CN117373298A - Global navigation three-dimensional holographic interaction system - Google Patents
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Abstract
The system comprises hardware, wherein the hardware comprises somatosensory interaction equipment, a system control host and holographic projection equipment, the somatosensory interaction equipment is used for identifying users in a view field area, interacting with the system, collecting information of the users and transmitting the information to the system control host; the system control host is used for processing information acquired by the somatosensory interaction equipment, constructing, rendering and outputting a three-dimensional holographic scene; the holographic projection equipment is used for displaying the three-dimensional holographic scene of the information processed by the system control host. According to the method and the device, the gesture information is collected through the processing somatosensory interaction equipment, the three-dimensional holographic scene is constructed, a user generates teaching contents in a three-dimensional mode, the teaching mode is flexible and vivid, the three-dimensional holographic scene can be vividly and vividly displayed in teaching, the teaching effect is improved, and the problem that the teaching mode of the satellite navigation principle is stiff is solved.
Description
Technical Field
The disclosure relates to the technical field of satellite navigation and teaching, in particular to a global navigation three-dimensional holographic interaction system.
Background
At present, the global satellite navigation system has been widely used, and the satellite navigation principle and application related courses become important courses of the professions of electronic information engineering, automation, mapping and the like.
In order to enable students to understand the basic principle of satellite navigation positioning, three-dimensional materials are required to be used for teaching courses in teaching, and three-dimensional thinking ability of the students is cultivated. However, the conventional teaching mode is generally based on the written knowledge and the plane description of formulas, and is more rigid, so that the teaching mode is unfavorable for helping students build three-dimensional concepts, and students cannot understand the basic principle of satellite navigation positioning well, and the teaching effect is poor.
Aiming at the problem of rigidification of the teaching mode of the satellite navigation principle in the related art, no effective technical solution is proposed at present.
Disclosure of Invention
The main purpose of the present disclosure is to provide a global navigation three-dimensional holographic interaction system, so as to solve the problem of stiffness of the existing teaching mode of the satellite navigation principle.
To achieve the above object, a first aspect of the present disclosure provides a global navigation three-dimensional holographic interaction system applied to course teaching or experimental teaching, the system including hardware including:
the somatosensory interaction equipment is used for identifying users in the view field area, interacting with the system, collecting information of the users and transmitting the information to the system control host;
the system control host is connected to the somatosensory interaction equipment and is used for processing information acquired by the somatosensory interaction equipment, constructing, rendering and outputting a three-dimensional holographic scene, responding to and processing control instructions, binding and configuring environmental parameters of the system, wherein the processing comprises any one or more of limb tracking, skeleton following and gesture recognition;
the holographic projection equipment is connected to the system control host and used for displaying the three-dimensional holographic scene of the information processed by the system control host.
Optionally, the holographic projection device comprises:
the holographic projection screen is a holographic projection film, and takes super-white toughened glass as a substrate for increasing the light transmission performance;
the projector is a short-distance projector or a hoisting projector and is used for projecting.
Optionally, the system further comprises software running on the system control host, the software comprising:
the satellite navigation constellation data analysis subsystem is used for carrying out information processing and distribution, configuring navigation constellation parameters and importing three-dimensional models, managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model import;
the navigation system three-dimensional holographic situation display subsystem is used for simulating and displaying the teaching content of the satellite navigation principle and simulating and displaying a navigation constellation, wherein the navigation constellation comprises any one or more of BDS, GPS, GLONASS and Galileo;
and the interactive operation and control subsystem is used for processing the information acquired by the somatosensory interaction equipment and interacting with a user.
Further, the satellite navigation constellation data analysis subsystem includes:
the comprehensive information processing module is used for carrying out information conversion processing and information distribution among the modules and executing function scheduling and management;
the navigation constellation parameter configuration and model import module is used for configuring navigation constellation parameters and importing a three-dimensional model;
and the orbit model loading and processing module is used for managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model to be imported.
Further, the comprehensive information processing module comprises a coordinate conversion sub-module and an information distribution sub-module;
a coordinate conversion sub-module for:
unifying space-time references of all navigation constellations, unifying all the navigation constellations into a world coordinate system used in a three-dimensional scene under a geocentric inertial coordinate system according to the following mapping relation:
wherein Y is ECI And Z ECI Respectively an ordinate and a vertical coordinate under the geocentric inertial coordinate system, Y 3D And Z 3D Respectively an ordinate and an ordinate under a world coordinate system in the three-dimensional scene;
and the information distribution sub-module is used for executing format conversion and interface conversion in the information interaction process between the sub-systems and the modules.
