CN109932701A - A kind of object ship echo 2D imaging method for simulating marine radar - Google Patents
A kind of object ship echo 2D imaging method for simulating marine radar Download PDFInfo
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Abstract
The present invention relates to a kind of object ship echo 2D imaging method for simulating marine radar, including setting radar return imaging parameters, the guinea pig echo in a manner of scan line；Ship's navigation analogue unit is constructed, provides ship skimulated motion state by cast communication mode；Radar simulation data prediction；The relative positional relationship for resolving each point and object ship on radar scanning line, determines the amplitude of scan line each point；The visualization of radar return image-forming information.The present invention designs ship course analogue unit and radar echo simulator, send simulated target ship echo-wave imaging information in real time by network communication, and man-machine interactive interface is set, quantity, size, position and the posture of customized setting echo-wave imaging, flexible customization dynamic echo imaging signal provides general verifying imaging test signal for bridge Radar Displaying Console platform.
Description
Technical field
The present invention relates to a kind of 2D imaging method, especially a kind of imaging side object ship echo 2D for simulating marine radar
Method belongs to communication information analogue technique field.
Background technique
Marine radar is mounted in the target acquisition tool for being used to monitor certain area around this ship in real time on ship, is
The positioning of ship, obstacle avoidance aiding, dangerous situation the tasks such as estimate and provide important information source, therefore would generally match on bridge
Set the Radar Displaying Console platform for real-time display echo-wave imaging information, for ship drive personnel provide surrounding objects ship, island and its
He is in dynamic change state at object mark image-forming information, especially object ship in real time, and image-forming information is of crucial importance to this ship.And
In the case where the hardware facilities such as not connected radar antenna, it is usually unable to test Radar Displaying Console platform imaging effect, even if connection radar
Hardware, it is also difficult to neatly provide the echo-wave imaging information of different operating conditions for indication control board.
In no radar hardware, in order to flexibly test Radar Displaying Console platform performance, computer simulation object ship echo can be used
The mode of signal.It is imaged compared to island, static buoy and land of large area etc., the object ship around this ship is in real time kinematics
State, and quantity is the amount doesn't matter, its echo-wave imaging is simulated in the way of virtual emulation, can be provided for Radar Displaying Console platform it is dynamic,
The adjustable echo-wave imaging of quantity is more suitable for testing the imaging performance of Radar Displaying Console platform, substantially reduces connection radar entity and brings
Man power and material on investment, while research and development and the test period of Radar Displaying Console platform can also be shortened.Some scholars also did this
The research work of aspect, as " mould is imaged in the bi-static SAR of Electrically large size object to Zhao Yanwei et al. on sea in document
It is quasi- " in, large scale target imaging principle on sea is had studied, bi-static SAR imaging model is established；Guo Ding et al.
In document " polarimetric synthetic aperture radar sea Imaging Simulation and analysis ", by velocity bunching model and Bragg scattering model,
Ocean scenes target imaging effect is simulated, other scholars mostly use the research of similar method development radar imagery.But forefathers
Research there are the following problems: on the one hand, the above echo-wave imaging often from the Digital Signal Processing angle of radar carry out it is mechanistic
Analysis and modeling, the information such as longitude and latitude, course that directly can not provide object ship for Radar Displaying Console platform；On the other hand, above
General radar signal simulation method provides scan period, the corresponding physical distance of scanning element for Radar Displaying Console platform with being difficult fast and flexible
Etc. real-times index.
Summary of the invention
For the above-mentioned prior art, the technical problem to be solved in the present invention is to provide one kind to provide for bridge Radar Displaying Console platform
Flexibly, the object ship echo-wave imaging signal of settable multi-state, the phases such as signal processing for assisting test Radar Displaying Console platform
Close the object ship echo 2D imaging method of the simulation marine radar of function.
