CN115098827B - Infrared scene numerical value calculation method under snow accumulation environment - Google Patents

Infrared scene numerical value calculation method under snow accumulation environment Download PDF

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CN115098827B
CN115098827B CN202211030738.3A CN202211030738A CN115098827B CN 115098827 B CN115098827 B CN 115098827B CN 202211030738 A CN202211030738 A CN 202211030738A CN 115098827 B CN115098827 B CN 115098827B
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snow
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CN115098827A (en
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陈世国
黑圆圆
莫冬腊
陶克勇
薛瑞文
赖康
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Xidian University
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Abstract

The invention discloses a method for calculating an infrared scene numerical value in an accumulated snow environment, which comprises the following steps of: calculating the landing speed vector of the snowflakes; calculating the snow cover thickness in the scene based on the speed vector of the snowfall; calculating scene infrared radiation brightness according to the snow cover thickness in the scene; and generating an infrared simulation image according to the infrared radiation brightness of the scene. The method aims to accurately calculate the snow cover condition of the scene surface through the ray tracing technology, so that the infrared scene radiation characteristic can be accurately calculated.

Description

Infrared scene numerical value calculation method under snow accumulation environment
Technical Field
The invention relates to the technical field of infrared scene simulation, in particular to a method for calculating an infrared scene numerical value in an accumulated snow environment.
Background
With the wide application of infrared detection technology and infrared imaging guided munitions to information-based battlefields, modern wars increasingly attach importance to detection, identification and attack through infrared characteristics of targets and backgrounds. In order to research the infrared radiation characteristics of snow, researchers provide several methods for calculating the infrared radiation characteristics in the snow environment, one method is to synthesize a ground target into an infrared image of the snow, but the method is only simple image superposition; one is based on a calculation model of the snow surface temperature, which in turn calculates the infrared radiation. However, these methods have two drawbacks: 1) The infrared radiation characteristic of the whole scene cannot be calculated comprehensively, so that distortion is caused; 2) Snow coverage in a scene cannot be accurately calculated, and infrared radiation errors are large. In the article of 'infrared radiation calculation and application of snow surface' published journal paper by researchers of mechanical engineering system of armored force engineering academy, a temperature calculation model of snow surface is established based on a thermal equilibrium equation, and infrared radiation brightness is calculated according to temperature, so that infrared image simulation is performed. The method is relatively accurate in snow temperature calculation, but cannot accurately calculate the snow coverage condition in a scene, so that the calculated infrared radiation error is large.
The infrared scene numerical calculation method under the snow accumulation environment calculates the snow covered condition of the scene surface through the environment parameters, selects different material attributes, further calculates the infrared radiation brightness of the scene under the snow accumulation environment, and generates the infrared simulation image. The infrared scene calculation under the snow environment has great significance for research in the aspects of infrared target characteristic simulation, infrared camouflage/stealth effect evaluation, infrared target identification and the like. In order to accurately calculate the infrared radiation characteristic of a scene in an accumulated snow environment, researchers provide a calculation model of the surface temperature of the snow, and provide basis for infrared scene simulation, however, the method has certain limitations: the snow cover conditions of different parts in a scene under the influence of factors such as wind speed and wind direction cannot be accurately considered, so that the calculation error is large, and the description of a real battlefield environment is not met.
Disclosure of Invention
Aiming at the problem that the snow cover situation in a scene cannot be accurately calculated in the prior art, the invention provides the infrared scene numerical value calculation method in the snow environment.
The invention discloses a method for calculating an infrared scene numerical value in an accumulated snow environment, which comprises the following steps of:
step 1: calculating the landing speed vector of the snowflakes;
step 2: calculating the snow cover thickness in the scene based on the speed vector of the snowfall;
and step 3: calculating the infrared radiation brightness of the scene according to the snow cover thickness in the scene;
and 4, step 4: and generating an infrared simulation image according to the infrared radiation brightness of the scene.
