CN117152325B - Method for displaying satellite real-time pdop value by using digital earth - Google Patents
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Abstract
The invention discloses a method for displaying a satellite real-time pdop value by using digital earth, which comprises the following steps: s1, selecting a plurality of RGB colors, and completing coloring rendering of the digital earth according to blocks, wherein the coloring rendering corresponds to the selection of RGB color values and color segment values; s2, acquiring satellite real-time pdop values according to the blocks; s3, acquiring corresponding real-time RGB color values according to the real-time pdop values of each block; s4, coloring and rendering the digital earth according to the real-time RGB color values of each block; according to the invention, the pdop value is intuitively displayed on the digital earth in different colors, so that the distribution situation of the satellite in space is displayed on the digital earth, and meanwhile, the real-time pdop value of each block of the satellite at the current moment can be intuitively displayed in different colors, thereby helping to intuitively judge the distribution situation of the satellite and helping to observe the rationality of the satellite in space distribution.
Description
Technical Field
The invention relates to the technical field of position precision pdop value display, in particular to a method for displaying satellite real-time pdop values by using digital earth.
Background
pdop is a positional accuracy factor (positional resolution), and is translated into "accuracy intensity", and is usually translated into "relative error", and since the quality of the observation result is related to the geometry between the measured satellite and the receiver and has a great influence, the error amount caused by the calculation is called accuracy intensity, the better the satellite distribution degree in the sky is in general, the higher the positioning accuracy is (the smaller the corresponding pdop value is), pdop represents one parameter of the relation between the three-dimensional positional accuracy and the geometric configuration of the navigation table, and for positioning, the pdop value is small, for example, less than 3, the positioning accuracy is considered to be good, and the value larger than 7 is considered to be poor.
When the existing digital earth displays all the situation of the party, especially the distribution situation of the space satellite, the satellite real-time pdop value cannot be mapped and rendered to the digital earth directly under the general condition, the real-time pdop value cannot be utilized to visually check and improve the distribution situation of the space satellite, and the coverage range of the satellite and the cross area of the coverage range between the satellites cannot be visually displayed at the current moment, so that the rationality of the space distribution of the satellite is inconvenient to observe.
The prior art is not found through searching, and a satellite real-time pdop value display method by utilizing digital earth is disclosed.
Disclosure of Invention
The invention aims to provide a method for displaying a satellite real-time pdop value by using digital earth, which solves the problem that the rationality of satellite space distribution can not be visually checked.
The aim of the invention can be achieved by the following technical scheme: a satellite real-time pdop value display method by using digital earth comprises the following steps:
s1, selecting a plurality of RGB colors, and acquiring color segments of two adjacent colors to finish coloring rendering of the digital earth corresponding to the selected RGB color values and the color segment values;
s2, acquiring satellite real-time pdop values according to the blocks;
s3, acquiring a corresponding real-time RGB color value or color segment value according to the real-time pdop value of each block;
and S4, completing coloring rendering of the digital earth according to the real-time RGB color values or the color segment values of each block.
Further: and in the S1, the RGB colors are sequentially blue, cyan, green, yellow and red, and color segments of two adjacent colors are obtained, wherein the color segments are respectively a blue-green color segment, a cyan-green color segment, a green-yellow color segment and a yellow-red color segment.
Further: the step of completing coloring rendering of the digital earth and selecting RGB color values and color segment values in the step S1 comprises the following steps:
s11, selecting a numerical earth mapping numerical range of 0-100, wherein i is an integer;
s12, calculating a color increment dcolorstep= (255 x (mod (i, 25)/(25)); color segment interval value vaule = rounding (i ≡25);
s13, traversing the i value to finish mapping of the i value, the color value and the color segment value;
when vaule=0: blue-green color segment value (0, 0+dcolorstep, 255);
when vaule=1: the cyan color segment value is (0, 255, 255-dColorStep);
when vaule=2: the green-yellow color segment value is (0+dcolorstep, 255, 0);
when vaule=3: yellow-red color segment value (255, 255-dColorStep, 0);
the red color value RGB (255, 0) maps to a value i=100.
S14, storing a color array vector_color obtained by mapping the color value, the color segment value and the numerical range 0.ltoreq.i.ltoreq.100.