Further, the orbit model loading and processing module comprises a satellite position calculating sub-module, a satellite orbit attitude calculating sub-module and a satellite visibility analyzing sub-module;
the satellite position calculation sub-module is used for analyzing the imported TLE two-line root number files to obtain an analysis result, and calculating the satellite position by adopting an SGP4 model according to the analysis result;
the satellite orbit attitude calculation sub-module is used for calculating an attitude quaternion of the satellite according to the satellite position;
a satellite visibility analysis sub-module for:
calculating elevation angles of the receiver for observing the satellites according to the positions of the satellites and the positions of the receiver set by the user;
if the elevation angle is larger than the preset threshold value, the satellite is regarded as a visible satellite, and the visibility of the receiver set by the user to each satellite is analyzed;
wherein computing the elevation angle at which the receiver observes each satellite comprises:
set [ X ] P ，Y P ,Z P ]Is satellite station coordinates, [ X ] sv ,Y sv ,Z sv ]And [ X ] rec ,Y rec ,Z rec ]Coordinates of the satellite and the receiver in the ECEF coordinate system, respectively, and L and B are longitude and latitude of the receiver, respectively, then:
the elevation and azimuth of the satellite are calculated according to the following formula:
wherein E is the elevation angle of the satellite, and A is the azimuth angle of the satellite.
Optionally, the navigation system three-dimensional holographic situation display subsystem includes:
the navigation positioning principle simulation module is used for simulating and displaying teaching contents of a satellite navigation principle, wherein the satellite navigation principle comprises a pseudo-range positioning principle and a navigation positioning principle;
and the three-dimensional situation display module is used for simulating and displaying the navigation constellation.
Further, the navigation positioning principle simulation module comprises a pseudo-range measurement simulation sub-module, a simulated navigation positioning sub-module and a navigation positioning accuracy analysis sub-module;
the pseudo-range measurement simulation sub-module is used for simulating pseudo-range rho according to the following formula:
ρ＝r-cδt (s) +cδt r +ε
wherein r is the geometric distance from the receiver to the satellite, and is calculated by the positions of the receiver and the satellite; c is the speed of light, δt (s) Is the clock difference of satellite, δt r For receiver clock error, ε is random measurement noise;
the simulated navigation positioning sub-module is used for performing simulated positioning on the receiver according to the simulated pseudo-range and displaying the navigation positioning principle in a three-dimensional scene;
wherein, carry on the analog positioning to the receiver according to pseudo range of the simulation, including:
let the receiver receive the pseudo-range and clock signal of N satellites, N is a positive integer, correct the satellite clock in the pseudo-range, can get the following equation set:
wherein x= [ X, y, z]Is an unknown receiver position coordinate vector; [ x ] (n) ,y (n) ,z (n) ]Is the position coordinate vector of the satellite n,for a corrected pseudorange received from satellite N, n=1, 2, …, N;
according to the least squares method, the expression of the unknown receiver position coordinate vector X is:
X＝(H T WH) -1 (H T WZ)
wherein W is a weight array, and is obtained by measuring errors; h is a measurement array, Z is a measurement vector; the expressions of the measurement array H, the weight array W and the measurement vector Z are respectively as follows:
wherein sigma 2 For the variance of the measurement error, set by the user;
the navigation positioning accuracy analysis sub-module is used for calculating accuracy factors through the measurement array H and evaluating the navigation positioning accuracy by utilizing the accuracy factors, wherein the accuracy factors comprise a spatial position accuracy factor, a clock error accuracy factor and a geometric accuracy factor;
wherein the calculation of the precision factor by measuring the array H comprises:
let h ii The diagonal elements representing the measurement matrix H, where i=1, 2, …,4, calculate the precision factor according to the following formulaThe following steps:
wherein PDOP is a spatial position precision factor, TDOP is a clock difference precision factor, GDOP is a geometric precision factor, tr (H) is a trace of the measurement array H.
Further, the three-dimensional situation display module includes:
the multi-scale world construction submodule is used for constructing a unified inertial world coordinate system, and all celestial bodies, aircrafts and facilities are driven in the inertial world coordinate system according to real world coordinate positions and postures;
the earth atmosphere simulation sub-module is used for simulating the atmosphere scattering effect by utilizing the GPU processing capability and performing atmosphere phenomenon of atmosphere light scattering based on the coloring language GLSL;
the satellite three-dimensional model display sub-module is used for carrying out three-dimensional display of the navigation satellite model;
the information labeling sub-module is used for selecting a three-dimensional space scene and a screen UI for information labeling according to the system function requirements and aiming at different types of information;
the illumination effect rendering sub-module is used for displaying the earth under the sun illumination conditions of different time and observation angles, displaying different image effects of the morning and evening line and the night, and calculating the direction of the light source according to the sun position;
the scene interaction support submodule is used for smoothly switching between different visual angles, wherein the different visual angles comprise a fixed visual angle, an accompanying visual angle and a first-person observation visual angle.
Optionally, the interactive operation and control subsystem comprises:
the somatosensory interaction recognition and processing module is used for acquiring and processing information acquired by the somatosensory interaction equipment and recognizing and processing gestures;
and the user interaction UI module is used for interacting with a user through a user interface.