Further, the step 1 comprises:
step 11: obtaining a wind speed vector under a scene coordinate system according to the direction and the size of the wind speed in the scene;
step 12: calculating a speed vector of the snowflakes falling to the ground at the current moment according to the gravity acceleration, the air resistance coefficient, the diameters of the snowflakes, the mass of the snowflakes and the time interval;
step 13: and (4) calculating the speed vector of snowfall at the current moment in the absence of wind, and combining the speed vector of the snowfall in the scene synthesized by the wind speed under the scene coordinate system in the step 11.
Further, the step 11 includes:
suppose the direction of the wind speed in the scene is
Figure 860356DEST_PATH_IMAGE001
The wind speed is
Figure 674728DEST_PATH_IMAGE002
Calculating a wind speed vector under a scene coordinate system by the following formula:
Figure 733076DEST_PATH_IMAGE003
Figure 203372DEST_PATH_IMAGE004
Figure 605534DEST_PATH_IMAGE005
Figure 539992DEST_PATH_IMAGE006
wherein the content of the first and second substances,
Figure 2197DEST_PATH_IMAGE007
is the wind speed vector in the scene coordinate system,
Figure 959789DEST_PATH_IMAGE008
、
Figure 227959DEST_PATH_IMAGE009
、
Figure 220186DEST_PATH_IMAGE010
the wind speed in the x-axis direction, the wind speed in the y-axis direction and the wind speed in the z-axis direction are respectively.
Further, the step 12 includes:
assuming gravitational acceleration of
Figure 587714DEST_PATH_IMAGE011
The air resistance is a number
Figure 298181DEST_PATH_IMAGE012
The diameter of the snowflake is
Figure 104463DEST_PATH_IMAGE013
The snowflakes have the mass
Figure 449731DEST_PATH_IMAGE014
At a time interval of
Figure 253739DEST_PATH_IMAGE015
Calculating the speed vector when the snowflake falls to the ground at the current moment by using the following formula:
Figure 982661DEST_PATH_IMAGE016
wherein, the first and the second end of the pipe are connected with each other,
Figure 795896DEST_PATH_IMAGE017
is composed of
Figure 497136DEST_PATH_IMAGE018
The falling speed of the snow at the moment,
Figure 409728DEST_PATH_IMAGE019
in order to be the initial speed of the vehicle,
Figure 891525DEST_PATH_IMAGE020
is subject to
Figure 242872DEST_PATH_IMAGE021
Are evenly distributed in between.
Further, the step 13 includes:
calculating the speed of snowfall at the current moment in absence of wind by the following formula:
Figure 300083DEST_PATH_IMAGE022
wherein the content of the first and second substances,
Figure 445893DEST_PATH_IMAGE023
the speed of snowfall at the current moment when no wind exists;
the speed vector when the snowflake falls to the ground in the scene is obtained through the following formula:
Figure 149407DEST_PATH_IMAGE024
wherein the content of the first and second substances,
Figure 38866DEST_PATH_IMAGE025
the velocity vector is a velocity vector when snowflakes fall on the ground in the scene, and is unitized.
Further, the step 2 comprises:
step 21: on the basis of the regular icosahedron, each edge of 30 edges of the regular icosahedron is trisected, and a trisection point of each edge is taken to intercept an angle to obtain an truncated icosahedron with 60 vertexes and 32 faces;
step 22: respectively connecting the body center point of the truncated icosahedron with 60 vertexes and 32 surface centers to obtain 92 direction vectors, unitizing the direction vectors and storing the unitized direction vectors in a vector array with the length of 92
Figure 714698DEST_PATH_IMAGE026
；
Step 23: the inverse direction of snowflake landing is regarded as the direction of tracing ray, and ray tracing technology and array are utilized
Figure 93727DEST_PATH_IMAGE026
Setting a threshold value, and calculating a snow factor function in a scene;
and step 24: and calculating the snow thickness of the surface unit of the intersection surface of the ray and the scene according to the average snowing thickness.