Further: the step of obtaining satellite real-time pdop values according to the blocks in the S2 is as follows:
s21, traversing the longitude and latitude block of the earth and calculating sine and cosine value factors earthPos (lon, lat, alt) of the longitude and latitude of the earth;
s22, traversing all space targets longitude and latitude space (lon, lat, alt) at the current moment simultaneously, and calculating a difference value siteToSat (x, y, z) between the space targets longitude and latitude space (lon, lat, alt) and earthPs (lon, lat, alt);
s23, calculating a vector angle between siteToSat (x, y, z) and space epos (-lon, -lat, -alt), obtaining a visible factor elev by using the vector angle, and obtaining whether the space target is visible or not by judging a visible factor elev value; wherein spacePos (-lon, -lat, -alt) is the opposite value of spacePos (lon, lat, alt);
s24, if the space object is visible, calculating a dot product value distance of siteToSat (x, y, z), and processing the siteToSat (x, y, z) through the distance to obtain siteToSat (-x/distance, -y/distance, -z/distance);
s25, creating a factor matrix coeffMatrix through siteToSat (-x/distance, -y/distance, -z/distance), and performing transposition and inverse matrix processing on the coeffMatrix to obtain a matrix covariance;
s26, acquiring real-time pdop values of all blocks of the longitude and latitude of the earth by using a matrix covariance.
Further: the step of obtaining the corresponding real-time RGB color value or color segment value according to the real-time pdop value of each block in the S3 is as follows:
s31, obtaining the maximum value dMax and the minimum value dMin of the pdop value according to the real-time pdop value of each block;
s32, calculating a color index value index according to the current block real-time pdop value dCurrentVale,
index=rounding (dcurrentval ++dmax-dMin) ×100;
s33, obtaining a corresponding color value or color segment value in the color array vector_color according to the index value index.
The invention has the beneficial effects that:
1. according to the invention, the pdop value is intuitively displayed on the digital earth, and when the distribution condition of the satellite in space is displayed on the digital earth, the real-time pdop value of each block of the satellite at the current moment can be intuitively displayed through different colors, so that the satellite distribution degree can be judged, and the rationality of the satellite in space distribution can be observed.
2. According to the method, the appropriate step length is set for calculation of the pdop value, the longitude and latitude blocks of the earth are traversed dynamically in real time, multiple corrections are carried out in the numerical value acquisition process, and the accuracy of the acquired pdop value is high.
Drawings
FIG. 1 is a graph showing an effect of the present invention on real-time pdop values of satellite detection distribution using digital earth;
FIG. 2 is a graph showing another effect of the present invention on real-time pdop values of satellite detection distribution using digital earth.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar symbols indicate like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
As shown in fig. 1-2, the invention discloses a method for displaying satellite real-time pdop value by using digital earth, which comprises the following steps:
s1, selecting a plurality of RGB colors, and acquiring color segments of two adjacent colors to finish coloring rendering of the digital earth corresponding to the selected RGB color values and the color segment values;
s2, acquiring satellite real-time pdop values according to the blocks;
s3, acquiring a corresponding real-time RGB color value or color segment value according to the real-time pdop value of each block;
and S4, completing coloring rendering of the digital earth according to the real-time RGB color values or the color segment values of each block.
The normal pdop value is generally in the range of 0-99.9, the smaller the pdop value is, the better the positioning accuracy is considered to be, the more accurate the pdop is not more than 3, and the worse the positioning accuracy is considered to be above 7.
The digital earth is divided into blocks according to longitude and latitude, and the block division mode can adopt the formula:
number of tiles= (longitude/longitude step size) × (latitude/latitude step size)
The longitude is 360 degrees, the latitude is 180 degrees, the longitude step is the degree crossing the longitude, the latitude step and the longitude step can be adjusted according to actual needs, the longitude and latitude step value of the digital earth is preferably consistent with the step adopted in calculation of pdop value, when the longitude and latitude step value is smaller, the more the number of obtained blocks is, the better the coloring display accuracy of the digital earth is, but the calculated amount is increased.
For example: the longitude step length is 5 degrees, the latitude step length is also 5 degrees, and the number of the blocks is
(360/5) × (180/5) =72×36=2592 blocks, each of which can be independently colored according to the real-time pdop value.
The pdop value can be obtained by calculation, and the steps are as follows:
s21, traversing the longitude and latitude of the earth and calculating sine and cosine value factors earthPos (lon, lat, alt) of the longitude and the latitude of the earth.