In order to solve the above technical problems, the present invention provides a kind of object ship echo 2D imaging method for simulating marine radar,
The following steps are included:
Step 1: setting radar return imaging parameters and coordinate system, the guinea pig echo in a manner of scan line；
Step 2: building ship's navigation analogue unit provides ship skimulated motion state by cast communication mode:
Under earth axes, ship kinematics model is established, ship motion state includes position (xt,yt), speed v, angle
Speed omega, course θt, it is specific as follows shown:
In above formula: x0And y0For this ship and object ship last moment transverse and longitudinal coordinate, θ0For ship last moment course angle, Δ t
For simulation step length；
Step 3: radar simulation data prediction:
(1) coordinate transform
Target ship position is converted by earth axes to radar fix system, the target ship position under radar fix systemMeet:
Wherein, this ship is set to (x in earth axes bottomO,yO), own ships bus θO, object ship is under earth axes
Position is (xT,yT)；
(2) object ship two-dimensional shapes construct
Define the zoom factor k of object ship re-imaging length and widthxAnd kyIf the physical length and width of object ship are LTx
And LTy, target ship's head is θT, the position of object ship and the echo-wave imaging information of posture, institute are indicated using a pentagon
Stating pentagon to have an interior angle is acute angle, pentagon acute interior angle corresponding vertex representation object ship course, if pentagon
In coordinate wherein be (xTS,yTS), which is converted into earth axes, coordinate after transformation by radar fix system
(xTS_g,yTS_g) meet:
Step 4: the relative positional relationship of each point and object ship on radar scanning line is resolved, determines the width of scan line each point
Value, comprising the following steps:
Step 1: building scan line coordinate system determines scan line and object ship correlative positional relation:
Scan line coordinate system is established, scan line coordinate system is to rotate radar fix system, makes current processed scan line
It is directed toward the x-axis direction of earth axes, the pentagonal coordinate points of the appearance profile of object ship are converted by earth axes and are swept
Retouch line coordinates system, it is assumed that radar scanning line and this stem to the angle in direction be φ, then coordinate (x after convertingTS_p,yTS_p) meet:
After above formula is handled, the scan line and the pentagonal relativeness of each object ship being presently processing, i.e.,
Determine scan line and pentagon with the presence or absence of intersection point；
Step 2: solve the scan line handled and the pentagonal intersecting point coordinate of object ship:
Pass throughObtain pentagon
Two adjacent vertex coordinates be (xTS_p1,yTS_p1) and (xTS_p2,yTS_p2), if this side and scan line are there are intersection point, then intersection point
Abscissa xpsMeet:
xps=xTS_p1-yTS_p1·(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1)
The case where scan line only passes through one vertex of pentagon and scan line is overlapped with pentagon a line is not considered, is swept
When retouching line and intersecting with pentagon, has and only utilize x in scan line coordinate system there are two intersection pointps=xTS_p1-yTS_p1·
(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1) obtain the scan line and two intersection point abscissa value x of object shipps_maxAnd xps_min,
xps_maxAnd xps_minRespectively indicate larger abscissa value and smaller abscissa value；
Step 3: update the amplitude of each point in scan line:
Pass through xps=xTS_p1-yTS_p1·(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1)) it can determine that is be presently processing sweeps
Retouch x on lineps_minAnd xps_maxBetween all scanning elements be the echo-wave imaging that occupies of object ship, update each point width in the scan line
Value, [xps_min,xps_max] each point amplitude outside section is 0, [xps_min,xps_max] each point amplitude in section is 255；
Step 5: simulation sends radar return image-forming information, intercepts imaging data；
Step 6: radar return image-forming information visualization, comprising the following steps:
Step 1: imaging data is extracted in data channel, image-forming information is chosen in frequency reducing sampling
If the cast communication period of ship's navigation analogue unit is Tmtsock, the time of Radar Displaying Console platform run-down is
Tscan, Radar Analog Echo refresh cycle TsimuMeet:
Tsimu=0.4Tscan
To TmtsockFrequency reducing sampling, while refreshing frequency is higher than Radar Displaying Console platform；
Step 2: selecting completely black picture as background picture, draw radar return image-forming information according to pixel
The background picture for selecting the rectangular completely black picture of pre-production to be imaged as radar return, the picture side length are LBK,
Scene set shows scaling kBTR, to indicate the corresponding screen display pixel quantity of 1 radar return image pixel, then
Displayable maximum pixel number N in radar original imagepmaxAre as follows:
Npmax=LBK/(2*kBTR+0.5)
[0, Npmax] in section, traverse each radar pixel, seek each pixel relative to background picture center
Coordinate value, with (xpix,ypix) indicate, (xpix,ypix) meet:
Wherein xBKAnd yBKThe respectively coordinate fastened in screen coordinate of background picture central point, i is the pixel traversed
ID number；
Calculate the offset D that background picture corresponds to radar return imaging pixeloffset, DoffsetMeet:
Doffset=3 (LBK·(LBK-ypix-1)+xpix)
By adjusting Doffset, the respective pixel position of each radar scanning line on background picture is determined, according to respectively sweeping
The amplitude data of described point draws image-forming information on black background picture, if scanning element amplitude is 0, then keeps the picture point
Tri- value of RGB of the place's of setting pixel is 0, if scanning element amplitude be 255, then at the picture position pixel be R=255, R=255,
B=0 makes object ship that yellow pentagon pattern be presented, and by adjusting kBTRZoom in or out the display half of radar visible area
Diameter.