Further, the step 23 includes:
the negative vector of the speed direction when the snowflake lands and the second of 92 direction vectors formed by the truncated icosahedron
Figure 487799DEST_PATH_IMAGE027
Cosine of the included angle of the individual vectors is
Figure 915369DEST_PATH_IMAGE028
Setting a solid angle formed by stretching the snow in the direction of the speed of falling on the ground
Figure 508024DEST_PATH_IMAGE029
The threshold value is
Figure 261217DEST_PATH_IMAGE030
Within this range is
Figure 611427DEST_PATH_IMAGE031
The number of direction vectors of
Figure 606802DEST_PATH_IMAGE032
Then snow factor function in scene
Figure 53964DEST_PATH_IMAGE033
The calculation is as follows:
Figure 712479DEST_PATH_IMAGE034
wherein the content of the first and second substances,
Figure 81143DEST_PATH_IMAGE035
unit normal vector and scene coordinate system of snowflake landing surface
Figure 912833DEST_PATH_IMAGE036
Cosine of the angle formed by the axes, if
Figure 152184DEST_PATH_IMAGE037
Then, then
Figure 247179DEST_PATH_IMAGE038
。
Further, the step 24 includes:
average snow thickness in a scene
Figure 634298DEST_PATH_IMAGE039
The accumulated snow thickness of the surface unit of the intersection surface of the ray and the scene is given by the configuration file
Figure 472941DEST_PATH_IMAGE040
。
Further, the step 3 comprises:
step 31: judging the infrared property of the material of the scene surface according to the accumulated snow thickness of the surface unit;
step 32: and calculating the infrared radiation brightness of the infrared attribute of the material on the scene surface according to the Planck formula.
Further, the step 31 includes:
thickness of accumulated snow on dough units
Figure 832378DEST_PATH_IMAGE041
Then it is considered to be noneSnow, wherein the infrared attribute of the material of the scene surface is the original infrared attribute of the material of the unit;
thickness of accumulated snow on dough units
Figure 895012DEST_PATH_IMAGE042
And the infrared property of the material on the surface of the scene is the infrared property of the snow material.
Due to the adoption of the technical scheme, the invention has the following advantages: the method for calculating the snow cover condition of the scene surface comprises the steps of calculating the direction of snow falling, constructing a snow factor function in the spherical normal direction of 92 directions of a truncated icosahedron, calculating the snow thickness of each surface element by utilizing a ray tracing technology to obtain more accurate snow cover condition of the infrared scene, selecting infrared material attributes of different materials according to the snow coverage property to calculate the infrared radiation value of a pixel, and calculating the snow cover condition of the pixel according to the infrared material attributes of the different materials
Figure 972690DEST_PATH_IMAGE043
The infrared simulation image is output according to the resolution ratio, and the accurate and high-resolution infrared radiation simulation image in the snow accumulation scene is obtained. The method can effectively reduce the infrared simulation error caused by the snow cover condition and improve the infrared image precision.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments described in the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings may be obtained according to the drawings.
Fig. 1 is a schematic flow chart of a method for calculating an infrared scene value in a snow accumulation environment according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples, it being understood that the examples described are only some of the examples and are not intended to be exhaustive. All other embodiments available to those of ordinary skill in the art are intended to be within the scope of the embodiments of the present invention.
Referring to fig. 1, the present invention provides an embodiment of a method for calculating an infrared scene value in a snow accumulation environment, which includes the following steps:
s1: calculating the landing speed vector of the snowflakes;
s2: calculating the snow cover thickness in the scene based on the speed vector of the snowfall;
s3: calculating the infrared radiation brightness of the scene according to the snow cover thickness in the scene;
s4: and generating an infrared simulation image according to the infrared radiation brightness of the scene.
In this embodiment, S1 includes:
s11: obtaining a wind speed vector under a scene coordinate system according to the direction and the size of the wind speed in the scene;
s12: calculating the speed vector of the snowflakes falling to the ground at the current moment according to the gravity acceleration, the air resistance coefficient, the diameters of the snowflakes, the mass of the snowflakes and the time interval;
s13: and calculating the speed vector of snowfall at the current moment in the absence of wind, and combining the speed vector of the snowfall in the scene synthesized by the wind speed in the scene coordinate system in the S11.