The global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure is applied to course teaching or experiment teaching, and comprises hardware, wherein the hardware comprises somatosensory interaction equipment, a system control host and holographic projection equipment, the somatosensory interaction equipment is used for identifying a user interacting with the system in a view field area, collecting information of the user and transmitting the information to the system control host; acquiring limb information, skeleton information, gesture information, action information or image information of a user through somatosensory interaction equipment;
the system control host is connected to the somatosensory interaction equipment and is used for processing information acquired by the somatosensory interaction equipment, constructing, rendering and outputting a three-dimensional holographic scene, responding to and processing control instructions, binding and configuring environment parameters of the system, wherein the processing comprises any one or more of limb tracking, skeleton following and gesture recognition; the system control host computer constructs a corresponding three-dimensional holographic scene by processing limb information, skeleton information or gesture information acquired by the somatosensory interaction equipment so that a user can generate teaching contents in a three-dimensional form, and the teaching mode is flexible and vivid;
the holographic projection equipment is connected to the system control host and is used for displaying the three-dimensional holographic scene of the information processed by the system control host. The holographic projection equipment displays the three-dimensional holographic scene of the information processed by the system control host, so that the three-dimensional scene and the information can be vividly and vividly displayed in teaching, the teaching effect is improved, and the problem of rigidness of the teaching mode of the satellite navigation principle is solved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are only some embodiments of the present disclosure and that other drawings may be obtained from these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a schematic diagram of a global navigation three-dimensional holographic interaction system provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a global navigation three-dimensional holographic interaction system provided in accordance with yet another embodiment of the present disclosure;
fig. 3 is a schematic diagram of connection relationships between modules in a system according to an embodiment of the disclosure.
Detailed Description
In order that those skilled in the art will better understand the present disclosure, a technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this disclosure, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to enable students to understand the basic principles of satellite navigation positioning, such as the construction of track surfaces in constellation configuration, the relationship between geometric configuration of a selected satellite and positioning accuracy during calculation, and the like, three-dimensional materials are required to be used for teaching courses in teaching, and the three-dimensional thinking ability of the students is required to be cultivated. However, the conventional teaching mode is generally based on the written knowledge and the plane description of formulas, and is stiff, so that students cannot understand the basic principle of satellite navigation positioning well, and the teaching effect is poor.
To solve the above-mentioned problems, the embodiments of the present disclosure provide a global navigation three-dimensional holographic interaction system, which also includes a three-dimensional visualized satellite navigation teaching system, and the system is applied to course teaching or experimental teaching, as shown in fig. 1, and the system includes hardware, where the hardware includes:
the somatosensory interaction equipment is used for identifying users in the view field area, interacting with the system, collecting information of the users and transmitting the information to the system control host; the somatosensory interaction equipment is used as a receiver externally connected with the system control host and used for identifying an experience user in the view field area and collecting various information of the user, such as limb information, skeleton information, gesture information, graphic information or image information of the user, wherein the user can be a teacher or a student; in addition, the somatosensory interaction equipment is also used for preprocessing information such as collected image information before transmitting the information to a system control host for processing;
the system control host is connected to the somatosensory interaction equipment and is used for processing information acquired by the somatosensory interaction equipment, constructing, rendering and outputting a three-dimensional holographic scene, responding to and processing control instructions, binding and configuring environmental parameters of the system, wherein the processing comprises any one or more of limb tracking, skeleton following and gesture recognition; the system control host is also used for carrying out information processing, simulation and image processing and binding and configuring system environment parameters and data;
the holographic projection equipment is connected to the system control host and used for displaying the three-dimensional holographic scene of the information processed by the system control host.
The global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure is applied to course teaching or experimental teaching, can be particularly applied to demonstration and experimental teaching in the satellite navigation course teaching process, meets the teaching requirements of three-dimensional holographic scenes, and achieves the functions of global navigation system three-dimensional stereoscopic vision, situation scene rendering, updating of navigation satellite orbits, global navigation system interaction control and the like.
In an alternative embodiment of the present disclosure, a holographic projection device includes:
the holographic projection screen is a holographic projection film, and takes super-white toughened glass as a substrate for increasing the light transmission performance; the holographic projection screen is specifically a 120-inch holographic projection film so as to maximally increase the light transmission performance; a holographic projection film is covered on the optical lens to realize a suspended stereoscopic imaging visual effect;
the projector is a short-distance projector or a hoisting projector and is used for projecting. The short-range projector or the hoisting projector can be selected according to the field installation requirement.
The present disclosure utilizes the combination of machine vision somatosensory interaction with holographic film projection as the best choice for system construction.
