CN115372911B - 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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- 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
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Abstract
The invention discloses a mapping conversion method of a space position of a virtual scene and a real test platform, which comprises the following steps:firstly, converting position information of each element in a virtual scene, which is represented by a geodetic coordinate system, into a northeast polar coordinate system with a radar as an origin, and extracting an azimuth track center theta of a detection target in the scene MID The method comprises the steps of carrying out a first treatment on the surface of the Then, measuring the test radar coordinates in a real test platform and the coordinates of a large azimuth/pitching motion mechanism of an erect 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 obtaining an azimuth angle theta YB The method comprises the steps of carrying out a first treatment on the surface of the Finally, rotating the detection target track file in the virtual scene by theta MID ‑θ YB The angle is mapped into the real test platform, so that the virtual scene corresponds to 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 countermeasure scene simulation, and particularly relates to a space position mapping conversion method of a virtual scene and a real test platform.
Background
In the evaluation of radar anti-battlefield complex electromagnetic interference tests, a radar countermeasure scene is generally simulated in a scene computer, and then the countermeasure scene is mapped into 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/pitching action mechanism for erecting the simulator and the like. The mapping of the spatial positions from the virtual scene to the real test platform relates to the corresponding relation between the radar countermeasure scene in the virtual scene and the spatial positions of all the devices in the real test platform, wherein the selection of a unified coordinate system, the calibration of the relative positions of all the devices in the real platform, the corresponding relation between the coverage of the real platform and the scene and the like become key.
Disclosure of Invention
The invention aims to provide a space position mapping conversion method for a virtual scene and a real test platform.
The technical solution for realizing the purpose of the invention is as follows: a mapping conversion method for the space positions of a virtual scene and a real test platform comprises the following steps:
Compared with the prior art, the invention has the remarkable advantages that: (1) The method comprises the steps of converting a radar countermeasure scene designed in a virtual scene into a northeast day coordinate system taking the 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 azimuth/pitching action mechanism in a real platform, and mapping the radar countermeasure scene in the virtual scene into the real test platform after translational rotation, so that the space 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.
FIG. 2 is a schematic diagram of a flow chart of real test platform position calibration in an embodiment of the 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 invention.
Detailed Description
The invention discloses a mapping conversion method for space positions of a virtual scene and a real test platform, which comprises the following steps:
As a specific example, the method described in step 1 converts the position information of each element in the virtual scene represented by the geodetic coordinate system into the 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 method is characterized by comprising 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 forming a motion track expressed by a geodetic coordinate system by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target into a WGS84 rectangular coordinate system from a geodetic coordinate system;
step 1.3, converting the test radar and the detection target track represented by a WGS84 rectangular coordinate system into a northeast rectangular coordinate system taking the center of a radar antenna as an origin;
step 1.4, converting the position of the detection target represented by the rectangular coordinates of northeast into a coordinate of northeast;
step 1.5, calculating the azimuth track center theta of the batch of detection targets MID 。
As a specific example, the position information of the test radar and the detection target described in step 1.2 is converted from the geodetic coordinate system into the WGS84 rectangular coordinate system, specifically as follows:
x＝(N+H)cos(B)cos(L)
y＝(N+H)cos(B)sin(L)
z＝[N(1-e 2 )+H]sin(B)
wherein L, B, H are longitude, latitude and altitude of a read test radar or detection target track file, a, B represent a long half axis and a short half axis of the earth respectively, e is eccentricity, wherein a= 6378137; b= 6356752.3142; the test radar is expressed as [ x ] in the WGS84 rectangular coordinate system D84 ,y D84 ,z D84 ] T The target position is expressed as [ x ] in the 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:
in the formula, [ x ] DL ,y DL ,z DL ] T The northeast coordinate system parameters of the detection targets taking the center of the test radar antenna as the origin are represented; [ x ] 84 ,y 84 ,z 84 ] T Parameters representing the detection target in a WGS-84 coordinate system; [ x ] D84 ,y D84 ,z D84 ] T Representing the center of a test radar antenna in the WGS-84 coordinate systemParameters; l (L) D 、B D And the longitude and latitude of the center of the test radar antenna under the geodetic coordinate system are shown.
As a specific example, the detection target position represented by the northeast rectangular coordinates in step 1.4 is converted into a detection target position represented by the northeast rectangular coordinates, specifically as follows:
wherein R is the distance of the detection target, θ is the azimuth angle of the detection target,
to detect the target pitch angle.
