CN109085553B - Texture-based rapid scanning radar echo background video drawing method - Google Patents
Texture-based rapid scanning radar echo background video drawing method Download PDFInfo
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention relates to a texture-based method for drawing a rapid scanning radar echo background video, which comprises the following steps: obtaining radar echo distance line data, the radar echo distance line data comprising N distance data units; establishing a distance line mapping relation according to the number of the distance data cells and the number of the coloring vector cells, and obtaining a distance line data vector according to the distance line mapping relation; the distance data vector is bound with a computer texture model, and a first fan-shaped interpolation model is formed by scanning a linear interpolation model with preset width and length; and repeating the steps to generate a plurality of fan-shaped interpolation models, wherein the fan-shaped interpolation models form the panoramic video of the radar echo background. The texture-based rapid scanning radar echo background video drawing method can greatly improve the application efficiency of hardware resources, shorten the image generation time and well solve the problem of real-time drawing of high-quality echo background video of a rapid scanning radar.
Description
Technical Field
The invention belongs to the technical field of radar video processing, and particularly relates to a texture-based method for drawing a fast scanning radar echo background video.
Background
Early radars used analog terminals to display background videos of radar echoes, and most of modern radar main display devices used digital technologies to display background videos of radar echoes, especially radar video 360-degree panoramic display (P display for short).
The radar echo background video panoramic display is a display mode which takes a radar as a central point, performs signal level processing on a radar echo distance line with instant angle information, performs a series of processing such as echo amplitude quantization, palette coloring, coordinate transformation projection and the like, and finally converts amplitude information and distance information of radar echoes into color information and position information of pixels in a display screen to be displayed to a radar operator. The P display belongs to a polar coordinate video display mode, the radar video display mode has a corresponding relation with a plane map, and the requirements of radar operators in different tactical uses can be met through the selection of a radar use coordinate system.
The radar echo distance lines can be viewed as discrete vectors, with each echo distance line being accompanied by angular information. Although the instants at which the radar echo distance lines are generated are accompanied by instantaneous information of angles, there are still angular errors between adjacent distance lines, which can cause the fence effect of radar video.
In the diagram of the radar echo background video fence effect shown in fig. 1, assuming that the radar distance line time interval is T (unit: second), the general time interval T is the pulse period of the radar, and is already determined by the radar waveform at the beginning of the radar design; the scanning speed of the radar antenna is V (unit: degree/second), the pixel radius of the radar background video display is R, and the sector range covered by the fence area is S:
as can be seen from the above formula, the fence area of the radar background video is proportional to the scanning speed of the radar antenna and proportional to the pixel radius of the radar background video display.
The larger the fence area of the radar background video is, the poorer the radar video effect is. In the conventional method, a plurality of identical distance lines (hereinafter referred to as filling distance lines) are inserted between two adjacent distance lines, and fence filling is realized by mapping position information in the distance lines to screen pixel positions one by one, so that a good radar background video display effect is obtained. The more fill distance lines are inserted, the radar background video shows the effect.
However, on the basis of still adopting the above assumed condition, the pixel arc length L of the radar background video fence area is:
as shown in fig. 2, it is generally considered that good video display effect can be obtained by inserting L distance lines into the fence area of the radar echo background video. The number of pixels that need to be filled in the fence area S (including the area start distance line) of the radar background video is (L + 1) × R.
For example, in a radar background video display, a radar pulse period T =625 μ s, a scanning speed V =360 degrees/sec, and a pixel radius R =900, it can be obtained that the number of pixels to be filled in a radar display area is 2025, that is, the embedded hardware processing platform needs to complete 2025 times of pixel-based video filling operations within 625 μ s, during which the hardware platform cannot perform other operations, which is an extremely wasteful application mode for limited embedded hardware platform processing resources and bandwidth resources.
The radar video display area that modern radar display equipment can provide promotes greatly than traditional radar, and modern radar servo system is even more and more fast of scanning speed that can provide, but if carry out the drawing of radar echo background video with traditional mode then need consume more resources, embedded processor can't satisfy the needs that the video was drawn in real time. Therefore, a method for performing real-time update of high-quality radar echo background video with limited hardware resources is needed.
Disclosure of Invention
The invention aims to provide a texture-based method for drawing a fast scanning radar echo background video, which realizes the drawing and display of a high-quality radar echo background video of an embedded hardware platform through the application of a computer display texture processing technology and a GPU (graphics processing unit), improves the application efficiency of hardware resources, shortens the calculation time and better solves the problem of drawing the high-quality echo background video of the fast scanning radar in real time.