S22, traversing all space targets longitude and latitude space (lon, lat, alt) at the current moment at the same time, and enabling a difference value siteToSat (x, y, z) between the space targets longitude and latitude space (lon, lat, alt) and earthPs (lon, lat, alt);
s23, calculating a vector angle between siteToSat (x, y, z) and space epos (-lon, -lat, -alt), obtaining a visible factor elev by using the vector angle, and obtaining whether the space target is visible or not by judging a visible factor elev value;
s24, if the space object is visible, calculating a dot product value distance of siteToSat (x, y, z), and processing the siteToSat (x, y, z) through the distance to obtain siteToSat (-x/distance, -y/distance, -z/distance);
s25, creating a factor matrix coeffMatrix through siteToSat (-x/distance, -y/distance, -z/distance), and performing transposition and inverse matrix processing on the coeffMatrix to obtain elevation and horizontal factor values;
s26, obtaining the pdop value of the longitude and latitude of the earth at the moment by squaring and opening root numbers of the elevation and horizontal factor values.
Specific:
the set step size (increment of longitude and latitude of each traversal of the earth) may be 5, 10, etc., preferably a multiple of 5.
Setting a traversal boundary start longitude s_lon= -180+step ≡2, and an end longitude e_lon = 180+step ≡2; traversing the boundary starting latitude s_lat= -90+step ≡2, starting latitude e_lat = 90+step ≡2; radian rad=pi/180.0 was calculated.
And circularly traversing sine and cosine values of longitude and latitude calculated from s_lon-e_lon and s_lat-e_lat in a circular manner:
current earth longitude and latitude original value curpos= (lon×rad, lat×rad, 0);
eccentricity squared e2=1.0++ 298.257223563 × (2-1.0++ 298.257223563);
the longitude and latitude sine and cosine values are coslat=cos (curpos. Lat), sinlat=sin (curpos. Lat);
the calculation factor is n=6378.137e3 ≡，
The sine and cosine value factors are:
earthPos=（N*CosLat*cos（lon），N*CosLat*sin（lon），（1.0-e2）*N）*SinLat）；
traversing all spatial targets longitude and latitude space (lon, lat, alt) at the current moment and calculating a visible factor elev:
calculating the difference value between the longitude and latitude of the space target and the longitude and latitude of the earth as
siteToSat（lon，lat，alt）=spacePos（lon，lat，alt）-earthPos（lon，lat，alt）；
The siteToSat dot product is:
siteProduct=siteToSat.lon*siteToSat.lon+siteToSat.lat*siteToSat.lat+siteToSat.alt*siteToSat.alt；
the earthPos dot product is:
earthProduct=earthPos.lon*earthPos.lon+earthPos.lat*earthPos.lat+earthPos.alt*earthPos.alt；
the vector angle is:
angle=arccos（（siteToSat.lon*earthPos.lon-siteToSat.lat*earthPos.lat-siteToSat.alt*earthPos.alt）÷siteProduct*earthProduct）；
then elev=angle-pi/2, if elev is greater than 0, the spatial target is proved to be visible, from which the number of spatial targets Num at this point in time is derived, and the calculation of pdop value is continued:
traversing the visible space object, creating a matrix coeffMatrix of Num x 4 according to the object number Num,
wherein each row of coeffMatrix corresponds to a spatial target;
assigning coeffMatrix (i, 0) = -sitetosat. Lon ≡earthpdu;
assigning coeffMatrix (i, 1) = -sitetosat. Lat ≡eartvprduct;
assigning coeffMatrix (i, 2) = -sitetosat. Alt ≡eartvrproduct;
assign coeffMatrix (i, 3) =1.0;
transpose coeffMatrix and multiply product of coeffMatrix to process inverse matrix to get new 4*4 matrix covariance;
final pdop value:
pdop=。
selecting proper colors from the RGB colors, for example, as shown in fig. 1 and 2, and taking five colors of blue, cyan, green, yellow and red from an RGB color table, wherein the blue color values are as follows:
the blue color value is RGB (0, 255);
the cyan color value is: RGB (0, 255, 255);
the green color value is: RGB (0, 255, 0);
the yellow color value is: RGB (255, 0);
the red color value is: RGB (255, 0);
simultaneously sequentially acquiring color segments among five colors of blue, cyan, green, yellow and red, wherein the color segments are respectively a blue-green color segment, a cyan-green color segment, a green-yellow color segment and a yellow-red color segment, and each color segment forwards comprises the belonging color.