In this embodiment, S11 includes:
assume that the direction of the wind speed in the scene is
Figure 573611DEST_PATH_IMAGE001
The wind speed is
Figure 53134DEST_PATH_IMAGE002
Calculating a wind speed vector under a scene coordinate system by the following formula:
Figure 286669DEST_PATH_IMAGE003
Figure 586064DEST_PATH_IMAGE004
Figure 766509DEST_PATH_IMAGE005
Figure 162856DEST_PATH_IMAGE006
wherein, the first and the second end of the pipe are connected with each other,
Figure 770554DEST_PATH_IMAGE007
is the wind speed vector in the scene coordinate system,
Figure 291666DEST_PATH_IMAGE008
、
Figure 541381DEST_PATH_IMAGE009
、
Figure 729917DEST_PATH_IMAGE010
the wind speed in the x-axis direction, the wind speed in the y-axis direction and the wind speed in the z-axis direction are respectively.
In this embodiment, S12 includes:
assuming gravitational acceleration of
Figure 305255DEST_PATH_IMAGE044
The air resistance is a number
Figure 77777DEST_PATH_IMAGE012
The diameter of the snowflakes is
Figure 334446DEST_PATH_IMAGE013
The snowflakes have the mass
Figure 643067DEST_PATH_IMAGE045
At a time interval of
Figure 389306DEST_PATH_IMAGE046
Calculating the speed vector when the snowflake falls to the ground at the current moment by using the following formula:
Figure 416168DEST_PATH_IMAGE047
wherein, the first and the second end of the pipe are connected with each other,
Figure 210949DEST_PATH_IMAGE048
is composed of
Figure 639656DEST_PATH_IMAGE018
The falling speed of the snow at the moment,
Figure 556797DEST_PATH_IMAGE049
in order to be the initial speed of the vehicle,
Figure 805375DEST_PATH_IMAGE020
is subject to
Figure 669426DEST_PATH_IMAGE021
Are evenly distributed in between.
In this embodiment, S13 includes:
calculating the speed of snowflake falling on the ground at the current moment in the absence of wind through the following formula:
Figure 188526DEST_PATH_IMAGE050
wherein, the first and the second end of the pipe are connected with each other,
Figure 479830DEST_PATH_IMAGE051
the speed of snowfall at the current moment in absence of wind;
the speed vector when the snowflake falls to the ground in the scene is obtained through the following formula:
Figure 12442DEST_PATH_IMAGE024
wherein, the first and the second end of the pipe are connected with each other,
Figure 414605DEST_PATH_IMAGE025
for snow falling in sceneThe velocity vector of time is unitized.
In this embodiment, S2 includes:
s21: on the basis of the regular icosahedron, trisecting each edge of 30 edges of the regular icosahedron, and taking trisecting points of each edge to intercept angles to obtain an icosahedron with 60 vertexes and 32 faces;
s22: respectively connecting the body center point of the truncated icosahedron with 60 vertexes and 32 surface centers to obtain 92 direction vectors, unitizing the direction vectors and storing the unitized direction vectors in a vector array with the length of 92
Figure 552325DEST_PATH_IMAGE026
；
S23: the inverse direction of snowflake landing is regarded as the direction of tracing ray, and ray tracing technology and array are utilized
Figure 811268DEST_PATH_IMAGE052
Setting a threshold value, and calculating a snow factor function in a scene;
s24: and calculating the snow thickness of the surface unit of the intersection surface of the ray and the scene according to the average snowing thickness.
In this embodiment, S23 includes:
the negative vector of the speed direction when the snowflake lands and the second of 92 direction vectors formed by the truncated icosahedron
Figure 768860DEST_PATH_IMAGE027
Cosine of the angle of each vector is
Figure 240292DEST_PATH_IMAGE028
Solid angle formed by stretching in the direction of speed of snow falling
Figure 232519DEST_PATH_IMAGE029
The threshold value is
Figure 662363DEST_PATH_IMAGE030
Within this range, the
Figure 107251DEST_PATH_IMAGE031
The number of direction vectors of
Figure 913533DEST_PATH_IMAGE032
Then snow factor function in scene
Figure 258802DEST_PATH_IMAGE033
The calculation is as follows:
Figure 62810DEST_PATH_IMAGE034
wherein the content of the first and second substances,
Figure 791731DEST_PATH_IMAGE035
unit normal vector and scene coordinate system of snowflake landing surface
Figure 604966DEST_PATH_IMAGE036
Cosine of the angle formed by the axes, if
Figure 306206DEST_PATH_IMAGE037
Then, then
Figure 281115DEST_PATH_IMAGE038
。
In this embodiment, S24 includes:
average snow thickness in scene
Figure 497333DEST_PATH_IMAGE039
The snow thickness of the surface unit of the intersection surface of the ray and the scene is given by the configuration file
Figure 848680DEST_PATH_IMAGE040
。
In this embodiment, S3 includes:
s31: judging the infrared property of the material of the scene surface according to the accumulated snow thickness of the surface unit;
s32: and calculating the infrared radiation brightness of the infrared attribute of the material on the scene surface according to the Planck formula.
