/3.1415926535897932384626433832795 is defined;
step 2-3, defining a type variable vec of the Vector, and calculating to realize the posture smoothing of the main target as follows:
heading angle vec.yaw = (cos (vectors [ i-1]. Yaw 0.5) + cos (vectors [ i ]. Yaw 0.5))/2;
pitch = (cos (vectors [ i-1]. Pitch:. 0.5) + cos (vectors [ i ]. Pitch:. 0.5))/2;
roll angle vec. Roll = (cos (vectors [ i-1]. Roll 0.5) + cos (vectors [ i ]. Roll 0.5))/2;
current point heading angle vcur.yaw = vec.yaw × k;
current point pitch angle vcur. Pitch = vec. Yitch k;
current point roll angle vcur.roll = vec.roll k;
vector [ i ] Yaw represents a course angle of the ith point, vector [ i ] Pitch represents a Pitch angle of the ith point, and vector [ i ] Roll represents a Roll angle of the ith point;
the step 3 comprises the following steps:
defining a circumferential ratio PI = 3.14159265897932384626433832795;
defining an earth radius ER =6378137;
defining a floating point number dLng = (vpre.lng-vcur.lng) × cos (vcur.lat × PI/180.0);
defining a floating point number dLat = vpre.lat-vcur.lat;
define floating point number d0= ER PI/180.0 sqrt (dLat + dLng),
lng represents the longitude of the previous point, vpre.lat represents the latitude of the previous point, vcur.lng represents the longitude of the current point, vcur.lat represents the latitude of the current point, and sqrt is the standard root-opening number operation;
defining Offset description information Offset = { xDif, ydre, zDif }, wherein xDif, ydre, zDif respectively represent offsets on three coordinate axes of space x, y, z, sequentially traversing each target group member to obtain a relative position Offset and a posture Offset thereof, recording the position Offset as pooffset, recording the posture Offset as gOffset, and recording the position and posture information of a member in the target group by a Vector type variable vMem;
defining a floating point number k1= (d 0-poffset. YDif)/d 0;
define floating point number k2= poffset.
Height of the population members vmem. Alt = vpre. Alt. K2+ vcur. Alt. K1;
longitude vmem.lng = vpre.lng × k2+ vCur × k1 of the group member;
(ii) the latitude vmem.lat = vpre.lat.k 2+ vcur.lat.k 1 of the population member;
pitch of the population members vmem. Pitch = vpre. Pitch k2+ vcur. Pitch k1;
roll angle of group members vmem. Roll = vpre. Roll k2+ vcur. Roll k1;
vMem.Yaw＝vCur.Yaw+k2*(vPre.Yaw-vCur.Yaw)；
process corrections are implemented according to the following formula:
vMem.Yaw＝vCur.Yaw+gOffset.Yaw+k2*vMem.Yaw；
vMem.Pitch＝vCur.Yaw+gOffset.Pitch+k2*vMem.Pitch；
vMem.Roll＝vCur.Yaw+gOffset.Roll+k2*vMem.Roll；
vMem.Alt+＝pOffset.zDif；
vMem.Lng+＝pOffset.xDif*sin((vMem.Yaw+90)*PI/180)/(ER*PI/180)；
vMem.Lat+＝pOffset.xDif*cos((vMem.Yaw+90)*PI/180)/(ER*PI/180)；
where Cos represents a cosine value, PI represents a circumference ratio, and ER represents an earth radius.
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