The method for completing the coloring rendering of the digital earth and selecting RGB color values and color segment values comprises the following steps:
s11, selecting a numerical earth mapping numerical range of 0-100, wherein i is an integer;
s12, calculating a color increment dcolorstep= (255 x (mod (i, 25)/(25)); color segment interval value vaule = rounding (i ≡25); mod is a remainder operation;
s13, traversing the i value;
when vaule=0: blue-green color segment value (0, 0+dcolorstep, 255);
when vaule=1: the cyan color segment value is (0, 255, 255-dColorStep);
when vaule=2: the green-yellow color segment value is (0+dcolorstep, 255, 0);
when vaule=3: yellow-red color segment value is (255, 255-dColorStep, 0).
When i=100, the red color value RGB (255, 0) maps to a value of 100;
s14, storing a color array vector_color obtained by mapping the color value, the color segment value and the numerical range 0.ltoreq.i.ltoreq.100.
According to the above method, when i=0:
color segment interval value vaule=rounding (i/25) =0;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) =0;
blue-green color segment values are (0, 0+0, 255); (0, 255) corresponds to a blue color value;
when i=25:
color segment interval value vaule=rounding (i/25) =1;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) =0;
the cyan color segment value is (0, 255, 255-0); (0, 255, 255) corresponds to a cyan color value;
when i=50:
color segment interval value vaule=rounding (i/25) =2;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) =0;
the green-yellow color segment value is (0+0, 255, 0); (0, 255, 0) corresponds to a green color value;
when i=75:
color segment interval value vaule=rounding (i/25) =3;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) =0;
yellow-red color segment value is (255, 255-0, 0); (255, 0) corresponding to a yellow color value;
when i=100: the red color value RGB (255, 0) maps to a value of 100;
when i=8:
color segment interval value vaule=rounding (i/25) =0;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) = 81.2;
blue-green color segment value is (0, 0+81.2, 255); (0, 81.2, 255) corresponds to a blue-cyan segment value;
when i=38:
color segment interval value vaule=rounding (i/25) =1;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) = 132.6;
the cyan color segment value is (0, 255, 255-132.6); (0, 255, 123) corresponds to a cyan segment value.
When i=100, mapping alone, the red color value RGB (255, 0) maps to a value of 100;
the step of obtaining the corresponding real-time RGB color value according to the real-time pdop value of each block is as follows:
s31, obtaining the maximum value dMax and the minimum value dMin of the pdop value according to the real-time pdop value of each block;
s32, calculating a color index value index according to the current block real-time pdop value dCurrentVale,
index=rounding (dcurrentval ≡dmax-dMin) ×100
S33, acquiring a corresponding color value or a color segment value in a color array vector_color according to the index value index;
for example, the maximum value dmax=6.5 and the minimum value dmin=0.6 of each block pdop are obtained, and the current block real-time pdop value dcurrentval=0.9 is obtained
Calculating a color index value index=rounding (dcurrentvalue ≡ (dMax-dMin) ×100); calculate index=rounded (0.9 ++6.5-0.6) ×100) =15;
the color index value index corresponds to a value range of 0.ltoreq.i.ltoreq.100, and can be calculated according to i=15
Color segment interval value vaule=rounding (i/25) =0;
color increment dcolorstep= (255 x (mod (i, 25)/(25)) = 100.2;
(0, 0+100.2, 255) is a blue-green color segment value; and selecting RGB (0, 100.2, 255) color values as coloring rendering colors, rendering to the current block of the digital earth, traversing all blocks, and completing coloring rendering of the digital earth.
