CN115372911A - Virtual scene and real test platform space position mapping conversion method - Google Patents
Virtual scene and real test platform space position mapping conversion method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a mapping conversion method for a virtual scene and a real test platform space position, which comprises the following steps: firstly, converting the position information of each element represented by a geodetic coordinate system in a virtual scene into a northeast polar coordinate system with a radar as an origin, and extracting the azimuth track center theta of a detection target in the scene MID (ii) a Then, a north finder and a total station are used for measuring the coordinates of a test radar in a real test platform and the coordinates of a large-scale azimuth/pitching action mechanism for erecting a target simulator, and the coordinates are converted into a northeast polar coordinate system with the radar as the origin to obtain an azimuth angle theta YB (ii) a Finally, the detection target track file in the virtual scene is rotated by theta MID ‑θ YB And mapping the angle to the real test platform to realize the correspondence between the virtual scene and the scene of the real test platform. The invention realizes the space position mapping between the virtual scene and the real test platform, and has simple method and strong reliability。
Description
Technical Field
The invention belongs to the technical field of radar confrontation scene simulation, and particularly relates to a mapping conversion method for a virtual scene and a real test platform space position.
Background
In the evaluation of a radar battlefield complex electromagnetic interference test, a radar confrontation scene is usually simulated in a scene computer, and then the confrontation scene is mapped to a real test platform through various driving files, wherein the real test platform generally comprises a test radar, a target echo simulator, a large azimuth/elevation action mechanism for erecting the simulator and the like. The mapping of the spatial position from the virtual scene to the real test platform relates to the corresponding relation between the radar confrontation scene in the virtual scene and the spatial position of each device in the real test platform, wherein the selection of a unified coordinate system, the calibration of the relative position between each device in the real platform, the corresponding relation between the coverage range of the real platform and the scene and the like become keys.
Disclosure of Invention
The invention aims to provide a mapping conversion method for a virtual scene and a real test platform space position.
The technical solution for realizing the purpose of the invention is as follows: a mapping conversion method for a virtual scene and a real test platform space position comprises the following steps:
Compared with the prior art, the invention has the following remarkable advantages: (1) Converting a radar confrontation scene designed in a virtual scene into a northeast coordinate system with a radar as an origin, extracting the azimuth track center of a moving target in the scene, calibrating the relative positions of a test radar and a large-scale azimuth/elevation action mechanism in a real platform, and mapping the radar confrontation scene in the virtual scene into the real test platform after translation and rotation, so that the spatial position mapping between the virtual scene and the real test platform is realized; and (2) the method is simple, easy to implement and high in reliability.
Drawings
Fig. 1 is a schematic flow chart of a mapping conversion method of a virtual scene and a real test platform space position according to the present invention.
Fig. 2 is a schematic flow chart of the position calibration of the real test platform in the embodiment of the present invention.
Fig. 3 is a schematic flow chart of the track rotation of the virtual scene and the real test platform in the embodiment of the present invention.
Detailed Description
The invention relates to a mapping conversion method of a virtual scene and a real test platform space position, which comprises the following steps:
As a specific example, the step 1 converts the position information of each element in the virtual scene, which is represented by a geodetic coordinate system, into a northeast polar coordinate system with the radar as the origin, and extracts the azimuth track center θ of the detection target in the scene MID The details are as follows：
Step 1.1, editing a radar confrontation scene in a virtual scene, wherein the radar confrontation scene comprises a test radar and a detection target, and a motion track expressed by a geodetic coordinate system is formed by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target from a geodetic coordinate system into a WGS84 rectangular coordinate system;
step 1.3, converting a test radar and a detection target track represented by a WGS84 rectangular coordinate system into a northeast rectangular coordinate system with the center of a radar antenna as an origin;
step 1.4, converting the detection target position represented by the northeast rectangular coordinate into a northeast polar coordinate representation;
step 1.5, calculating the azimuth track center theta of the batch of detection targets MID 。
As a specific example, the step 1.2 of converting the position information of the test radar and the detection target from the geodetic coordinate system to the WGS84 rectangular coordinate system specifically includes the following steps:
x＝(N+H)cos(B)cos(L)
y＝(N+H)cos(B)sin(L)
z＝[N(1-e 2 )+H]sin(B)
in the formula, L, B and H are longitude, latitude and height of a read test radar or detection target track file, a and B respectively represent a major semi-axis and a minor semi-axis of the earth, and e is eccentricity, wherein a =6378137; b =6356752.3142; the test radar is expressed as [ x ] in WGS84 rectangular coordinate system D84 ,y D84 ,z D84 ] T The target position is expressed as [ x ] in WGS84 rectangular coordinate system 84 ,y 84 ,z 84 ] T 。
As a specific example, the test radar and the detection target track represented by the WGS84 rectangular coordinate system in step 1.3 are converted into the northeast rectangular coordinate system with the radar antenna center as the origin, specifically as follows:
wherein:
wherein [ x ] DL ,y DL ,z DL ] T Representing northeast coordinate system parameters of a detection target with the center of the test radar antenna as an origin; [ x ] of 84 ,y 84 ,z 84 ] T Parameters of the detection target in a WGS-84 coordinate system are shown; [ x ] of D84 ,y D84 ,z D84 ] T Parameters of the center of the test radar antenna under a WGS-84 coordinate system are represented; l is D 、B D The longitude and the latitude of the center of the test radar antenna in a geodetic coordinate system are shown.
