CN111859685A - Rapid generation method of hull infrared view - Google Patents
Rapid generation method of hull infrared view Download PDFInfo
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- 239000000463 material Substances 0.000 claims abstract description 12
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- 230000005855 radiation Effects 0.000 claims description 18
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Abstract
The invention relates to a rapid generation method of a ship body infrared visual scene, which is characterized in that a temperature field engineering calculation model of a typical ship body surface material is established according to the measured data of the ship body surface temperature and meteorological conditions; generating a texture mask based on a visible light image to generate the sense of reality of the infrared visual scene on the surface of the ship body, and establishing a database to store digital terrain, texture of a material area and the texture mask; when the simulation system operates, the terrain and texture data in the database are called, in a GPU shader, the infrared radiance of the ship body is calculated based on the calculation result of the temperature field model, and the ground infrared visual simulation is realized by adopting double texture mapping. The ground infrared vision generated by the method has the characteristics of strong sense of reality and low system overhead.
Description
Technical Field
The invention relates to a rapid generation method of a hull infrared view, and belongs to the technical field of infrared view three-dimensional modeling.
Background
In the existing infrared vision three-dimensional modeling, the calculated amount of a ship surface temperature field theoretical model is large, and the radiance of a target surface is difficult to calculate in dynamic real-time simulation. The dynamic three-dimensional infrared visual simulation requires that the target model can dynamically change the infrared gray scale of the model surface according to the change of environmental conditions or self motion postures. There is a document that an openflight api is used to develop an infrared plug-in for a three-dimensional model, and the infrared gray scale of the model surface can be changed according to the simulation requirement. The openflight api can change attributes such as gray scale of a texture of a model file (. flt file), but the current mainstream three-dimensional image engines load the model file into a memory in advance during initialization, and then display and drive scenes in a frame cycle. Once the model is imported into memory, the texture properties of the model cannot be changed any more. Therefore, to realize the dynamic infrared effect of the model by using the openflight api in the simulation, only the infrared gray level of the model file is changed outside the system, and then the model is imported into the system to update the old model. For a ship in motion, this will affect the dynamics of the system.
Disclosure of Invention
The invention provides a rapid generation method of a ship infrared view, aiming at the problem that the dynamic property of a system is influenced when a ship in motion is simulated in the existing infrared view.
The technical scheme for solving the technical problems is as follows: a fast generation method of hull infrared vision is characterized in that a temperature field engineering calculation model of typical hull surface material is established according to measured data of hull surface temperature and meteorological conditions; generating a texture mask based on a visible light image to generate the sense of reality of the infrared visual scene on the surface of the ship body, and establishing a database to store digital terrain, texture of a material area and the texture mask; when the simulation system operates, the terrain and texture data in the database are called, in a GPU shader, the infrared radiance of the ship body is calculated based on the calculation result of the temperature field model, and the ground infrared visual simulation is realized by adopting double texture mapping. The ground infrared vision generated by the method has the characteristics of strong sense of reality and low system overhead.
On the basis of the technical scheme, in order to achieve the convenience of use and the stability of equipment, the invention can also make the following improvements on the technical scheme:
further, the database establishment is to establish a data sample set by taking the solar irradiance, the atmospheric irradiance, the ocean irradiance, the convective heat transfer coefficient and the surface element temperature as parameters according to the calculation results of the ship surface element division and the temperature field; each sample comprises solar irradiance, atmospheric irradiance, ocean irradiance, convective heat transfer coefficient and temperature data corresponding to one surface element; the three-dimensional model-based surface was divided into 1741 grids, in which 1602 hulls, 139 chimneys, and 1602 and 139 samples corresponding to the hulls and chimneys, respectively.
Further, both atmospheric irradiance and ocean irradiance are used as diffusion processing, the radiation degree of a ship is calculated, and the atmospheric irradiance and the ocean irradiance are used as a variable during modeling; a formula A and a formula B respectively provide a numerical fitting model of a surface element temperature field of the ship body and the chimney:
in the above two formulas, a, b, c, d and f are fitting coefficients, HaAnd HsConvective heat transfer coefficients, E, of air and flue gas, respectivelyssIs the sum of the irradiance of the sky and the ocean.