The invention also includes:
Parameter in step 1 includes:
(1) scan line angle bisecting quantity Nd；
(2) the time T of Radar Analog Echo run-downc；
(3) azimuth angle theta of current scan linecs；
(4) points N that every scan line includessp；
(5) the physical distance D that each scanning element representspp；
(6) timer simulation step length Tsimu；
Echo imaging data is sent to Radar Displaying Console platform by way of regularly sending, what is updated in each simulation step length sweeps
Retouching line number is Nd·Tsimu/TcItem, these scan lines are handled one by one according to azimuth incremental manner, i.e. θcs=k2 π/Nd, single
Position is radian, and wherein k is the serial number of scan line；Distance, N according to object ship relative to this shipspAnd Dpp, determine in scan line
The crossing instances of all scanning elements and object ship, the scanning element amplitude of echo-wave imaging are aimless there are 0 or 255 two states
Scanning element amplitude is 0, and the scanning element amplitude for having target is 255, when initialization all scanning element amplitude all 0；
Coordinate system in step 1 is defined as:
(1) radar fix system: the coordinate system is the superposition of dynamic plane right-angle coordinate and polar coordinate system, and coordinate system is former
Point is the real-time center of this ship, and rectangular coordinate system y-axis is the real-time bow of this ship to direction, and rectangular coordinate system x-axis is directed toward ship
Oceangoing ship starboard, 0 ° of line of polar coordinates are overlapped with rectangular coordinate system y-axis, and when overlooking coordinate system, radar scanning direction is positive clockwise；
In this coordinate system, each point shares 4 variables, position (x, y) and polar coordinate system respectively under plane right-angle coordinate
Under angle, θ and distance d, the initial scan line of radar scanning one week calculates since 0 ° of line of polar coordinates；
(2) earth axes: the coordinate system is plane right-angle coordinate, and coordinate origin is fixed as this ship initial position, x-axis
It is directed toward east, y-axis is directed toward the north
The invention has the advantages that: in order to provide imaging test signal to Radar Displaying Console platform, the present invention proposes a kind of simulation ship
The method being imaged with radar return, and ship course analogue unit is designed to provide relevant virtual ship motion state, pass through
Network communication sends simulated target ship echo-wave imaging information in real time, and man-machine interactive interface is arranged, and mentions for bridge Radar Displaying Console platform
For general verifying imaging test signal.Compared with previous same type method, on the one hand method proposed by the present invention can be
Radar Displaying Console platform directly provides the information such as the simulation longitude and latitude of object ship, course, on the other hand, can be more easier to be radar
Indication control board provide customized setting etc., provide scan period, the quantity of echo-wave imaging, ruler for Radar Displaying Console platform to fast and flexible
The indexs such as very little, position and posture.
Detailed description of the invention
Fig. 1 is echo-wave imaging calculation process；
Fig. 2 is radar fix system schematic diagram；
Fig. 3 is ship shape pentagon schematic diagram；
Fig. 4 is object ship schematic diagram under radar fix system；
Fig. 5 is that object ship is converted into the schematic diagram under scan line coordinate system by radar fix system；
Fig. 6 is that there are two intersection point situations with object ship for scan line；
Fig. 7 is radar echo simulator visualization interface；
Fig. 8 is that bridge Radar Displaying Console platform receives echo information interface；
Fig. 9 is Radar Displaying Console platform scan period test effect figure
Specific embodiment
The specific embodiment of the invention is described further with reference to the accompanying drawing.
The object ship echo-wave imaging calculation process of marine radar of the present invention is as shown in Figure 1.The present invention formulate radar return at
As parameter, the guinea pig echo shaping in a manner of scan line is determined, then using the ship's navigation analogue unit established, in real time
The motion state of output this ship and object ship is calculated, and by radar simulation data preprocessing module, is converted into the wheel of object ship
Wide coordinate, in conjunction with radar scanning line information, real-time resolving scan line and object ship relative position coordinates determine scan line each point
Amplitude.On this basis, at the same carry out subpackage communication and guinea pig echo-wave imaging based on multicast visual work.