As a specific example, the step 1.4 converts the detection target position represented by the north-east rectangular coordinate into the north-east polar coordinate, which is as follows:
wherein R is the detection target distance, theta is the detection target azimuth,
to detect the target pitch angle.
As a specific example, the calculation of the azimuth trajectory center θ of the batch of detection targets in step 1.5 MID The method comprises the following steps:
θ MID ＝(θ MAX +θ MIN )/2
in the formula theta MAX For the maximum azimuth of the batch of probe targets, θ MIN The azimuth minimum for the batch of probe targets.
As a specific example, the north finder and the total station in step 2 are used to measure the coordinates of the test radar in the real test platform and the coordinates of the large azimuth/elevation mechanism for erecting the target simulator, and the coordinates are converted into the northeast polar coordinate system with the radar as the origin to obtain the azimuth angle θ YB The method comprises the following steps:
step 2.1, erecting and leveling a north seeker and a total station, and finishing north seeking by the north seeker;
step 2.2, calibrating the center position of the test radar antenna under the northeast rectangular coordinate system by using the total station, and recording as [ x [ ] LD ,y LD ,z LD ] T ；
Step 2.3, calibrating the position of the large azimuth/pitching motion mechanism under the northeast rectangular coordinate system by using the total station, and recording the position as [ x ] YB ,y YB ,z YB ] T ；
Step 2.4, calculating the position axis coordinate of the large-scale azimuth/pitching motion mechanism which is expressed by taking the test radar as the origin under the rectangular coordinate system of the northeast sky;
step 2.5, converting the position axis coordinate of the large-scale azimuth/pitching action mechanism calculated in the step 2.4 into a northeast polar coordinate system by adopting the formula (3), and solving an azimuth angle theta YB 。
As a specific example, the position axis coordinate of the large-scale azimuth/elevation mechanism represented by using the test radar as the origin in the northeast rectangular coordinate system is calculated in step 2.4 and recorded as [ x [ ] LY ,y LY ,z LY ] T The method comprises the following steps:
as a specific example, the detection target track file in the virtual scene is rotated by θ in step 3 MID -θ YB Mapping the angle to a real test platform to realize virtualizationThe scene corresponds to the scene of the real test platform, and specifically comprises the following steps:
step 3.1, calculating the difference between the detection target track file in the virtual scene and the azimuth angle of the large azimuth/pitching motion mechanism in the real test platform:
θ XZ ＝θ MID -θ YB
step 3.2, rotating the detection target track file in the virtual scene by theta xz Entering a real test platform;
step 3.3, calculating a rotated detection target track file;
and 3.4, driving the real test platform to act by using the rotated detection target track file.
As a specific example, the track file of the detection target after rotation is calculated in step 3.3, and is recorded as (lx, ly, lz), specifically as follows:
the invention is described in further detail below with reference to the figures and the specific embodiments.
Examples
With reference to fig. 1, the invention provides a mapping conversion method for a virtual scene and a real test platform space position, which comprises the following steps:
step 1.1, editing a radar countermeasure scene in a virtual scene, wherein the radar countermeasure scene comprises a test radar and a detection target, and a motion track expressed by a geodetic coordinate system is formed by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target from a geodetic coordinate system into a WGS84 rectangular coordinate system, specifically as follows:
in the formula, L, B and H are longitude, latitude and height of a read test radar or detection target track file, a and B respectively represent a major semi-axis and a minor semi-axis of the earth, and e is eccentricity, wherein a =6378137; b =6356752.3142; the test radar is expressed as [ x ] in WGS84 rectangular coordinate system D84 ,y D84 ,z D84 ] T The target position is expressed as [ x ] in WGS84 rectangular coordinate system 84 ,y 84 ,z 84 ] T ；
Step 1.3, converting the test radar and the detection target track represented by the WGS84 rectangular coordinate system into a northeast rectangular coordinate system with the center of the radar antenna as an origin, specifically as follows:
wherein:
wherein [ x ] DL ,y DL ,z DL ] T Representing northeast coordinate system parameters of a detection target with the center of the test radar antenna as an origin; [ x ] of 84 ,y 84 ,z 84 ] T Parameters of the detection target in a WGS-84 coordinate system are shown; [ x ] of D84 ,y D84 ,z D84 ] T Parameters of the center of the test radar antenna under a WGS-84 coordinate system are represented; l is a radical of an alcohol D 、B D The longitude and the latitude of the center of the test radar antenna under a geodetic coordinate system are represented;
step 1.4, converting the detection target position represented by the northeast rectangular coordinate into a northeast polar coordinate representation, specifically as follows:
wherein R is the detection target distance, theta is the detection target azimuth,
detecting a target pitch angle;
step 1.5, calculating the azimuth track center theta of the batch of detection targets MID The method comprises the following steps:
θ MID ＝(θ MAX +θ MIN )/2 (4)
in the formula [ theta ] MAX For the maximum azimuth of the batch of probe targets, θ MIN The azimuth minimum for the batch of probe targets.