Further, based on the operating band of the real infrared detector, and with the ship surface as a diffuser, the radiance of the ship surface finally reaching the detector can be calculated by formula C:
in the above formula, the first and second carbon atoms are,
total radiance, lambda, of ship received by infrared detector1And λ2The upper limit and the lower limit of the working wave band of the detector respectively, the tau is the atmospheric transmittance,
the diffuse reflectivity of the ship surface material in the working wave band of the detector is adopted;
and
irradiance of the sun, the ocean and the sky, respectively, in the operating band of the detector.
Further, extracting texture coordinates and a normal line in a vertex shader, and calculating an included angle and a convection coefficient between the normal line of the surface element and solar radiation rays; intensity is used as a variable and is transmitted to a fragment shader to be used for calculating the direct solar radiation of each bin; the statement to compute Intensity is as follows:
float intensity＝max(dot(LightPos,norm),0.0)；
wherein norm is a normal vector of the surface element, and a direction vector of solar radiation is used as a uniform variable and is transmitted into a vertex shader from a main program;
in the vertex shader, the direction vector of the solar radiation is converted into the view coordinate system using the following statement:
vec3 LightPos＝vec3(gl_ModelViewMatrix*LightPos)；
the direction vector of the wind speed is also transmitted into a vertex shader from a main program, and the dot product is obtained with the normal vector of the surface element, the arrangement mode of the surface element is determined according to the result of the dot product, and then the convection coefficient is calculated;
the fragment shader mainly performs rendering of the surface texture gray of the model;
sea surface irradiance, sky irradiance, solar irradiance and atmospheric transmittance are used as consistent variables, are transmitted into the fragment shader from the main program, and are updated in the callback functions of the fragment shader and the main program.
Further, the rendering process of the fragment shader is as follows:
(1) using a texture sampler to perform texture sampling according to texture coordinates extracted from a vertex shader, the statements are as follows:
vec4 sample1＝texture2D(Image,gl_TexCoord[0])；
(2) calculating the radiance of the surface of the ship according to a formula C;
(3) rendering the gray scale of the surface element pixel according to the mapping relation between the radiance and the gray scale in the system; the sentence is:
gl_FragColor＝tao*vec4(R,G,B,1.0)；
because the shader does not directly support gray level coloring, according to the mapping relation formula D of the image gray level and the RGB color, the gray level value obtained by calculation is simultaneously given to R, G, B three color channels, so that equivalent gray level rendering can be realized:
gray is 0.3 xr +0.59 xg +0.11 xb formula D,
in the above formula, Gray is a Gray value.
The invention has the advantages that: the ground infrared vision generated has strong sense of reality and small system overhead.
Drawings
FIG. 1 shader renders a pipeline.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
A method for quickly generating ground infrared visual scenes is characterized in that a temperature field engineering calculation model of typical ship surface materials is established according to actually measured data of ship surface temperature and meteorological conditions; generating a texture mask based on a visible light image to generate the sense of reality of the infrared visual scene on the surface of the ship body, and establishing a database to store digital terrain, texture of a material area and the texture mask; when the simulation system operates, the terrain and texture data in the database are called, in a GPU shader, the infrared radiance of the ship body is calculated based on the calculation result of the temperature field model, and the ground infrared visual simulation is realized by adopting double texture mapping.
The infrared radiance engineering calculation model of the surface of the ship is as follows:
the calculated amount of the ship surface temperature field theoretical model is large, and the radiance of the target surface is difficult to calculate in dynamic real-time simulation. According to the infrared theory, when the infrared characteristics of a target material are known, the steady-state temperature field of the surface of a ship is the result of the comprehensive action of radiation heat transfer and heat exchange of the surface of the ship. Therefore, when the material of the ship is determined, the temperature of the surface of the object and the radiation and heat exchange effects received by the object have a certain mapping relation.
And establishing a data sample set by taking the solar irradiance, the atmospheric irradiance, the ocean irradiance, the convective heat transfer coefficient and the surface element temperature as parameters according to the calculation results of the ship surface element division and the temperature field. Each sample contains solar irradiance, atmospheric irradiance, ocean irradiance, convective heat transfer coefficient and temperature data for one bin. Since the three-dimensional model-based surface is divided into 1741 meshes, in which there are 1602 hulls and 139 chimneys, the number of samples corresponding to the hulls and chimneys is 1602 and 139, respectively.