Detailed process is as follows by the present invention:
Step 1: setting radar return imaging parameters and coordinate system, the guinea pig echo in a manner of scan line
For radar hardware information to be simulated is needed, the related general parameter of guinea pig echo process, packet are formulated in definition
Include following variable:
(1) scan line angle bisecting quantity Nd；
(2) the time T of Radar Analog Echo run-downc；
(3) azimuth angle theta of current scan linecs；
(4) points N that every scan line includessp；
(5) the physical distance D that each scanning element representspp；
(6) timer simulation step length Tsimu。
The present invention sends echo imaging data to Radar Displaying Console platform by the way of regularly sending, in each simulation step length more
New number of scanning lines is Nd·Tsimu/TcItem, these scan lines are handled one by one according to azimuth incremental manner, i.e. θcs=k2 π/
Nd, unit is radian, and wherein k is the serial number of scan line.Distance, N according to object ship relative to this shipspAnd Dpp, it may be determined that it sweeps
The crossing instances of all scanning elements and object ship on line are retouched, there are 0 or 255 two states for the scanning element of echo-wave imaging, i.e., without mesh
Target scanning element amplitude is 0, and the scanning element amplitude for having target is 255, when initialization all scanning element amplitude all 0.This
Invention realizes the basic analog functuion that radar return is imaged by the above variable.
Coordinate system is defined as follows:
(1) radar fix system: the coordinate system is the superposition of dynamic plane right-angle coordinate and polar coordinate system, and coordinate system is former
Point is the real-time center of this ship, and rectangular coordinate system y-axis is the real-time bow of this ship to direction, and rectangular coordinate system x-axis is directed toward ship
Oceangoing ship starboard, 0 ° of line of polar coordinates are overlapped with rectangular coordinate system y-axis, and when overlooking coordinate system, radar scanning direction is positive clockwise.
Note: in this coordinate system, each point shares 4 variables, the position (x, y) respectively under plane right-angle coordinate, Yi Jiji
Angle, θ and distance d under coordinate system.The initial scan line of radar scanning one week is calculated since 0 ° of line of polar coordinates, is detailed in Fig. 2.
(2) earth axes: the coordinate system is plane right-angle coordinate, and coordinate origin is fixed as this ship initial position, x-axis
It is directed toward east, y-axis is directed toward the north.
Step 2: building ship's navigation analogue unit, provides ship skimulated motion state by cast communication mode
Under earth axes, easy ship kinematics model is established, ship motion state includes position (xt,yt), speed
Spend v, angular velocity omega, course θt, it is specific as follows shown:
In above formula: x0And y0For ship last moment transverse and longitudinal coordinate, θ0For ship last moment course angle, Δ t is emulation step
It is long.
Ship's navigation analogue unit is established by above formula, simulates this ship and the real time status information of other object ships, and
Design man-machine interactive interface by mouse and keyboard, it can be achieved that completing to create the desired course information of all ships, adjusting ship
Motion state, increase/reduction/pause simulation velocity etc. are the customized ship motion state of radar simulation.Above formula is core
The heart establishes ship's navigation analogue unit, by cast communication mode, provides the fortune of this ship and object ship for radar echo simulator
Dynamic status data.The present invention uses multicast mode, regularly sends data for radar echo simulator, the communication mode is using one
A navigation analogue unit provides ship navigation state information simultaneously for multiple radar echo simulators.
The motion state data of this ship and object ship is provided using ship's navigation analogue unit with the communication mode of multicast,
Communication protocol includes the following contents:
(1) ship ID number
(2) ship x, y location
(3) ship course
(4) dimension of ship
It distinguishes each object ship and this ship, vessel position and posture information by ship ID number to obtain by formula (1), ship ruler
Very little is static input data, for showing the size of radar return imaging.In view of the radar return scanning simulated in the present invention
Certain time is needed within one week, cast communication simulation step length needs to cooperate with radar scanning cycle co-ordination in the present invention, sets thunder herein
It is T up to the scan periodscan, by the combined debugging experience with Radar Displaying Console platform, ship's navigation analogue unit group is arranged in the present invention
Broadcast communication step-length TmtsockMeet following formula:
Tmtsock≤0.04·Tscan (2)
It can guarantee that ship's navigation analogue unit provides the ship motion state of timeliness using above formula.