Based on the above embodiments, in an alternative implementation of the disclosure, the system further includes software running on the system control host, as shown in fig. 2, where the software includes:
the satellite navigation constellation data analysis subsystem is used for carrying out information processing and distribution, configuring navigation constellation parameters and importing three-dimensional models, managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model import;
specifically, the satellite navigation constellation data analysis subsystem may implement the following functions: switching the view angles of the three-dimensional scene in a man-machine interaction mode, including rotation, scaling, fixed view angle switching and the like; updating constellation orbits in a scene by loading two lines of roots of the navigation satellite; performing display and hidden control on the content in the three-dimensional scene, wherein the content in the three-dimensional scene comprises satellites, orbits, ground targets, link connection states, labeling elements and the like; replacing the related model in the three-dimensional scene according to the requirement; introducing key scene contents through background voice; and controlling the three-dimensional scene, and supporting related control such as running, pause, stop, reset and the like of the three-dimensional scene.
The navigation system three-dimensional holographic situation display subsystem is used for simulating and displaying the teaching content of a satellite navigation principle and simulating and displaying a navigation constellation, wherein the navigation constellation comprises any one or more of BDS, GPS, GLONASS and Galileo, BDS is BeiDou Navigation Satellite System, namely, the Beidou satellite navigation system, GPS is Global Positioning System, namely, the global positioning system, GLONASS is Global Navigation Satellite System, namely, the Geronas, galileo is Galileo Satellite Navigation System, namely, the Galileo satellite navigation system;
specifically, the navigation system three-dimensional holographic situation display subsystem can realize the following functions: the display constellation includes BDS, GPS, GLONASS, galileo and other primary in-orbit navigation satellites; displaying constellation orbit characteristics of navigation satellites; displaying satellite key systems or components; displaying ground targets (navigation terminals); displaying space scenes such as day, land, month and the like; rendering the display illumination effect; displaying the connection condition of a signal link between a navigation satellite and a ground target; displaying satellite navigation positioning principle process simulation and display; and displaying the navigation positioning accuracy, DOP parameters and pseudo-range measurement errors, wherein DOP is Dilution of Precision, namely a positioning accuracy factor.
And the interactive operation and control subsystem is used for processing the information acquired by the somatosensory interaction equipment and interacting with a user.
Based on the above embodiments, in an alternative implementation of the disclosure, each subsystem includes a plurality of modules, and the interaction relationship between the modules is shown in fig. 3.
In a preferred embodiment of the present disclosure, the satellite navigation constellation data analysis subsystem comprises:
the comprehensive information processing module is used for carrying out information conversion processing and information distribution among the modules and executing function scheduling and management;
the navigation constellation parameter configuration and model import module is used for configuring navigation constellation parameters and importing a three-dimensional model; the navigation constellation parameter configuration and model import module is used for configuring parameters of four large navigation constellations (BDS, GPS, GLONASS and Galileo), the constitution of each constellation and the satellite type are obtained by respective official networks, and an orbit model of the satellite is imported by adopting a TLE Two-Line orbit number model, wherein the TLE is Two-Line Elements, namely Two-Line orbit numbers; the navigation constellation parameter configuration and model importing module is also used for importing a three-dimensional model by adopting an fbx format;
and the orbit model loading and processing module is used for managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model to be imported. And the orbit model loading and processing module is also used for executing the processing and model import control of each navigation satellite orbit model.
In a preferred embodiment of the present disclosure, the integrated information processing module includes a coordinate conversion sub-module and an information distribution sub-module;
a coordinate conversion sub-module for:
unifying space-time references of all navigation constellations, unifying all the navigation constellations into a world coordinate system used in a three-dimensional scene under a geocentric inertial coordinate system according to the following mapping relation:
wherein Y is ECI And Z ECI Respectively an ordinate and a vertical coordinate under the geocentric inertial coordinate system, Y 3D And Z 3D Respectively an ordinate and an ordinate under a world coordinate system in the three-dimensional scene;
in order to realize three-dimensional display, a geocentric inertial system (right-handed system) describing satellite motion is converted into a world coordinate system (left-handed system) in a three-dimensional scene through a coordinate conversion sub-module, wherein the conversion mode is as follows: the YZ axes of the position and the speed are interchanged, and the attitude quaternion is unchanged.
Specifically, space-time unification and coordinate conversion are realized through a coordinate conversion submodule; the most important in satellite navigation positioning is to establish a unified high-precision space-time reference, and at present, a plurality of navigation systems in the world all set targeted space-time reference standards according to respective specific requirements, and different navigation system positioning results adopt different space reference coordinate systems. All constellations are unified into a geocentric inertial coordinate system (Earth-Centered Inertial Frame, abbreviated as ECI) through a coordinate conversion sub-module, and then converted into a left-hand system used in the three-dimensional scene according to the mapping relation.
And the information distribution sub-module is used for executing format conversion and interface conversion in the information interaction process between the sub-systems and the modules.
Specifically, format and interface conversion in the information interaction process between each subsystem and each module are realized through the information distribution submodule, and in the information distribution process, the corresponding relationship among the information sending module, the information receiving module and the information content is shown in the following table 1.