According to the data set, a mathematical fitting model of the surface element temperature is established by adopting a multivariate fitting algorithm with solar irradiance, atmospheric irradiance, ocean irradiance and heat transfer coefficient as independent variables. Both atmospheric and marine radiation can be treated as diffusion when calculating the emittance of a ship. Therefore, to facilitate the simulation calculations, we take them as a variable when modeling. A formula A and a formula B respectively provide a numerical fitting model of a surface element temperature field of the ship body and the chimney.
In the above two formulas, a, b, c, d and f are fitting coefficients, HaAnd HsConvective heat transfer coefficients, E, of air and flue gas, respectivelyssIs the sum of the irradiance of the sky and the ocean. The fitting coefficients of the model are shown in table 1. According to the surfaceThe temperature of the element, the intrinsic radiance of the element can be calculated.
TABLE 1 fitting coefficients of temperature field model
Tab.1 Fitting coefficient of temperature field model
Considering the operating band of the real infrared detector and using the ship surface as a diffuser, the radiance of the ship surface finally reaching the detector can be calculated by formula C according to lambert's law.
In the above formula, the first and second carbon atoms are,
the total radiance of the ship received by the infrared detector. Lambda [ alpha ]1And λ2The upper limit and the lower limit of the working wave band of the detector respectively, the tau is the atmospheric transmittance,
the diffuse reflectivity of the ship surface material in the working wave band of the detector.
And
irradiance of the sun, the ocean and the sky, respectively, in the detector operating band can be calculated from planck's law.
Ship three-dimensional dynamic infrared visual simulation:
a Shader (Shader) based on a GLSL language is introduced, so that the problem of dynamic infrared simulation of a target is well solved. The GLSL shader is based on GPU operation, has high graphic rendering efficiency, can save CPU resources, and provides good support for most three-dimensional image engines (such as OpenGL, OSG and the like) at present. The shader rendering flow is shown in fig. 1.
Extracting texture coordinates and a normal line in a vertex shader, and calculating an included angle (Intensity) between the normal line of the surface element and the solar radiation ray and a convection coefficient (H). Intensity is passed as a variable (variant) to the bin shader for calculating the direct solar radiation for each bin. The statement to compute Intensity is as follows:
float intensity＝max(dot(LightPos,norm),0.0)；
where norm is the normal vector of the bin, and the direction vector of the solar radiation (LightPos) is used as a uniform variable (uniform) and is transmitted from the main program to the vertex shader. It should be noted that the direction vector of the solar radiation in the scene is calculated by the atmospheric transmission model in the world coordinate system. And the default coordinate system in the shader is the view coordinate system. Therefore, in the vertex shader, the following statement is employed to convert the direction vector of the solar radiation into the view coordinate system.
vec3 LightPos＝vec3(gl_ModelViewMatrix*LightPos)；
The direction vector (Vwind) of the wind speed is also transmitted into a vertex shader from a main program, and the dot product is calculated with the normal vector (norm) of the surface element, the arrangement mode of the surface element is determined according to the result of the dot product, and then the convection coefficient is calculated.
The fragment shader mainly performs rendering of the surface texture gray of the model. Sea surface irradiance, sky irradiance, solar irradiance, and atmospheric transmittance are used as uniform variables (uniform) that are passed from the main program into the fragment shader and updated in their callback functions. The rendering process of the fragment shader is as follows:
(1) texture sampling is performed using a texture sampler (uniform sampler2D) based on the texture coordinates (gl _ Textools [0]) extracted in the vertex shader. The statement is as follows:
vec4sample1＝texture2D(Image,gl_TexCoord[0])；
(2) and calculating the radiance of the surface of the ship according to the formula (3-17).
(3) And rendering the gray scale of the surface element pixel according to the mapping relation between the radiance and the gray scale in the system. The sentence is:
gl_FragColor＝tao*vec4(R,G,B,1.0)；
since the shader does not directly support gray level rendering, according to the mapping relation formula (formula D) between the image gray level and the RGB color, equivalent gray level rendering can be realized by assigning R, G, B three color channels to the calculated gray level value at the same time.