In this embodiment, S31 includes:
thickness of accumulated snow on dough units
Figure 404426DEST_PATH_IMAGE053
If the unit is snow-free, the infrared property of the material on the surface of the scene is the original infrared property of the material of the unit;
thickness of accumulated snow on dough units
Figure 612554DEST_PATH_IMAGE042
And the infrared property of the material on the surface of the scene is the infrared property of the snow material.
The method for calculating the snow cover condition of the scene surface comprises the steps of calculating the snow falling direction, constructing a snow factor function by using the spherical normal of 92 directions of a truncated icosahedron, calculating the snow thickness of each surface element by using a ray tracing technology to obtain more accurate snow cover condition of the infrared scene, selecting infrared material attributes of different materials according to snow coverage to calculate the infrared radiation value of a pixel, and calculating the infrared radiation value of the pixel according to the attribute of the pixel
Figure 519330DEST_PATH_IMAGE043
The infrared simulation image is output according to the resolution ratio, and the accurate and high-resolution infrared radiation simulation image in the snow accumulation scene is obtained. Experimental results show that the method can effectively reduce infrared simulation errors caused by snow cover conditions and improve the infrared image precision.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (8)

1. An infrared scene numerical calculation method under an accumulated snow environment is characterized by comprising the following steps:
step 1: calculating the landing speed vector of the snowflakes;
step 2: calculating the snow cover thickness in the scene based on the speed vector of the snowfall;
and 3, step 3: calculating scene infrared radiation brightness according to the snow cover thickness in the scene;
and 4, step 4: generating an infrared simulation image according to the infrared radiation brightness of the scene;
the step 1 comprises the following steps:
step 11: obtaining a wind speed vector under a scene coordinate system according to the direction and the size of the wind speed in the scene;
step 12: calculating a speed vector of the snowflakes falling to the ground at the current moment according to the gravity acceleration, the air resistance coefficient, the diameters of the snowflakes, the mass of the snowflakes and the time interval;
step 13: calculating the speed vector of snowfall at the current moment in the absence of wind, and combining the speed vector of the snowfall in the scene synthesized by the wind speed under the scene coordinate system in the step 11;
the step 2 comprises the following steps:
step 21: on the basis of the regular icosahedron, each edge of 30 edges of the regular icosahedron is trisected, and a trisection point of each edge is taken to intercept an angle to obtain an truncated icosahedron with 60 vertexes and 32 faces;
step 22: respectively connecting the body center point of the truncated icosahedron with 60 vertexes and 32 surface centers to obtain 92 direction vectors, unitizing the direction vectors and storing the direction vectors in a vector array with the length of 92
Figure 747241DEST_PATH_IMAGE001
；
Step 23: the reverse direction of snowflake landing is regarded as the direction of tracing ray, and ray tracing technology and array are used
Figure 841099DEST_PATH_IMAGE001
Setting a threshold value, and calculating a snow factor function in a scene;
step 24: and calculating the snow thickness of the surface unit of the intersection surface of the ray and the scene according to the average snow thickness.
2. The method of claim 1, wherein step 11 comprises:
suppose the direction of the wind speed in the scene is
Figure 231629DEST_PATH_IMAGE002
The wind speed is
Figure 106044DEST_PATH_IMAGE003
Calculating a wind speed vector under a scene coordinate system by the following formula:
Figure 748378DEST_PATH_IMAGE004
Figure 86955DEST_PATH_IMAGE005
Figure 320490DEST_PATH_IMAGE006
Figure 885464DEST_PATH_IMAGE007
wherein, the first and the second end of the pipe are connected with each other,
Figure 922035DEST_PATH_IMAGE008
is the wind speed vector in the scene coordinate system,
Figure 256064DEST_PATH_IMAGE009
、
Figure 660500DEST_PATH_IMAGE010
、
Figure 571825DEST_PATH_IMAGE011
the wind speed in the x-axis direction, the wind speed in the y-axis direction and the wind speed in the z-axis direction are respectively.