Step 3: radar simulation data prediction
This ship position and posture information passed over according to cast communication, and " setting radar return imaging parameters and
Radar return imaging parameters facilities in coordinate system " carry out pretreatment work to these data first, are convenient for subsequent echo
Imaging calculates.
(1) coordinate transform
The position of object ship is converted by earth axes to radar fix system, under earth axes, if this accommodation
It is set to (xO,yO), own ships bus θO, target ship position is (xT,yT), then under radar fix system, the position of object shipIt can be indicated by following formula:
If the object ship being calculated by above formulaGreater than the physical length of the ship, for non-high-speed ship, existing
Such case is usually unreasonable in reality, therefore the present invention gives up such case.
(2) object ship two-dimensional shapes construct
In order to provide length-width ratio reasonable echo-wave imaging signal for Radar Displaying Console platform, the present invention defines target vessel imaging
The zoom factor k of length and widthxAnd ky, the two variables are specifically used to change radar return imaging by man-machine interaction mode
Scale, convenient for test Radar Displaying Console platform imaging effect, can also assist in determine be suitble to observation imaging size.The present invention will be sharp
The position of object ship and the echo-wave imaging information of posture are indicated with a pentagon, as shown in figure 3, the present invention sets unit length
It refers specifically to be dynamically adapted for L, L, wherein AB=AE=L, BC=DE=1.5L, CD=0.5L, line segment BE midpoint F indicates ship
Center of gravity, the direction of FA indicate ship bow to.
If the physical length and width of object ship are LTxAnd LTy, target ship's head is θT, in pentagon wherein
Coordinate is (xTS,yTS), the coordinate points are converted into earth axes by radar fix system using following formula, coordinate passes through after transformation
Following formula indicates:
It can determine under the polar coordinate system that this ship position and course determine according to above formula, the position of each object ship and course shape
State situation.
Step 4: resolving the relative positional relationship of each point and object ship on radar scanning line, the width of scan line each point is determined
Value
In view of in the line number of radar scanning one week, every scan line points, in simulated scenario object ship quantity etc. because
Element, if using all scanning elements are traversed, and judge whether each point is located in the pentagon for representing each object ship one by one, calculation amount
Huge, seriously affecting Radar Analog Echo is the image-forming information that indication control board provides, and even results in simulation process Caton phenomenon.
To solve the above problems, the present invention proposes the data boundary calculation method based on coordinate transform, the above process is reduced
Calculation amount, it is main to realize that steps are as follows:
Step 1: building scan line coordinate system determines scan line and object ship correlative positional relation.
The present invention proposes the concept of scan line coordinate system, which rotated to radar fix system, and currently quilt is made
The scan line of processing is directed toward the x-axis direction of earth axes, and Fig. 4 is radar fix system, rotates clockwise radar fix system, obtains
Under scan line coordinate system shown in fig. 5.
By taking an object ship in scene as an example, the pentagonal coordinate points of object ship appearance profile are converted by earth axes
Scan line coordinate system, then coordinate (x after convertingTS_p,yTS_p) can be calculate by the following formula:
In above formula, φ is radar scanning line and this stem to angle.
After above formula is handled, the available scan line being presently processing and the pentagonal opposite pass of each object ship
System can determine scan line and pentagon with the presence or absence of intersection point.
Step 2: the scan line handled and the pentagonal intersecting point coordinate of object ship are solved.
Obtaining pentagonal two adjacent vertex coordinates by formula (5) is (xTS_p1,yTS_p1) and (xTS_p2,yTS_p2), such as should
Side and scan line are there are intersection point, then the abscissa x of intersection pointpsIt is represented by following formula:
xps=xTS_p1-yTS_p1·(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1) (6)
Note: the present invention does not consider the feelings that scan line only passes through one vertex of pentagon and is overlapped with pentagon a line
Condition when scan line intersects with pentagon, has and only there are two intersection point, as shown in the intersection situation under Fig. 6 scan line coordinate system.
By Fig. 5 mode, in scan line coordinate system, the scan line and two intersection point A of object ship can get using above formula
With the abscissa value of B, x is used hereps_maxAnd xps_minRespectively indicate B point abscissa (the larger value) and A point abscissa (smaller value).