As a specific example, the azimuth trajectory center θ of the batch of detection targets is calculated as described in step 1.5 MID The method is characterized by comprising the following steps:
θ MID ＝(θ MAX +θ MIN )/2
in theta MAX For the maximum azimuth value, θ, of the batch of detected targets MIN The orientation minimum of the targets is detected for the batch.
As a specific example, the method in step 2 uses a north finder and a total station to measure the coordinates of a test radar in a real test platform, and the coordinates of a large azimuth/pitching motion mechanism of a target simulator, and converts the coordinates into a northeast polar coordinate system with the radar as an origin to obtain an azimuth angle theta YB The method is characterized by comprising the following steps:
step 2.1, erecting a north seeker and a total station and leveling, wherein the north seeker completes north seeking;
step 2.2, calibrating the center position of the test radar antenna under the northeast rectangular coordinate system by using a 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 as [ x ] YB ,y YB ,z YB ] T ；
Step 2.4, calculating the position axis coordinates of the large azimuth/pitch action mechanism represented by taking the test radar as an origin under the northeast rectangular coordinate system;
step 2.5, converting the axial coordinates of the position of the large azimuth/elevation actuating mechanism calculated in the step 2.4 into a northeast polar coordinate system by adopting the step (3) to obtain an azimuth angle theta YB 。
As a specific example, the coordinates of the position axis of the large azimuth/elevation motion mechanism expressed by using the test radar as the origin in the northeast rectangular coordinate system in step 2.4 are calculated and recorded as [ x ] LY ,y LY ,z LY ] T The method is characterized by comprising 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 The angle is mapped into 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 azimuth/pitching action 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 θ xz The test platform is put 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.
As a specific example, the detection target track file after rotation in step 3.3 is recorded as (lx, ly, lz), specifically as follows:
the invention will now be described in further detail with reference to the drawings and examples.
Examples
Referring to fig. 1, the method for mapping and converting the spatial positions of a virtual scene and a real test platform according to the invention 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 forming a motion track expressed by a geodetic coordinate system by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target into a WGS84 rectangular coordinate system from a geodetic coordinate system, wherein the method specifically comprises the following steps:
wherein L, B, H are longitude, latitude and altitude of a read test radar or detection target track file, a, B represent a long half axis and a short half axis of the earth respectively, e is eccentricity, wherein a= 6378137; b= 6356752.3142; the test radar is expressed as [ x ] in the WGS84 rectangular coordinate system D84 ,y D84 ,z D84 ] T The target position is expressed as [ x ] in the 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 taking the center of a radar antenna as an origin, wherein the method specifically comprises the following steps of:
wherein:
in the formula, [ x ] DL ,y DL ,z DL ] T The northeast coordinate system parameters of the detection targets taking the center of the test radar antenna as the origin are represented; [ x ] 84 ,y 84 ,z 84 ] T Parameters representing the detection target in a WGS-84 coordinate system; [ x ] D84 ,y D84 ,z D84 ] T Parameters of the center of the test radar antenna under a WGS-84 coordinate system are represented; l (L) D 、B D The longitude and latitude of the center of the test radar antenna under the geodetic coordinate system are represented;
step 1.4, converting the detection target position represented by the northeast rectangular coordinates into a detection target position represented by the northeast rectangular coordinates, wherein the detection target position is specifically as follows:
wherein R is the distance of the detection target, θ is the azimuth angle of the detection target,
to detect a target pitch angle;
step 1.5, calculating the azimuth track center theta of the batch of detection targets MID The method is characterized by comprising the following steps:
θ MID ＝(θ MAX +θ MIN )/2 (4)
in theta MAX For the maximum azimuth value, θ, of the batch of detected targets MIN The orientation minimum of the targets is detected for the batch.
step 2.1, erecting a north seeker and a total station and leveling, wherein the north seeker completes north seeking;
step 2.2, calibrating the center position of the test radar antenna under the northeast rectangular coordinate system by using a 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 as [ x ] YB ,y YB ,z YB ] T ；
Step 2.4, calculating the position axis coordinates of the large azimuth/pitching motion mechanism represented by taking the test radar as an origin under the northeast rectangular coordinate system, wherein the position axis coordinates are specifically as follows:
step 2.5, converting the axial coordinates of the position of the large azimuth/elevation actuating mechanism calculated in the step 2.4 into a northeast polar coordinate system by adopting the step (3) to obtain 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 action 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 θ xz Into a real test platform, as shown in fig. 3;
step 3.3, calculating a rotated detection target track file, which specifically comprises the following steps:
and 3.4, driving the real test platform to act by using the rotated detection target track file.