3. The method of claim 2, wherein step 12 comprises:
assuming gravitational acceleration of
Figure 290382DEST_PATH_IMAGE012
The air resistance is a number
Figure 541235DEST_PATH_IMAGE013
The diameter of the snowflakes is
Figure 178889DEST_PATH_IMAGE014
The snowflakes have the mass
Figure 718455DEST_PATH_IMAGE015
At a time interval of
Figure 365337DEST_PATH_IMAGE016
Calculating the speed vector of the snowflake falling to the ground at the current moment by using the following formula:
Figure 470696DEST_PATH_IMAGE017
wherein the content of the first and second substances,
Figure 154619DEST_PATH_IMAGE018
is composed of
Figure 712639DEST_PATH_IMAGE019
The speed of fall of the snow at the moment,
Figure 163212DEST_PATH_IMAGE020
in order to be the initial speed of the vehicle,
Figure 60761DEST_PATH_IMAGE021
is subject to
Figure 305797DEST_PATH_IMAGE022
Are evenly distributed in between.
4. A method according to claim 3, characterized in that said step 13 comprises:
calculating the speed of snowflake falling on the ground at the current moment in the absence of wind through the following formula:
Figure 819955DEST_PATH_IMAGE023
wherein, the first and the second end of the pipe are connected with each other,
Figure 480744DEST_PATH_IMAGE024
the speed of snowfall at the current moment in absence of wind;
the speed vector of the snowfall in the scene is obtained through the following formula:
Figure 357433DEST_PATH_IMAGE025
wherein the content of the first and second substances,
Figure 711054DEST_PATH_IMAGE026
the velocity vector when a snowflake lands in a scene is unitized.
5. The method of claim 4, wherein step 23 comprises:
recording the negative vector of the speed direction when the snowflakes land and the second of 92 direction vectors formed by the truncated icosahedron
Figure 446929DEST_PATH_IMAGE027
Cosine of the angle of each vector is
Figure 973725DEST_PATH_IMAGE028
Solid angle formed by stretching in the direction of speed of snow falling
Figure 845866DEST_PATH_IMAGE029
The threshold value is
Figure 370388DEST_PATH_IMAGE030
Within this range, the
Figure 721123DEST_PATH_IMAGE031
The number of direction vectors of
Figure 661397DEST_PATH_IMAGE032
Then snow factor function in scene
Figure 778257DEST_PATH_IMAGE033
The calculation is as follows:
Figure 473681DEST_PATH_IMAGE034
wherein the content of the first and second substances,
Figure 652989DEST_PATH_IMAGE035
unit normal vector and scene coordinate system of snowflake landing surface
Figure 787168DEST_PATH_IMAGE036
Cosine of the angle formed by the axes, if
Figure 696218DEST_PATH_IMAGE037
Then, then
Figure 234646DEST_PATH_IMAGE038
。
6. The method of claim 5, wherein step 24 comprises:
average snow thickness in scene
Figure 557043DEST_PATH_IMAGE039
The snow thickness of the surface unit of the intersection surface of the ray and the scene is given by the configuration file
Figure 901437DEST_PATH_IMAGE040
。
7. The method of claim 6, wherein step 3 comprises:
step 31: judging the infrared property of the material of the scene surface according to the accumulated snow thickness of the surface unit;
step 32: and calculating the infrared radiation brightness of the infrared attribute of the material on the scene surface according to the Planck formula.
8. The method of claim 7, wherein the step 31 comprises:
thickness of accumulated snow on dough units
Figure 868256DEST_PATH_IMAGE041
If the unit is snow-free, the infrared attribute of the material on the surface of the scene is the original infrared attribute of the material of the unit;
thickness of accumulated snow on dough units
Figure 702220DEST_PATH_IMAGE042
And the infrared property of the material on the surface of the scene is the infrared property of the snow material.
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