Step 3: the amplitude of each point in scan line is updated
It can determine x in the scan line being presently processing by formula (6)ps_minAnd xps_maxBetween all scanning elements be
The echo-wave imaging that object ship occupies updates each point amplitude, [x in the scan lineps_min,xps_max] each point amplitude outside section is 0,
[xps_min,xps_max] each point amplitude in section is 255.
By above-mentioned 3 step of Step 1 to Step, the relative position that can calculate every scan line and all object ships is closed
System, without traversing all scanning elements and the pentagonal two-dimensional spatial relationship of all object ships, it is only necessary to be scanned from one-dimensional angle calculation
Line and pentagonal two intersection points, greatly reduce calculation amount, while guaranteeing the accuracy calculated.
Step 5: simulation sends radar return image-forming information, imaging data is intercepted, guarantees network communication not lost data packets
It is noted here that a bit, other than the scanning element amplitude information of previous step introduction, method proposed by the present invention is
The communication information that Radar Displaying Console platform provides further includes that bottom is made an uproar other real-time status such as value, scan line time, sampled distance, therefore real
The border traffic is larger, and the present invention is sent out radar return image-forming information by the way of broadcast.In view of each network communication
Include 1472 and byte below in packet, is under this condition usually not in lose communication data packet problem, the present invention is to scanning
Wire spoke value and other status informations carry out intercepting process, and each communication bag includes the data packet of 1471 bytes, are in addition further added by
One " the n " trail byte of byte as data packet.By the above communication mode, on the one hand can not have to as TCP network communication that
Sample, which needs to verify, to be received data and influences traffic rate, and the another aspect present invention can provide echo-wave imaging letter for more indication control boards
Breath, and guarantee not lost data packets.
Step 6: radar return image-forming information visualizes
It is provided except echo-wave imaging information for Radar Displaying Console platform, the present invention designs the visual of itself guinea pig echo information
Change function, which can provide the correspondence imaging effect of reference for indication control board, be also convenient for test echo-wave imaging and ship's navigation
This ship of analogue unit output and the real-time status of object ship, realize above-mentioned function using following steps:
Step 1: extracting imaging data in data channel, and image-forming information is chosen in frequency reducing sampling
The cast communication period of ship's navigation analogue unit is T in the present inventionmtsock, while in view of Radar Displaying Console platform is swept
The time retouched one week is Tscan, Radar Analog Echo refresh cycle T of the present inventionsimuMeet following formula:
Tsimu=0.4Tscan (7)
Above formula is realized to TmtsockFrequency reducing sampling, while refreshing frequency be higher than Radar Displaying Console platform, can be provided for it in time
Reference imaging effect.
Step 2: selecting completely black picture as background picture, draws radar return image-forming information according to pixel
The background picture that the present invention selects the rectangular completely black picture of pre-production to be imaged as radar return, the picture side length
For LBK, scene set display scaling kBTR, to indicate the corresponding screen display pixel number of 1 radar return image pixel
It measures, then displayable maximum pixel number N in radar original imagepmaxIt is expressed as following formula:
Npmax=LBK/(2*kBTR+0.5) (8)
[0, Npmax] in section, traverse each radar pixel, seek each pixel relative to background picture center
Coordinate value uses (x herepix,ypix) indicate, it is shown below:
In above formula: xBKAnd yBKThe respectively coordinate fastened in screen coordinate of background picture central point, i is the picture traversed
Vegetarian refreshments ID number.
It can be calculate by the following formula and correspond to the offset D of radar return imaging pixel in background pictureoffset, pay attention to each picture
Element is determined by tri- values of R, G, B.
Doffset=3 (LBK·(LBK-ypix-1)+xpix) (10)
By adjusting Doffset, the respective pixel position of each radar scanning line on background picture is determined, according to thereon
The amplitude data of each scanning element draws image-forming information on black background picture, if scanning element amplitude is 0, then keeps picture should
Tri- value of RGB of pixel is 0 at point position, and if scanning element amplitude is 255, then pixel is R=255, R=at the picture shop position
255, B=0, finally make object ship that yellow pentagon pattern be presented.And by adjusting kBTRCan be achieved to zoom in or out radar can
The display radius of viewed area.
Proof of algorithm example and explanation
For the validity and accuracy for verifying the method for the present invention, carry out verifying work below for two aspects.Radar is aobvious
It controls platform and comes from practical bridge, Radar Analog Echo image-forming information is provided using method proposed by the present invention, and realize imaging
Visualization.