step 2.1, erecting and leveling a north seeker and a total station, and finishing north seeking by the north seeker;
step 2.2, calibrating the center position of the test radar antenna under the northeast rectangular coordinate system by using the total station, and recording the center position as [ x ] LD ,y LD ,z LD ] T ；
Step 2.3, calibrating the position of the large azimuth/pitching motion mechanism under the northeast rectangular coordinate system by using the total station, and recording the position as [ x ] YB ,y YB ,z YB ] T ；
Step 2.4, calculating the position axis coordinate of the large-scale azimuth/pitching motion mechanism expressed by taking the test radar as the origin under the northeast rectangular coordinate system, and specifically comprising the following steps:
step 2.5, converting the position axis coordinate of the large-scale azimuth/pitching action mechanism calculated in the step 2.4 into a northeast polar coordinate system by adopting the formula (3), and solving an azimuth angle theta YB 。
step 3.1, calculating the difference between the detection target track file in the virtual scene and the azimuth angle of the large azimuth/pitching motion mechanism in the real test platform:
θ XZ ＝θ MID -θ YB (6)
step 3.2, rotating the detection target track file in the virtual scene by theta xz Into a real test platform, as shown in fig. 3;
step 3.3, calculating the rotated detection target track file, which is specifically as follows:
and 3.4, driving the real test platform to act by using the rotated detection target track file.
The method converts the radar confrontation scene designed in the virtual scene into a northeast coordinate system with the radar as an origin, extracts the azimuth track center of the moving target in the scene, calibrates the relative positions of the test radar and the large azimuth/pitching action mechanism in the real platform, and maps the radar confrontation scene in the virtual scene into the real test platform after translation and rotation, so that the spatial position mapping between the virtual scene and the real test platform is realized.
Claims (10)
1. A mapping conversion method for a virtual scene and a real test platform space position is characterized by comprising the following steps:
step 1, converting the position information of each element represented by a geodetic coordinate system in a virtual scene into a northeast polar coordinate system with a radar as an origin, and extracting the azimuth track of a detection target in the sceneCenter theta MID ；
Step 2, measuring the coordinates of a test radar in a real test platform and the coordinates of a large-scale azimuth/elevation action mechanism for erecting a target simulator by using a north seeker and a total station, converting the coordinates into a northeast polar coordinate system with the radar as an origin, and solving an azimuth angle theta YB ；
Step 3, rotating the detection target track file in the virtual scene by theta MID -θ YB And mapping the angle to the real test platform to realize the correspondence between the virtual scene and the scene of the real test platform.
