CN111090405B - Simulated flying and bullet throwing process device for algorithm verification - Google Patents
Simulated flying and bullet throwing process device for algorithm verification Download PDFInfo
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- 238000007781 pre-processing Methods 0.000 claims description 27
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/1454—Digital output to display device ; Cooperation and interconnection of the display device with other functional units involving copying of the display data of a local workstation or window to a remote workstation or window so that an actual copy of the data is displayed simultaneously on two or more displays, e.g. teledisplay
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- G06F15/00—Digital computers in general; Data processing equipment in general
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Abstract
A simulated flying and pitching process device for algorithm verification comprises a PC software end and a hardware end; the PC software end reads and processes the video data, the attitude data, the height data and the GPS data acquired by the aircraft in the flight process, synchronously displays the video data, the attitude data, the height data and the GPS data, and sends the video data, the attitude data and the height data to the hardware end through the network port; the hardware end carries out frame decoding processing on the data sent by the PC software end: if the control command frame is the control command frame, configuring a hardware end; if the frame is the data frame, the data frame is combined into a complete frame, and then the synchronous time sequence of the actual bullet transmission is simulated and transmitted. The invention solves the problems of high verification cost and long period of the existing identification and tracking algorithm, and utilizes the data collected in the one-time saturated flying and bullet throwing process to simulate the output of a data interface after flying, thereby avoiding the problem of high flying cost after each modification of the identification and tracking algorithm.
Description
Technical Field
The invention belongs to the field of application of equipment invention, and relates to an algorithm verification device applied to simulation of a flying and projectile throwing process.
Background
Infrared imaging is widely used in military seekers where identification and tracking algorithm verification of targets during moving near blows is important. Because the target recognition and tracking algorithm is required to be carried out for multiple times after the algorithm is modified in the verification process of the target recognition and tracking algorithm, the cost of the experiment for hanging the target and the experiment for throwing the target is high.
The method is used for designing the flying simulator in order to solve the problems that three-class (equal weather, equal coordination and equal airspace) verification is needed and the verification cost is high (the cost of flight, traffic, personnel and the like) in the conventional infrared target identification and matching algorithm verification.
The hanging flight simulator mainly provides an algorithm verification group for use, and meets the requirement of a target detection and tracking algorithm, wherein the target detection and tracking algorithm mainly comprises two types, namely perspective resistance, rotation resistance and scaling resistance, and the other type is not resistant to the characteristics, so that video data input can be directly provided for the perspective resistance, rotation resistance and scaling resistance algorithm on an algorithm board during verification, but synchronous transmission of attitude and height information is required for the other type of non-perspective resistance, rotation resistance and scaling resistance algorithm, and the problem is that the attitude and height data on a bullet cannot be synchronously generated with a frame frequency at present. The present data includes video data, and in fact, attitude data at the time of transmission.
At present, the flight test of the hanging flight verification algorithm is characterized in that: aiming at the same flight line and the same target point, in the process of carrying out algorithm verification flight, when the algorithm is modified, the same line and the target point fly repeatedly, and the unit test cost is increased. Problems: in the flight process of the same area, the repeated flight aiming at the target site verifies the new modification algorithm, so that the cost is high.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention provides a simulated flying and bullet throwing process device for algorithm verification, which solves the technical problems of data synchronization in the simulated flying process and interface data transmission and format in the simulated actual flying process.
The technical scheme of the invention is as follows: a simulated flying and pitching process device for algorithm verification comprises a PC software end and a hardware end; the PC software end reads and processes the video data, the attitude data, the height data and the GPS data acquired by the aircraft in the flight process, synchronously displays the video data, the attitude data, the height data and the GPS data, and sends the video data, the attitude data and the height data to the hardware end through the network port; the hardware end carries out frame decoding processing on the data sent by the PC software end: if the control command frame is the control command frame, configuring a hardware end; if the frame is the data frame, the data frame is combined into a complete frame, and then the synchronous time sequence of the actual bullet transmission is simulated and transmitted.
The hardware end comprises a Zynq, a parallel-serial coding module and a digital-to-analog conversion module, wherein the Zynq comprises a PS end and a PL end, and the PL end comprises a serial data transmitting module, a resolution time sequence generating module and an interface time sequence synthesizing module; after receiving a control command frame sent by a PC software end through a network port, the PS end configures a resolution time sequence generating module through a GP interface, and the resolution time sequence generating module generates a video control signal time sequence with corresponding resolution; the PS end processes the data frame: if the data is the gesture and height frame data, the data is sent out through a GP interface sending serial port data sending module according to the format of the corresponding missile-borne data frame; if the video frame data is the video frame data, the video frame data is sent to an interface time sequence synthesis module through an HP interface after the detection and framing of the whole frame data are finished at a PS end, and the corresponding time sequence data are sent to a parallel-serial encoding module and a digital-analog conversion module according to the video control signal time sequence of corresponding resolution, so that the synchronous output of two signals of analog and digital video is realized to an image processing computer.