1, ship return imaging pose comparison
The target vessel imaging and practical bridge radar for the radar simulation image-forming information visualization interface that the method for the present invention provides
The target vessel imaging that indication control board receives is as shown in Figure 7 and Figure 8:
Two figures are compared it can be seen that one side, the object ship echo-wave imaging information and bridge radar that the method for the present invention generates
Indication control board receives the position of imaging and posture is consistent, and on the other hand, echo-wave imaging method proposed by the present invention can be any
The imaging size of object ship is set, observing effect is observed and debugged convenient for indication control board.
2, the scan period verifying of Radar Displaying Console platform
The scan period of the Radar Displaying Console platform is 2.4 seconds, and the mould of 10 different circles is continuously transmitted using the method for the present invention
Quasi- data, and the time that Radar Displaying Console platform draws the imaging of 10 circles is counted, it is as shown in Figure 9 that indication control board tests process interface.
According to such as upper type, 10 test results are counted, test data is as shown in the table:
1 radar asorbing paint cell imaging sweep time statistical form of table
By above-mentioned data it is found that the time of each scanning circle is 2.394 seconds, with 2.4 seconds desired scan periods base
This is consistent, and simulated target vessel imaging method provided by the invention can provide accurate radar simulation number for Radar Displaying Console platform
According to.
Claims (2)
1. a kind of object ship echo 2D imaging method for simulating marine radar, which comprises the following steps:
Step 1: setting radar return imaging parameters and coordinate system, the guinea pig echo in a manner of scan line；
Step 2: building ship's navigation analogue unit provides ship skimulated motion state by cast communication mode:
Under earth axes, ship kinematics model is established, ship motion state includes position (xt,yt), speed v, angular speed
ω, course θt, it is specific as follows shown:
In above formula: x0And y0For this ship and object ship last moment transverse and longitudinal coordinate, θ0For ship last moment course angle, Δ t is imitative
True step-length；
Step 3: radar simulation data prediction:
(1) coordinate transform
Target ship position is converted by earth axes to radar fix system, the target ship position under radar fix system
Meet:
Wherein, this ship is set to (x in earth axes bottomO,yO), own ships bus θO, object ship position under earth axes
For (xT,yT)；
(2) object ship two-dimensional shapes construct
Define the zoom factor k of object ship re-imaging length and widthxAnd kyIf the physical length and width of object ship are LTxWith
LTy, target ship's head is θT, the position of object ship and the echo-wave imaging information of posture are indicated using a pentagon, it is described
It is acute angle, pentagon acute interior angle corresponding vertex representation object ship course, if in pentagon that pentagon, which has an interior angle,
Coordinate wherein is (xTS,yTS), which is converted into earth axes, coordinate after transformation by radar fix system
(xTS_g,yTS_g) meet:
Step 4: resolving the relative positional relationship of each point and object ship on radar scanning line, determine the amplitude of scan line each point, wraps
Include following steps:
Step 1: building scan line coordinate system determines scan line and object ship correlative positional relation:
Scan line coordinate system is established, scan line coordinate system is to rotate radar fix system, is directed toward current processed scan line
The pentagonal coordinate points of the appearance profile of object ship are converted into scan line by earth axes by the x-axis direction of earth axes
Coordinate system, it is assumed that radar scanning line and this stem to the angle in direction be φ, then coordinate (x after convertingTS_p,yTS_p) meet:
After above formula is handled, the scan line and the pentagonal relativeness of each object ship being presently processing determine
Scan line and pentagon whether there is intersection point；
Step 2: solve the scan line handled and the pentagonal intersecting point coordinate of object ship:
Pass throughObtain pentagonal two
A adjacent vertex coordinate is (xTS_p1,yTS_p1) and (xTS_p2,yTS_p2), if this side and scan line are there are intersection point, then the cross of intersection point
Coordinate xpsMeet:
xps=xTS_p1-yTS_p1·(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1)
The case where scan line only passes through one vertex of pentagon and scan line is overlapped with pentagon a line, scan line are not considered
When intersecting with pentagon, has and only utilize x in scan line coordinate system there are two intersection pointps=xTS_p1-yTS_p1·(xTS_p2-
xTS_p1)/(yTS_p2-yTS_p1) obtain the scan line and two intersection point abscissa value x of object shipps_maxAnd xps_min, xps_maxWith