In order to achieve the purpose, the invention adopts the technical scheme that: a rapid scanning radar echo background video drawing method based on texture comprises
Obtaining radar echo distance line data, the radar echo distance line data comprising N distance data units;
establishing a distance line mapping relation according to the number of the distance data cells and the number of the coloring vector cells, and obtaining a distance line data vector according to the distance line mapping relation;
binding the distance data vector with a computer texture model, and scanning with a linear interpolation model with preset width and length to form a first fan-shaped interpolation model;
and repeating the steps to generate a plurality of fan-shaped interpolation models, wherein the fan-shaped interpolation models form the panoramic video of the radar echo background.
And a data buffering method is adopted in the process of acquiring the radar echo distance line data.
The data buffering method changes the transmission cycle of the echo distance line data from a fast cycle to a slow cycle.
Wherein the distance data vector comprises a distance line information map and a distance line palette map;
wherein the mapping relationship of the distance line of the ith distance data cell and the shading vector cell is
In the formula: m is the number of coloring vector units, N is the number of distance units, and floor is used as a universal rounding-down function.
The preset width is 1 pixel, and the preset length is the radius of a radar scanning surface.
Wherein the interpolation interval in the scanning process is
Where θ is the angle between two adjacent distance lines and M is the number of colored cells.
The texture-based rapid scanning radar echo background video drawing method adopts a computer texture processing technology, realizes drawing and displaying of a high-quality radar echo background video in a grading and pipeline processing mode by means of the powerful graphic processing capacity of a GPU image processor, can greatly improve the application efficiency of hardware resources, shortens the image generation time, and well solves the problem of real-time drawing of the high-quality echo background video of the rapid scanning radar.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a diagram of a background video fence effect of a radar echo in the prior art;
FIG. 2 is a schematic diagram of filling a radar echo background video fence area in the prior art;
FIG. 3 is a flow chart of a radar background video rendering process in the present invention;
FIG. 4 is a flow chart of a mapping process according to the present invention;
FIG. 5 is a schematic diagram of a vector interpolation mapping model according to the present invention;
FIG. 6 illustrates a texture and interpolation model of the present invention;
FIG. 7 is a coordinate system of a screen display area according to the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, a flow chart for rendering a radar echo background video according to the present invention is shown, in which radar echo distance line data is mapped to generate a radar echo distance line shading data vector, vector interpolation is performed to bind the shading data vector with a display texture by using a computer texture processing technique, uniform error interval texture interpolation is performed according to an angle error of an adjacent distance line, and finally, the radar echo background video is presented to a radar operator on a display device.
The method for drawing the background video of the fast scanning radar echo comprises the following specific steps:
the first step is as follows: the mechanical radar capable of fast scanning has the advantages that the scanning speed is high, the data transmission period of the echo distance line is short, and the fast period can be changed into the slow period by adopting a data buffering technology commonly used in engineering, so that the hardware operation efficiency is improved, and the processing pressure of a subsequent mapping processing module is reduced.
The second step is that: and mapping the radar echo background distance line data. The radar echo background distance line data are sent to the mapping processing module with instantaneous angle information according to a fixed period, and the mapping processing module generates a radar echo background distance line coloring data vector according to the amplitude and a color mixing scheme on the distance line data according to a radar display coordinate system, as shown in fig. 4.
Designing a mapping model of radar echo background distance lines, such as the mapping model shown in fig. 5, assuming that a radar echo distance line has N distance data units and a shading data vector has M shading units, the ith distance unit (i =1, 2, 3 … … N-2, N-1, N) and the shading vector unit have the following position mapping relationship:
floor is used as a universal rounding-down function to obtain the position of the coloring unit corresponding to the ith distance unit in the data vector, namely, calculating texture coordinates.
For example, the echo distance line has 10,000 distance data cells corresponding to 1,000 display points on the display, i.e., the 1 st to 10 th distance data cells correspond to the first display pixel point on the display, the 11 th to 20 th distance data cells correspond to the second display pixel point on the display, the 21 st to 30 th distance data cells correspond to the third display pixel point on the display, and so on. The 10,000 distance data units are inserted into the display to be displayed through the position mapping relation formula.
From the above calculation, it is known that N/M distance units are associated with each shading unit, and a distance unit having a high wave power is selected from the N/M distance data units to perform palette mapping, thereby obtaining power sequences Pi (i =1, 2, 3 … … M) corresponding to M shading units as power reference information of the shading unit. Assuming the maximum echo power P available for the range data unit MAX C is shared by the color class with the brightest color in the color palette u The colors (u =1, 2, 3 … … Q) are arranged in order from dark to light. The colors of the M coloring units mayObtaining by the following mapping mode
i =1, 2, 3 … … m, and the information of the amplitude of the radar echo range line in the ith range cell is matched with a color determined by the color scheme, and the result is used as the color arrangement of the jth coloring data vector cell.