TABLE 1
In a preferred embodiment of the present disclosure, the orbit model loading and processing module includes a satellite position calculation sub-module, a satellite orbit attitude calculation sub-module, and a satellite visibility analysis sub-module;
the satellite position calculation sub-module is used for analyzing the imported TLE two-line root number files to obtain an analysis result, and calculating the satellite position by adopting an SGP4 model according to the analysis result; realizing TLE-based satellite position calculation through a satellite position calculation sub-module;
the satellite orbit attitude calculation sub-module is used for calculating an attitude quaternion of the satellite according to the satellite position; because each satellite is displayed according to the three-axis to earth gesture in the three-dimensional scene, the gesture quaternion of the satellite needs to be calculated according to the position of the satellite, and the calculation and the processing of the satellite orbit gesture are realized;
a satellite visibility analysis sub-module for:
calculating elevation angles of the receiver for observing the satellites according to the positions of the satellites and the positions of the receiver set by the user;
if the elevation angle is larger than the preset threshold value, the satellite is regarded as a visible satellite, and the visibility of the receiver set by the user to each satellite is analyzed;
wherein computing the elevation angle at which the receiver observes each satellite comprises:
set [ X ] P ,Y P ,Z P ]Is satellite station coordinates, [ X ] sv ,Y sv ,Z sv ]And [ X ] rec ,Y rec ,Z rec ]Coordinates of the satellite and the receiver in the ECEF coordinate system, respectively, and L and B are longitude and latitude of the receiver, respectively, then:
the elevation and azimuth of the satellite are calculated according to the following formula:
wherein E is the elevation angle of the satellite, and A is the azimuth angle of the satellite.
The satellite visibility analysis submodule can analyze the visibility of satellites, support the visibility analysis of the receiver on each navigation satellite, and display visible links in a three-dimensional scene.
The global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure realizes three-dimensional holographic display of four large satellite navigation constellations (BDS, GPS, GLONASS and Galileo); each satellite in the three-dimensional scene carries out simulation operation according to an actual physical operation rule; the position of the navigation satellite is calculated by the SGP4 model based on TLE data, and the posture is three-axis to the ground.
In an alternative embodiment of the present disclosure, a navigation system three-dimensional holographic situation display subsystem includes:
the navigation positioning principle simulation module is used for simulating and displaying teaching contents of a satellite navigation principle, wherein the satellite navigation principle comprises a pseudo-range positioning principle and a navigation positioning principle; and simulating and displaying the teaching contents of the related satellite navigation principle through a navigation positioning principle simulation module, wherein the teaching contents comprise related contents such as pseudo-range positioning principle and navigation positioning precision simulation.
And the three-dimensional situation display module is used for simulating and displaying the navigation constellation. The method is mainly used for simulating and displaying the main on-orbit navigation constellations of BDS, GPS, GLONASS, galileo and the like.
In a preferred embodiment of the present disclosure, the navigation positioning principle simulation module includes a pseudo-range measurement simulation sub-module, a simulated navigation positioning sub-module, and a navigation positioning accuracy analysis sub-module;
the pseudo-range measurement simulation sub-module is used for simulating pseudo-range rho according to the following formula:
ρ＝r-cδt (s) +cδt r +ε
wherein r is the geometric distance from the receiver to the satellite, and is calculated by the positions of the receiver and the satellite; c is the speed of light, δt (s) Is the clock difference of satellite, δt r For receiver clock error, ε is random measurement noise;
specifically, pseudo-range measurement simulation is realized through a pseudo-range measurement simulation submodule; calculating the 'real' distance of a satellite-machine in a simulation system according to the configured (virtual) position of a ground receiver and the position of an on-orbit satellite for calculation, adding measurement errors such as receiver clock error, random error, atmospheric refraction deviation and the like on the basis of the distance to simulate a pseudo-range measurement value for simulating the original calculation of positioning; the pseudo range is one of the most basic distance measurement values of the satellite navigation receiver to the satellite signals, and the simulated pseudo range is used for a subsequent simulated navigation positioning sub-module.
The simulated navigation positioning sub-module is used for performing simulated positioning on the receiver according to the simulated pseudo-range and displaying the navigation positioning principle in a three-dimensional scene;
wherein, carry on the analog positioning to the receiver according to pseudo range of the simulation, including:
let the receiver receive the pseudo-range and clock signal of N satellites, N is a positive integer, correct the satellite clock in the pseudo-range, can get the following equation set:
wherein x= [ X, y, z]Is an unknown receiver position coordinate vector; [ x ] (n) ,y (n) ,z (n) ]Is the position coordinate vector of the satellite n,for a corrected pseudorange received from satellite N, n=1, 2, …, N;
according to the least squares method, the expression of the unknown receiver position coordinate vector X is:
X＝(H T WH) -1 (H T WZ)
wherein W is a weight array, and is obtained by measuring errors; h is a measurement array, Z is a measurement vector; the expressions of the measurement array H, the weight array W and the measurement vector Z are respectively as follows:
wherein sigma 2 For the variance of the measurement error, set by the user;
specifically, the simulated navigation positioning is realized through the simulated navigation positioning sub-module, and the simulated navigation positioning sub-module is also used for displaying the navigation positioning principle in a three-dimensional scene while simulating positioning, so that the three-dimensional display of the navigation satellite positioning principle is realized, specifically: at the positioning moment, N balls are displayed in a three-dimensional scene, N balls are measured once at each moment, each ball takes the measured satellite as a sphere center, and the simulated pseudo range with random errors removed is taken as a radius; the principle that each sphere intersects a receiver, namely navigation constellation positioning, can be observed in a three-dimensional scene.