Gray ═ 0.3 xr +0.59 xg +0.11 xb equation D
In the above formula, Gray is a Gray value.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A rapid generation method of a hull infrared visual is characterized in that a temperature field engineering calculation model of a typical hull surface material is established according to actual measurement data of hull surface temperature and meteorological conditions, a texture mask generated based on a visible light image generates the sense of reality of the hull surface infrared visual, and a database is established to store digital terrain, material region texture and the texture mask; when the simulation system operates, the terrain and texture data in the database are called, in a GPU shader, the infrared radiance of the ship body is calculated based on the calculation result of the temperature field model, and the ground infrared visual simulation is realized by adopting double texture mapping.
2. The method for rapidly generating the ship hull infrared vision according to claim 1, characterized in that the database establishment is to establish a data sample set by taking solar irradiance, atmospheric irradiance, ocean irradiance, convective heat transfer coefficient and surface element temperature as parameters according to the calculation results of ship surface element division and a temperature field; each sample comprises solar irradiance, atmospheric irradiance, ocean irradiance, convective heat transfer coefficient and temperature data corresponding to one surface element; the three-dimensional model-based surface was divided into 1741 grids, in which 1602 hulls, 139 chimneys, and 1602 and 139 samples corresponding to the hulls and chimneys, respectively.
3. The rapid hull infrared vision generation method according to claim 2,
the atmospheric irradiance and the ocean irradiance are used as diffusion treatment, the radiation degree of a ship is calculated, and the atmospheric irradiance and the ocean irradiance are used as a variable during modeling; a formula A and a formula B respectively provide a numerical fitting model of a surface element temperature field of the ship body and the chimney:
in the above two formulas, a, b, c, d and f are fitting coefficients, HaAnd HsConvective heat transfer coefficients, E, of air and flue gas, respectivelyssIs the sum of the irradiance of the sky and the ocean.
4. The rapid generation method of hull infrared views according to claim 3,
based on the working wave band of the real infrared detector, the ship surface is used as a diffuser, and the radiance of the ship surface finally reaching the detector can be calculated by a formula C:
in the above formula, the first and second carbon atoms are,
total radiance, lambda, of ship received by infrared detector1And λ2The upper limit and the lower limit of the working wave band of the detector respectively, the tau is the atmospheric transmittance,
for the material of the surface of the vessel in the operating band of the detectorDiffuse reflectance;
and
irradiance of the sun, the ocean and the sky, respectively, in the operating band of the detector.
5. The rapid generation method of hull infrared views according to claim 4,
when the simulation system runs, extracting texture coordinates and a normal line in a vertex shader, and calculating an included angle and a convection coefficient between a surface element normal line and solar radiation rays; intensity is used as a variable and is transmitted to a fragment shader to be used for calculating the direct solar radiation of each bin; the statement to compute Intensity is as follows:
float intensity＝max(dot(LightPos,norm),0.0)；
wherein norm is a normal vector of the surface element, and a direction vector of solar radiation is used as a uniform variable and is transmitted into a vertex shader from a main program;
in the vertex shader, the direction vector of the solar radiation is converted into the view coordinate system using the following statement:
vec3 LightPos＝vec3(gl_ModelViewMatrix*LightPos)；
the direction vector of the wind speed is also transmitted into a vertex shader from a main program, and the dot product is obtained with the normal vector of the surface element, the arrangement mode of the surface element is determined according to the result of the dot product, and then the convection coefficient is calculated;
the fragment shader mainly performs rendering of the surface texture gray of the model;
sea surface irradiance, sky irradiance, solar irradiance and atmospheric transmittance are used as consistent variables, are transmitted into the fragment shader from the main program, and are updated in the callback functions of the fragment shader and the main program.
6. The rapid hull infrared vision generation method according to claim 5,
the rendering process of the fragment shader is as follows:
(1) using a texture sampler to perform texture sampling according to texture coordinates extracted from a vertex shader, the statements are as follows:
vec4 sample1＝texture2D(Image,gl_TexCoord[0])；
(2) calculating the radiance of the surface of the ship according to a formula C;
(3) rendering the gray scale of the surface element pixel according to the mapping relation between the radiance and the gray scale in the system; the sentence is:
gl_FragColor＝tao*vec4(R,G,B,1.0)；
because the shader does not directly support gray level coloring, according to the mapping relation formula D of the image gray level and the RGB color, the gray level value obtained by calculation is simultaneously given to R, G, B three color channels, so that equivalent gray level rendering can be realized:
gray is 0.3 xr +0.59 xg +0.11 xb formula D,
in the above formula, Gray is a Gray value.
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