The third step: and binding texture data to the radar echo background distance line according to the amplitude of the distance line data obtained in the second step and the color matching scheme. As shown in the texture model of fig. 6, the display texture model is set to have a width of 1 pixel and a length corresponding to the radar scan radius pixel length of the panorama display. As shown in the interpolation model in fig. 6, assuming that the interpolation interval angle between two adjacent interpolation textures is Δ θ, the interpolation interval angle is
Where θ is the angular spacing between adjacent distance lines;
the display coordinate system of the display area of the radar background view screen is set as 7 in the figure, in the display coordinate system or the display, the upper left corner of the screen is (0,0), the X axis is positive to the right, the Y axis is positive downwards, and the pixel coordinate of the central position is (X) 0 ，y 0 ) The azimuth 0 ° of the radar background video points to the right above the screen, i.e., the negative direction of the y-axis.
Assuming that the interpolation starting angle is Az, an interpolation angle sequence Az can be obtained by the interpolation model 1、2、3……M (ii) a The length of the display radius pixel in the display coordinate system is R, and the series of position coordinates of the interpolation fixed point are (x) i ，y i )，i＝1、2、3……M,
The position coordinates of the interpolated set point can be obtained by
x i ＝x 0 -R×sin(Az i )
y i ＝y 0 -R×cos(Az i )
A display texture pair bound with a shading data vector by using a computer texture processing technology is (x) 0 ，y 0 ) Centered on the interpolated sequence (x) i ，y i ) Texture filling is performed for a series of screen positions of the vertices to obtain radar echo distance line video.
The fourth step: and periodically finishing the video drawing of the radar echo distance lines, and presenting the drawn high-quality radar echo background video to a radar operator through display equipment by adopting a display partition exchange technology provided by the GPU.
The texture-based rapid scanning radar echo background video drawing method adopts a computer texture processing technology, realizes drawing and displaying of a high-quality radar echo background video in a grading and pipeline processing mode by means of the powerful graphic processing capacity of a GPU image processor, can greatly improve the application efficiency of hardware resources, shortens the image generation time, and well solves the problem of real-time drawing of the high-quality echo background video of the rapid scanning radar.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (3)
1. A fast scanning radar echo background video drawing method based on texture is characterized by comprising the following steps:
obtaining radar echo distance line data, wherein the radar echo distance line data comprises N distance data units;
establishing a distance line mapping relationship according to the number of distance data cells and shading vector cells, wherein the ith distance data cell and the shading vector cell satisfy the following position mapping relationship:
in the formula, N is the number of distance data units, M is the number of coloring vector units, floor is a down-rounding function, and is used for obtaining the position of the coloring vector unit corresponding to the ith distance data unit in a data vector, namely calculating texture coordinates;
assuming the maximum echo power P that can be obtained by the range data unit MAX C is shared by the color class with the brightest color in the color palette u The seed colors, u =1, 2, 3 … … Q, are arranged in sequence from dark to light, and the colors of the M shading vector units are obtained by the following mapping:
in the formula, the power sequence Pi, i =1, 2, 3 … … M corresponding to the M coloring vector units is matched with the color determined by the color matching scheme by using the amplitude information of the radar echo distance line in the ith distance data unit, and is used as the color configuration of the jth coloring vector unit;
setting the display texture model to have the width of 1 pixel and the length of the display texture model consistent with the length of the radar scanning radius pixel of the panoramic display, and setting the interpolation interval angle between two adjacent interpolation textures to be delta theta, then
Wherein θ is the angular spacing between adjacent distance lines;
in a display coordinate system or a display of a display area of a radar background view screen, the upper left corner of the screen is (0,0), the X axis is positive to the right, the Y axis is positive downwards, and the pixel coordinate of the central position is (X) 0 ，y 0 ) The azimuth 0 degree of the radar background video points to the position right above the screen, namely the negative direction of the y axis;
assuming that the interpolation initial angle is Az, obtaining an interpolation angle sequence Az by the interpolation model 1、2、3……M (ii) a Display deviceThe length of the display radius pixel in the coordinate system is R, and the series of position coordinates of the interpolation fixed point are (x) i ，y i )，i＝1、2、3……M,
The position coordinates of the interpolated fixed point are obtained by:
x i ＝x 0 -R×sin(Az i )
y i ＝y 0 -R×cos(Az i )
the display texture pair binding the shading vector units is (x) 0 ，y 0 ) Centered on the interpolated sequence (x) i ，y i ) Performing texture filling on a series of screen positions of the vertex to obtain a radar echo distance line video; and periodically finishing the video drawing of the radar echo distance line, and presenting the drawn high-quality radar echo background video to a radar operator through a display device.
2. The texture-based fast scan radar echo background video rendering method of claim 1, wherein a data buffering method is employed in obtaining the radar echo distance line data.
3. The texture-based fast scan radar echo background video rendering method of claim 2, wherein the data buffering method is to change the echo range line data transmission period from a fast period to a slow period.
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