The navigation positioning accuracy analysis sub-module is used for calculating accuracy factors through the measurement array H and evaluating the navigation positioning accuracy by utilizing the accuracy factors, wherein the accuracy factors comprise a spatial position accuracy factor, a clock error accuracy factor and a geometric accuracy factor;
wherein the calculation of the precision factor by measuring the array H comprises:
let h ii The diagonal elements representing the measurement array H, where i=1, 2, …,4, the precision factor is calculated according to the following formula:
wherein PDOP is a spatial position precision factor, TDOP is a clock difference precision factor, GDOP is a geometric precision factor, tr (H) is a trace of the measurement array H.
Specifically, the navigation positioning accuracy analysis is realized through a navigation positioning accuracy analysis submodule; navigation accuracy factors, also known as positioning accuracy factors, DOPs, are important parameters for assessing positioning accuracy; the DOP value is mainly dependent on the number of visible satellites, the azimuth angle and the altitude angle of the visible satellites and other factors, and the smaller the DOP value is, the better the space geometry of the visible satellite constellation is, and the higher the positioning precision is.
In a preferred embodiment of the present disclosure, the three-dimensional situation display module includes:
the multi-scale world construction submodule is used for constructing a unified inertial world coordinate system, and all celestial bodies, aircrafts and facilities are driven in the inertial world coordinate system according to real world coordinate positions and postures;
specifically, the following functions can be realized by constructing the sub-modules in the multi-scale world: the method supports visual angle seamless roaming, supports seamless transition (space visual angle) of microscopic scale (satellite close-up, spacecraft interior) and macroscopic day-earth-moon scale, comprises the steps of observing a certain target in a near-ground mode and observing the orbital relationship of a ground device by the space visual angle, supports accompanying visual angles (accompanying moving targets observing moving targets, accompanying moving targets observing fixed directions and the like), and supports fixed visual angles (fixed position fixed directions, fixed position observing moving directions and the like), and cameras can directly jump or be smoothly switched; and supporting the satellite and ground target visibility calculation result as a basis, and displaying the signal link condition between the navigation satellite and the ground target.
The earth atmosphere simulation sub-module is used for simulating the atmosphere scattering effect by utilizing the GPU processing capability and performing atmosphere phenomenon of atmosphere light scattering based on the coloring language GLSL; wherein GLSL is OpenGL Shader Language, the OpenGL shading language;
specifically, the step of simulating the atmospheric scattering effect includes: the atmospheric spherical surface with the radius R is pre-designated in the application program, the vertex information or the vertex position information is stored in the vertex buffer area, and the vertex program and the fragment program can be directly used; the atmospheric scattering effect for each vertex is rendered based on the GPU program.
The satellite three-dimensional model display sub-module is used for carrying out three-dimensional display of the navigation satellite model; the model is obtained by carrying out fine modeling according to the design description of the satellite and comprises main components such as an antenna, a satellite body, a solar sailboard and the like.
The information labeling sub-module is used for selecting a three-dimensional space scene and a screen UI for information labeling according to the system function requirements and aiming at different types of information;
specifically, according to the system function requirements, aiming at different types of information, two paths of relevant information labeling in a three-dimensional space scene and a screen UI are selected, wherein the two paths comprise satellite visibility and constellation relevant information display; for key display scenes, pre-recorded explanation audios can be integrated into the system, and background voice introduction is performed when switching to related scenes or target objects.
The illumination effect rendering sub-module is used for displaying the earth under the sun illumination conditions of different time and observation angles, displaying different image effects of the morning and evening line and the night, and calculating the direction of the light source according to the sun position;
the scene interaction support submodule is used for smoothly switching between different visual angles, wherein the different visual angles comprise a fixed visual angle, an accompanying visual angle and a first-person observation visual angle.
Specifically, the scene interaction support submodule supports a fixed viewing angle, an accompanying viewing angle and a first person viewing angle; the method supports the fixed position to observe the fixed direction, the fixed position to observe the moving object, the fixed direction to observe the accompanying object and the moving object to observe the accompanying object, and various visual angles can be smoothly switched.
According to the global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure, the simulation of the earth atmosphere and the simulation of solar illumination are realized in three-dimensional display through the three-dimensional situation display module.