xps_minRespectively indicate larger abscissa value and smaller abscissa value；
Step 3: update the amplitude of each point in scan line:
Pass through xps=xTS_p1-yTS_p1·(xTS_p2-xTS_p1)/(yTS_p2-yTS_p1)) it can determine the scan line being presently processing
Upper xps_minAnd xps_maxBetween all scanning elements be the echo-wave imaging that occupies of object ship, update each point amplitude in the scan line,
[xps_min,xps_max] each point amplitude outside section is 0, [xps_min,xps_max] each point amplitude in section is 255；
Step 5: simulation sends radar return image-forming information, intercepts imaging data；
Step 6: radar return image-forming information visualization, comprising the following steps:
Step 1: imaging data is extracted in data channel, image-forming information is chosen in frequency reducing sampling
If the cast communication period of ship's navigation analogue unit is TMtsock,The time of Radar Displaying Console platform run-down is Tscan, thunder
Up to analogue echo refresh cycle TsimuMeet:
Tsimu=0.4Tscan
To TmtsockFrequency reducing sampling, while refreshing frequency is higher than Radar Displaying Console platform；
Step 2: selecting completely black picture as background picture, draw radar return image-forming information according to pixel
The background picture for selecting the rectangular completely black picture of pre-production to be imaged as radar return, the picture side length are LBK, setting
Scene shows scaling kBTR, to indicate the corresponding screen display pixel quantity of 1 radar return image pixel, then radar
Displayable maximum pixel number N in original imagepmaxAre as follows:
Npmax=LBK/(2*kBTR+0.5)
[0, Npmax] in section, traverse each radar pixel, seek coordinate of each pixel relative to background picture center
Value, with (xpix,ypix) indicate, (xpix,ypix) meet:
Wherein xBKAnd yBKThe respectively coordinate fastened in screen coordinate of background picture central point, i is the pixel ID number traversed；
Calculate the offset D that background picture corresponds to radar return imaging pixeloffset, DoffsetMeet:
Doffset=3 (LBK·(LBK-ypix-1)+xpix)
By adjusting Doffset, the respective pixel position of each radar scanning line on background picture is determined, according to each scanning element
Amplitude data, draw image-forming information on black background picture, if scanning element amplitude be 0, then keep at the picture position
Tri- value of RGB of pixel is 0, and if scanning element amplitude is 255, then pixel is R=255, R=255, B=at the picture position
0, make object ship that yellow pentagon pattern be presented, and by adjusting kBTRZoom in or out the display radius of radar visible area.
2. a kind of object ship echo 2D imaging method for simulating marine radar according to claim 1, which is characterized in that step
A rapid parameter includes:
(1) scan line angle bisecting quantity Nd；
(2) the time T of Radar Analog Echo run-downc；
(3) azimuth angle theta of current scan linecs；
(4) points N that every scan line includessp；
(5) the physical distance D that each scanning element representspp；
(6) timer simulation step length Tsimu；
Echo imaging data, the scan line updated in each simulation step length are sent to Radar Displaying Console platform by way of regularly sending
Number is Nd·Tsimu/TcItem, these scan lines are handled one by one according to azimuth incremental manner, i.e. θcs=k2 π/Nd, unit is
Radian, wherein k is the serial number of scan line；Distance, N according to object ship relative to this shipspAnd Dpp, determine in scan line and own
The crossing instances of scanning element and object ship, there are 0 or 255 two states, aimless scannings for the scanning element amplitude of echo-wave imaging
Point amplitude is 0, and the scanning element amplitude for having target is 255, when initialization all scanning element amplitude all 0；
Coordinate system described in step 1 is defined as:
(1) radar fix system: the coordinate system is the superposition of dynamic plane right-angle coordinate and polar coordinate system, and coordinate origin is
The real-time center of this ship, rectangular coordinate system y-axis are the real-time bow of this ship to direction, and it is right that rectangular coordinate system x-axis is directed toward ship
The side of a ship, 0 ° of line of polar coordinates are overlapped with rectangular coordinate system y-axis, and when overlooking coordinate system, radar scanning direction is positive clockwise；At this
Under coordinate system, each point shares 4 variables, under the position (x, y) and polar coordinate system respectively under plane right-angle coordinate
The initial scan line of angle, θ and distance d, radar scanning one week are calculated since 0 ° of line of polar coordinates；
(2) earth axes: the coordinate system is plane right-angle coordinate, and coordinate origin is fixed as this ship initial position, and x-axis is directed toward
East, y-axis are directed toward the north.
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