2. The method for mapping and converting the virtual scene and the real test platform according to claim 1, wherein the step 1 converts the position information of each element in the virtual scene, which is represented by a geodetic coordinate system, into a northeast polar coordinate system with a radar as an origin, and extracts the azimuth track center θ of the detection target in the scene MID The method comprises the following steps:
step 1.1, editing a radar confrontation scene in a virtual scene, wherein the radar confrontation scene comprises a test radar and a detection target, and a motion track expressed by a geodetic coordinate system is formed by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target from a geodetic coordinate system into a WGS84 rectangular coordinate system;
step 1.3, converting a test radar and a detection target track represented by a WGS84 rectangular coordinate system into a northeast rectangular coordinate system with the center of a radar antenna as an origin;
step 1.4, converting the detection target position represented by the northeast rectangular coordinate into a northeast polar coordinate representation;
step 1.5, calculating the azimuth track center theta of the batch of detection targets MID 。
3. The method for mapping and converting the spatial positions of the virtual scene and the real testing platform according to claim 2, wherein the step 1.2 converts the position information of the testing radar and the detection target from a geodetic coordinate system to a WGS84 rectangular coordinate system, which comprises the following steps:
x＝(N+H)cos(B)cos(L)
y＝(N+H)cos(B)sin(L)
z＝[N(1-e 2 )+H]sin(B)
in the formula, L, B and H are longitude, latitude and height of a read test radar or detection target track file, a and B respectively represent a major semi-axis and a minor semi-axis of the earth, and e is eccentricity, wherein a =6378137; b =6356752.3142; the test radar is expressed as [ x ] in WGS84 rectangular coordinate system D84 ,y D84 ,z D84 ] T The target position is expressed as [ x ] in WGS84 rectangular coordinate system 84 ,y 84 ,z 84 ] T 。
4. The method as claimed in claim 3, wherein the step 1.3 converts the test radar and the detection target track expressed by WGS84 rectangular coordinate system into the northeast rectangular coordinate system with the radar antenna center as the origin, specifically as follows:
wherein:
wherein [ x ] DL ,y DL ,z DL ] T East representing a detection target with the center of the test radar antenna as the originNorth-sky coordinate system parameters; [ x ] 84 ,y 84 ,z 84 ] T Parameters of the detection target in a WGS-84 coordinate system are shown; [ x ] of D84 ,y D84 ,z D84 ] T Parameters of the center of the test radar antenna under a WGS-84 coordinate system are represented; l is a radical of an alcohol D 、B D The longitude and the latitude of the center of the test radar antenna in a geodetic coordinate system are shown.
5. The method for mapping and converting the virtual scene and the real test platform space position according to claim 4, wherein the step 1.4 is to convert the detection target position represented by the northeast rectangular coordinate into the northeast polar coordinate, specifically as follows:
wherein R is the detection target distance, theta is the detection target azimuth,
to detect the target pitch angle.
6. The method for mapping and converting the spatial positions of the virtual scene and the real test platform according to claim 5, wherein the step 1.5 is performed to calculate the orientation track center θ of the batch of detection targets MID The method comprises the following steps:
θ MID ＝(θ MAX +θ MIN )/2
in the formula theta MAX For the maximum azimuth of the batch of probe targets, θ MIN The azimuth minimum for the batch of probe targets.
7. The method for mapping and converting the virtual scene and the real test platform according to claim 6, wherein the step 2 is a large azimuth/elevation machine for measuring the test radar coordinates in the real test platform and erecting the target simulator by using the north finder and the total stationConstructing coordinates, converting into a northeast polar coordinate system with the radar as the origin to obtain an azimuth angle theta YB The method comprises the following steps:
step 2.1, erecting and leveling a north seeker and a total station, and finishing north seeking by the north seeker;
step 2.2, calibrating the center position of the test radar antenna under the northeast rectangular coordinate system by using the total station, and recording the center position as [ x ] LD ,y LD ,z LD ] T ；
Step 2.3, calibrating the position of the large azimuth/pitching motion mechanism under the northeast rectangular coordinate system by using the total station, and recording the position as [ x ] YB ,y YB ,z YB ] T ；
Step 2.4, calculating the position axis coordinate of the large-scale azimuth/pitching motion mechanism expressed by taking the test radar as the origin under the northeast rectangular coordinate system;
step 2.5, converting the position axis coordinate of the large-scale azimuth/pitching action mechanism calculated in the step 2.4 into a northeast polar coordinate system, and calculating an azimuth angle theta YB 。
8. The method as claimed in claim 7, wherein the step 2.4 is performed to calculate the axis coordinates of the position of the large-scale azimuth/elevation mechanism represented by the origin of the test radar in the northeast rectangular coordinate system, and record the axis coordinates as [ x [ ] LY ,y LY ,z LY ] T The method comprises the following steps:
9. the method for mapping and converting the spatial positions of the virtual scene and the real test platform according to claim 8, wherein the step 3 is performed by rotating the detection target track file in the virtual scene by θ MID -θ YB The angle is mapped to the real test platform, so that the virtual scene corresponds to the scene of the real test platform, and the method specifically comprises the following steps:
step 3.1, calculating the difference between the detection target track file in the virtual scene and the azimuth angle of the large-scale azimuth/pitching motion mechanism in the real test platform:
θ XZ ＝θ MID -θ YB
step 3.2, rotating the detection target track file in the virtual scene by theta xz Putting the test sample into a real test platform;
step 3.3, calculating a rotated detection target track file;
and 3.4, driving the real test platform to act by using the rotated detection target track file.
10. The method for mapping and converting the spatial positions of the virtual scene and the real test platform according to claim 9, wherein the track file of the detection target after the rotation is calculated in step 3.3 is recorded as (lx, ly, lz), specifically as follows:
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