In an alternative embodiment of the present disclosure, an interactive operation and control subsystem includes:
the somatosensory interaction recognition and processing module is used for acquiring and processing information acquired by the somatosensory interaction equipment and recognizing and processing gestures; the global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure adopts the Leap Motion controller, and the system supports body-sense interaction and can control a three-dimensional scene through gestures; the method supports response and processing of 8 somatosensory gestures and is used for controlling scene interaction, including functions of view angle rotation, view angle scaling and satellite view angle switching;
and the user interaction UI module is used for interacting with a user through a user interface. The design principle of the user interface is as follows: the interface interaction is friendly, flexible, efficient, simple and easy to operate, and covers the contents such as system configuration, operation prompt, scene interaction, information display and the like, wherein the contents comprise two-dimensional and three-dimensional forms, support body feeling interaction and traditional equipment input interaction.
From the above description, it can be seen that the present disclosure achieves the following technical effects:
the system control host in the present disclosure constructs a corresponding three-dimensional holographic scene by processing limb information, skeleton information or gesture information acquired by the somatosensory interaction device, so that a user generates teaching content in a three-dimensional form, and the teaching mode is flexible and vivid; the holographic projection equipment displays the three-dimensional holographic scene of the information processed by the system control host, so that the three-dimensional scene and the information can be vividly and vividly displayed in teaching, the teaching effect is improved, and the problem of rigidness of the teaching mode of the satellite navigation principle is solved;
the global navigation three-dimensional holographic interaction system provided by the embodiment of the disclosure can be used as navigation constellation simulation, such as virtual satellites and digital space models, so that students can more easily know basic orbit compositions of different navigation satellite constellations, closely observe the structural compositions of different navigation satellites, enable the students to fully know and master the system compositions and basic principles of satellite navigation through the virtual conditions, improve the stiff teaching mode, integrate navigation teaching resources and enable the students to obtain the best learning effect.
Although embodiments of the present disclosure have been described with reference to the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and such modifications and variations fall within the scope as defined by the appended claims.
Claims (10)
1. A global navigation three-dimensional holographic interaction system for use in curriculum teaching or experimental teaching, said system comprising hardware comprising:
the somatosensory interaction equipment is used for identifying a user interacting with the system in the view field area, collecting information of the user and transmitting the information to the system control host;
the system control host is connected to the somatosensory interaction equipment and is used for processing information acquired by the somatosensory interaction equipment, constructing, rendering and outputting a three-dimensional holographic scene, responding to and processing control instructions, binding and configuring environmental parameters of the system, wherein the processing comprises any one or more of limb tracking, skeleton following and gesture recognition;
the holographic projection equipment is connected to the system control host and used for displaying the three-dimensional holographic scene of the information processed by the system control host.
2. The system of claim 1, wherein the holographic projection device comprises:
the holographic projection screen is a holographic projection film, and takes super-white toughened glass as a substrate for increasing the light transmission performance;
the projector is a short-distance projector or a hoisting projector and is used for projecting.
3. The system of claim 1, further comprising software running on the system control host, the software comprising:
the satellite navigation constellation data analysis subsystem is used for carrying out information processing and distribution, configuring navigation constellation parameters and importing three-dimensional models, managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model import;
the navigation system three-dimensional holographic situation display subsystem is used for simulating and displaying the teaching content of the satellite navigation principle and simulating and displaying a navigation constellation, wherein the navigation constellation comprises any one or more of BDS, GPS, GLONASS and Galileo;
and the interactive operation and control subsystem is used for processing the information acquired by the somatosensory interaction equipment and interacting with the user.
4. A system according to claim 3, wherein the satellite navigation constellation data analysis subsystem comprises:
the comprehensive information processing module is used for carrying out information conversion processing and information distribution among the modules and executing function scheduling and management;
the navigation constellation parameter configuration and model import module is used for configuring navigation constellation parameters and importing a three-dimensional model;
and the orbit model loading and processing module is used for managing the conversion and loading of the navigation constellation models, processing each navigation satellite orbit model and controlling the model to be imported.
5. The system of claim 4, wherein the integrated information processing module comprises a coordinate conversion sub-module and an information distribution sub-module;
the coordinate conversion sub-module is used for:
unifying space-time references of all navigation constellations, unifying all the navigation constellations into a world coordinate system used in a three-dimensional scene under a geocentric inertial coordinate system according to the following mapping relation:
wherein Y is ECI And Z ECI Respectively an ordinate and a vertical coordinate under the geocentric inertial coordinate system, Y 3D And Z 3D Respectively an ordinate and an ordinate under a world coordinate system in the three-dimensional scene;
the information distribution sub-module is used for executing format conversion and interface conversion in the information interaction process between the sub-systems and the modules.