TABLE 1 spacecraft pdop numerical Table
| Latitude step area longitude step area | 1 | 2 | 3 | |
| 1 | 0.01 | 1.3 | 10 | ... |
| 2 | 0.02 | 4.3 | 10 | ... |
| 3 | 0.00 | 2.05 | 10 | ... |
| 4 | 0.055 | 1.03 | 10 | ... |
| 5 | 0.053 | 0.01 | 3 | ... |
| 6 | 0.06 | 0.01 | 1.01 | ... |
| 7 | 0.07 | 0.02 | 2.01 | ... |
| 8 | 0.8 | 3.2 | 2.3 | ... |
| 9 | 0.01 | 0.45 | 5.5 | ... |
| 10 | 0.01 | 0.36 | 1.3 | ... |
| 11 | 0.01 | 0.3 | 5.6 | ... |
| 12 | 0.01 | 0.2 | 1 | ... |
| ... | ... | ... | ... |
Table 1 is a display form of an original pdop value table of the spacecraft, and fig. 1 and fig. 2 are display forms of pdop values of the colored digital earth, and the pdop values can be visually checked in real time through visual display of five colors of blue, cyan, green, yellow and red and color segments among each other.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. A satellite real-time pdop value display method by using digital earth is characterized in that: the method comprises the following steps:
s1, selecting a plurality of RGB colors, and acquiring color segments of two adjacent colors to finish coloring rendering of the digital earth corresponding to the selected RGB color values and the color segment values;
s2, acquiring satellite real-time pdop values according to the blocks;
s3, acquiring a corresponding real-time RGB color value or color segment value according to the real-time pdop value of each block;
s4, coloring rendering of the digital earth is completed according to the real-time RGB color values or the color segment values of each block;
the step of obtaining satellite real-time pdop values according to the blocks in the S2 is as follows:
s21, traversing the longitude and latitude block of the earth and calculating sine and cosine value factors earthPos (lon, lat, alt) of the longitude and latitude of the earth;
s22, traversing all space targets longitude and latitude space (lon, lat, alt) at the current moment simultaneously, and calculating a difference value siteToSat (x, y, z) between the space targets longitude and latitude space (lon, lat, alt) and earthPs (lon, lat, alt);
s23, calculating a vector angle between siteToSat (x, y, z) and space epos (-lon, -lat, -alt), obtaining a visible factor elev by using the vector angle, and obtaining whether the space target is visible or not by judging a visible factor elev value; wherein spacePos (-lon, -lat, -alt) is the opposite value of spacePos (lon, lat, alt);
s24, if the space object is visible, calculating a dot product value distance of siteToSat (x, y, z), and processing the siteToSat (x, y, z) through the distance to obtain siteToSat (-x/distance, -y/distance, -z/distance);
s25, creating a factor matrix coeffMatrix through siteToSat (-x/distance, -y/distance, -z/distance), and performing transposition and inverse matrix processing on the coeffMatrix to obtain a matrix covariance;
s26, acquiring real-time pdop values of all blocks of the longitude and latitude of the earth by using a matrix covariance.
2. The method for displaying satellite real-time pdop values by using digital earth according to claim 1, wherein: and in the S1, the RGB colors are sequentially blue, cyan, green, yellow and red, and color segments of two adjacent colors are obtained, wherein the color segments are respectively a blue-green color segment, a cyan-green color segment, a green-yellow color segment and a yellow-red color segment.
3. The method for displaying satellite real-time pdop values by using digital earth according to claim 2, wherein: the step of completing coloring rendering of the digital earth and selecting RGB color values and color segment values in the step S1 comprises the following steps:
s11, selecting a numerical earth mapping numerical range of 0-100, wherein i is an integer;
s12, calculating a color increment dcolorstep= (255 x (mod (i, 25)/(25)); color segment interval value vaule = rounding (i ≡25);
s13, traversing the i value to finish mapping of the i value, the color value and the color segment value;
when vaule=0: blue-green color segment value (0, 0+dcolorstep, 255);
when vaule=1: the cyan color segment value is (0, 255, 255-dColorStep);
when vaule=2: the green-yellow color segment value is (0+dcolorstep, 255, 0);
when vaule=3: yellow-red color segment value (255, 255-dColorStep, 0);
the red color value RGB (255, 0) maps to a value i=100;
s14, storing a color array vector_color obtained by mapping the color value, the color segment value and the numerical range 0.ltoreq.i.ltoreq.100.
4. A method for displaying satellite real-time pdop values using digital earth according to claim 3, wherein: the step of obtaining the corresponding real-time RGB color value or color segment value according to the real-time pdop value of each block in the S3 is as follows:
s31, obtaining the maximum value dMax and the minimum value dMin of the pdop value according to the real-time pdop value of each block;
s32, calculating a color index value index according to the current block real-time pdop value dCurrentVale,
index=rounding (dcurrentval ≡dmax-dMin) ×100
S33, obtaining a corresponding color value or color segment value in the color array vector_color according to the index value index.
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