According to the invention, the radar countermeasure scene designed in the virtual scene is converted into the northeast day coordinate system taking the radar as an origin, the azimuth track center of the moving target in the scene is extracted, the relative positions of the test radar and the large azimuth/pitching action mechanism in the real platform are calibrated, the radar countermeasure scene in the virtual scene is mapped into the real test platform after translational rotation, and the space position mapping between the virtual scene and the real test platform is realized.
Claims (8)
1. The mapping conversion method for the spatial positions of the virtual scene and the real test platform is characterized by comprising the following steps:
step 1, converting position information of each element in a virtual scene, which is represented by a geodetic coordinate system, into a northeast polar coordinate system with a radar as an origin, and extracting a azimuth track center of a detection target in the scene
；
Step 2, measuring the test radar coordinates in a real test platform by using a north finder and a total station, erecting the coordinates of a large azimuth/pitching motion mechanism of a target simulator, converting the coordinates into a northeast polar coordinate system with the radar as an origin, and obtaining an azimuth angle
；
Step 3, rotating the detection target track file in the virtual scene
The angle is mapped into the real test platform, so that the virtual scene corresponds to the scene of the real test platform;
step 3, rotating the detection target track file in the virtual scene
The angle is mapped into 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 azimuth/pitching action mechanism in the real test platform:
step 3.2, rotating the detection target track file in the virtual scene
The test platform is put into a real test platform;
step 3.3, calculating a rotated detection target track file;
step 3.4, driving the real test platform to act by using the rotated detection target track file;
the detection target track file after rotation calculation in step 3.3 is recorded as (lx, ly, lz), and specifically includes the following steps:
in the method, in the process of the invention,
and the northeast coordinate system parameter of the detection target taking the center of the test radar antenna as the origin is represented.
2. The method for mapping and converting the spatial positions of a virtual scene and a real test platform according to claim 1, wherein in step 1, the positional information of each element in the virtual scene represented by a geodetic coordinate system is converted into a northeast polar coordinate system with a radar as an origin, and the azimuth track center of a detection target in the scene is extracted
The method is characterized by comprising 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 forming a motion track expressed by a geodetic coordinate system by taking 20ms as a unit;
step 1.2, converting the position information of the test radar and the detection target into a WGS84 rectangular coordinate system from a geodetic coordinate system;
step 1.3, converting the test radar and the detection target track represented by a WGS84 rectangular coordinate system into a northeast rectangular coordinate system taking the center of a radar antenna as an origin;
step 1.4, converting the position of the detection target represented by the rectangular coordinates of northeast into a coordinate of northeast;
step 1.5, calculating the azimuth track center of the batch of detection targets
。
3. The method for mapping and converting the spatial positions of the virtual scene and the real test platform according to claim 2, wherein in the step 1.2, the position information of the test radar and the detection target is converted from a geodetic coordinate system into a WGS84 rectangular coordinate system, specifically as follows:
in the method, in the process of the invention,
longitude, latitude and altitude of the test radar or detection target track file for reading, +.>
Representing the major and minor half axes of the earth, respectively, < ->
Is the eccentricity of>
;/>
The method comprises the steps of carrying out a first treatment on the surface of the The test radar is expressed as +.>
The target position is expressed in WGS84 rectangular coordinate system as
。
4. The method for mapping and converting the spatial position of a virtual scene and a real test platform according to claim 3, wherein the test radar and the detection target track represented by the WGS84 rectangular coordinate system in step 1.3 are converted into a northeast rectangular coordinate system with the center of a radar antenna as an origin, specifically as follows:
wherein:
in the method, in the process of the invention,
parameters representing the detection target in a WGS-84 coordinate system; />
Parameters of the center of the test radar antenna under a WGS-84 coordinate system are represented; />
、/>
And the longitude and latitude of the center of the test radar antenna under the geodetic coordinate system are shown.