6. The system of claim 4, wherein the orbit model loading and processing module comprises a satellite position calculation sub-module, a satellite orbit attitude calculation sub-module, and a satellite visibility analysis sub-module;
the satellite position calculation sub-module is used for analyzing the imported TLE two-line root number files to obtain an analysis result, and calculating the satellite position by adopting an SGP4 model according to the analysis result;
the satellite orbit attitude calculation sub-module is used for calculating an attitude quaternion of a satellite according to the satellite position;
the satellite visibility analysis submodule is used for:
calculating elevation angles of the receiver for observing the satellites according to the positions of the satellites and the positions of the receiver set by the user;
if the elevation angle is larger than the preset threshold value, the satellite is regarded as a visible satellite, and the visibility of a receiver set by a user for each satellite is analyzed;
wherein computing the elevation angle at which the receiver observes each satellite comprises:
set [ X ] P ,Y P ,Z P ]Is satellite station coordinates, [ X ] sv ,Y sv ,Z sv ]And [ X ] rec ,Y rec ,Z rec ]Coordinates of the satellite and the receiver in the ECEF coordinate system, respectively, and L and B are longitude and latitude of the receiver, respectively, then:
the elevation and azimuth of the satellite are calculated according to the following formula:
wherein E is the elevation angle of the satellite, and A is the azimuth angle of the satellite.
7. The system of claim 3, wherein the navigation system three-dimensional holographic representation subsystem comprises:
the navigation positioning principle simulation module is used for simulating and displaying teaching contents of a satellite navigation principle, wherein the satellite navigation principle comprises a pseudo-range positioning principle and a navigation positioning principle;
and the three-dimensional situation display module is used for simulating and displaying the navigation constellation.
8. The system of claim 7, wherein the navigational positioning principle simulation module comprises a pseudo-range measurement simulation sub-module, a simulated navigational positioning sub-module, and a navigational positioning accuracy analysis sub-module;
the pseudo-range measurement simulation sub-module is used for simulating pseudo-range rho according to the following formula:
ρ＝r-cδt (s) +cδt r +ε
wherein r is the geometric distance from the receiver to the satellite, and is calculated by the positions of the receiver and the satellite; c is the speed of light, δt (s) Is the clock difference of satellite, δt r For receiver clock error, ε is random measurement noise;
the simulated navigation positioning sub-module is used for performing simulated positioning on the receiver according to the simulated pseudo range and displaying the navigation positioning principle in a three-dimensional scene;
wherein the performing the analog positioning on the receiver according to the analog pseudo-range includes:
let the receiver receive the pseudo-range and clock signal of N satellites, N is a positive integer, correct the satellite clock in the pseudo-range, can get the following equation set:
wherein x= [ X, y, z]Is an unknown receiver position coordinate vector; [ x ] (n) ,y (n) ,z (n) ]Is the position coordinate vector of the satellite n,for a corrected pseudorange received from satellite N, n=1, 2, …, N;
according to the least squares method, the expression of the unknown receiver position coordinate vector X is:
X＝(H T WH) -1 (H T WZ)
wherein W is a weight array, and is obtained by measuring errors; h is a measurement array, Z is a measurement vector; the expressions of the measurement array H, the weight array W and the measurement vector Z are respectively as follows:
wherein sigma 2 For the variance of the measurement error, set by the user;
the navigation positioning accuracy analysis submodule is used for calculating accuracy factors through the measurement array H and evaluating navigation positioning accuracy by utilizing the accuracy factors, wherein the accuracy factors comprise a spatial position accuracy factor, a clock error accuracy factor and a geometric accuracy factor;
wherein, the calculating the precision factor through the measuring array H comprises the following steps:
let h ii The diagonal elements representing the measurement array H, where i=1, 2, …,4, the precision factor is calculated according to the following formula:
wherein PDOP is a spatial position precision factor, TDOP is a clock difference precision factor, GDOP is a geometric precision factor, tr (H) is a trace of the measurement array H.
9. The system of claim 7, wherein the three-dimensional situational presentation module comprises:
the multi-scale world construction submodule is used for constructing a unified inertial world coordinate system, and all celestial bodies, aircrafts and facilities are driven in the inertial world coordinate system according to real world coordinate positions and postures;
the earth atmosphere simulation sub-module is used for simulating the atmosphere scattering effect by utilizing the GPU processing capability and performing atmosphere phenomenon of atmosphere light scattering based on the coloring language GLSL;
the satellite three-dimensional model display sub-module is used for carrying out three-dimensional display of the navigation satellite model;
the information labeling sub-module is used for selecting a three-dimensional space scene and a screen UI for information labeling according to the system function requirements and aiming at different types of information;
the illumination effect rendering sub-module is used for displaying the earth under the sun illumination conditions of different time and observation angles, displaying different image effects of the morning and evening line and the night, and calculating the direction of the light source according to the sun position;
the scene interaction support submodule is used for smoothly switching between different visual angles, wherein the different visual angles comprise a fixed visual angle, an accompanying visual angle and a first-person observation visual angle.
10. The system of claim 3, wherein the interactive operations and control subsystem comprises:
the somatosensory interaction recognition and processing module is used for acquiring and processing information acquired by the somatosensory interaction equipment and recognizing and processing gestures;
and the user interaction UI module is used for interacting with the user through a user interface.
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