5. The method for mapping and converting a spatial position of a virtual scene to a spatial position of a real test platform according to claim 4, wherein the converting the position of the detection target represented by the northeast rectangular coordinates in step 1.4 to the position represented by the northeast rectangular coordinates is specifically as follows:
in the method, in the process of the invention,
for detecting the target distance +.>
For detecting the azimuth of the target->
To detect the target pitch angle.
6. The method for mapping and converting space positions of virtual scenes and real test platforms according to claim 5, wherein the calculating of the azimuth trajectory center of the batch of detection targets in step 1.5
The method is characterized by comprising the following steps:
in the middle of
For the maximum azimuth of the batch of detection targets, +.>
The orientation minimum of the targets is detected for the batch.
7. The method for mapping and converting space position of virtual scene and real test platform according to claim 6, wherein in step 2, the north seeker and total station are used to measure the coordinates of the test radar in the real test platform, the coordinates of the large azimuth/elevation motion mechanism of the object simulator are converted into the northeast polar coordinate system with radar as origin, and the azimuth angle is obtained
The method is characterized by comprising the following steps:
step 2.1, erecting a north seeker and a total station and leveling, wherein the north seeker completes north seeking;
step 2.2, calibrating the center position of the test radar antenna in the northeast rectangular coordinate system by using the total station, and recording the center position as
；
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
；
Step 2.4, calculating the position axis coordinates of the large azimuth/pitch action mechanism represented by taking the test radar as an origin under the northeast rectangular coordinate system;
step 2.5, converting the position axis coordinates of the large azimuth/elevation motion mechanism calculated in the step 2.4 into a northeast polar coordinate system to obtain an azimuth angle
。
8. The method for mapping and converting a spatial position of a virtual scene and a real test platform according to claim 7, wherein the calculation in step 2.4 is performed under a northeast rectangular coordinate systemThe position axis coordinates of the large azimuth/elevation action mechanism expressed by using the radar as the origin are recorded as
The method is characterized by comprising the following steps:
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| US4768034A (en) * | 1984-03-26 | 1988-08-30 | Preikschat F K | Radar system for multiple object tracking and discrimination |
| CN102854497B (en) * | 2011-11-03 | 2013-06-05 | 中国人民解放军海军航空仪器计量站 | Method for zero calibration of radar antenna |
| CN103454619B (en) * | 2013-09-12 | 2014-11-05 | 上海无线电设备研究所 | Electrical axis optical calibration system of spaceborne microwave tracking-pointing radar and calibration method thereof |
| CN104503425B (en) * | 2014-11-24 | 2017-01-25 | 中国电子科技集团公司第二十九研究所 | Radar countermeasure equipment effectiveness evaluation method based on hardware-in-the-loop simulation |
| SE1551370A1 (en) * | 2015-10-22 | 2017-02-07 | Uniquesec Ab | Testing method with virtual radar signatures for an automotive safety radar system |
| AT521120B1 (en) * | 2018-04-13 | 2022-02-15 | Avl List Gmbh | Method and device for determining a radar cross section, method for training an interaction model and radar target emulator and test bench |
| CN110487301B (en) * | 2019-09-18 | 2021-07-06 | 哈尔滨工程大学 | A Radar-assisted Airborne Strapdown Inertial Navigation System Initial Alignment Method |
| CN110766788B (en) * | 2019-10-15 | 2023-03-24 | 三星电子（中国）研发中心 | Method and device for mapping virtual object to real world |
| CN110941996A (en) * | 2019-11-04 | 2020-03-31 | 深圳市唯特视科技有限公司 | Target and track augmented reality method and system based on generation of countermeasure network |
| CN111580556B (en) * | 2020-05-22 | 2023-04-07 | 中国人民解放军国防科技大学 | Multi-unmanned aerial vehicle collaborative path planning and guidance method under space-time constraint |
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| US11454703B2 (en) * | 2020-08-20 | 2022-09-27 | Baidu Usa Llc | Methods and systems for testing automotive radar using radar data cube emulator |
| CN112643712B (en) * | 2020-09-28 | 2022-06-10 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Zero position measurement calibration method for large mechanical arm base |
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| CN113156418B (en) * | 2021-05-08 | 2023-02-24 | 中国科学院空天信息创新研究院 | Monte Carlo simulation-based radar target tracking precision prediction method |
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