The PC software end comprises an interactive interface setting module, a data processing display and sending module and a synchronous coordinate display module;
The interactive interface setting module receives an externally input resolution control instruction, selects corresponding resolution and sends the resolution control instruction to the hardware end; receiving an externally input algorithm selection instruction, selecting a corresponding image preprocessing algorithm, and sending the corresponding image preprocessing algorithm to a data processing display and sending module;
The data processing display and sending module judges the type of the video data, and carries out corresponding processing on the video data according to a selected image preprocessing algorithm, and the obtained processed video image is sent to the interactive interface setting module for synchronous display; after the data processing display and transmitting module reads the corresponding gesture, height and GPS data, the gesture, height and GPS data are transmitted to the interactive interface setting module for synchronous display; the data processing display and sending module carries out corresponding synchronous data framing on the video data, the gesture and the height data and then sends the synchronous data to the hardware end;
The image processing computer detects and identifies the target by the received video data with gesture and high calibration, obtains the result data after the target detection and identification, and feeds back the result data to the synchronous coordinate display module; and the synchronous coordinate display module displays the result data according to the corresponding frame number.
The data processing display and sending module comprises a video reading and decoding module, a preprocessing module, an attitude height data reading module and a data synchronization framing and sending module;
The video reading and decoding module reads video data and judges the type of the video data: if the video data is compressed, the video data is sent to a preprocessing module after corresponding video decoding processing is finished, and if the video data is uncompressed, the video data is directly sent to the preprocessing module; the preprocessing module carries out corresponding processing on the video data according to the selected image preprocessing algorithm, the obtained processed video image is sent to the interactive interface setting module for synchronous display, and meanwhile, the preprocessing module sends the processed video data to the data synchronous framing sending module; after the corresponding gesture, height and GPS data are read by the gesture height data reading module, the gesture, height and GPS data are sent to the interactive interface setting module for synchronous display, and the gesture and height data are sent to the data synchronous framing sending module; and the data synchronization framing transmitting module carries out corresponding synchronization data framing on the video data, the gesture and the height data and then transmits the video data and the gesture and the height data to the hardware end.
The invention has the advantages with the prior art that:
(1) The invention can effectively solve the problems of equal weather, equal coordination and high cost in the actual hanging flight process at present, and can effectively replace the actual hanging flight test to a certain extent; the data collected in the one-time saturated flying and bullet throwing process (the flying of the aircraft through all target points) are utilized to simulate the output of a data interface after flying, so that the problem of high flying cost after each time of modification of the identification and tracking algorithm is avoided.
(2) The device of the invention can facilitate the corresponding software and hardware collaborative design when the target recognition and tracking algorithm designer transplants the algorithm, and finally determines how each part of the algorithm is realized on different processors (CPU/DSP/FPGA) by preprocessing the larger part of the algorithm consumption in time in the PC end software of the fly simulator in advance and transmitting the processed image data to the processor (the processor on the hardware processor platform on which the image finally operates) for the next processing.
(3) The device can facilitate algorithm designers to analyze the operation effect of the algorithm on the hardware platform in real time, the algorithm operation platform sends the data after target matching and tracking to the PC software end of the fly simulator through the serial port to synchronize frame data and then displays the coordinates on the PC software end, and the algorithm designers can conveniently see the effect of the algorithm on target matching and tracking.
Drawings
FIG. 1 is a schematic diagram of a test structure device according to an embodiment of the present invention;
Fig. 2 is a flow chart of the hardware-side internal module data signal.
Fig. 3 is a diagram of the functional modules of the PC software end.
Fig. 4 is a functional block diagram and signal flow diagram of the data processing, display and transmission module.
Fig. 5 is a signal flow diagram of a synchronous display coordinates module.
Detailed Description
In order that those skilled in the art will better understand the present invention, embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, a simulated fly-by-fly and projectile process device for algorithm verification comprises a PC software end and a hardware end; the PC software end reads and processes video data, attitude data, height and GPS data acquired by the aircraft in the flight process, synchronously displays the video data, the attitude data, the height data and the GPS data, and sends the video data, the attitude data and the height data to the hardware end through the network port; the hardware end carries out frame decoding processing on the data sent by the PC software end: if the control command frame is the control command frame, configuring a hardware end; if the frame is the data (video data, attitude data and altitude data), the frame is combined into a complete frame after being received, and the real bullet sending synchronous time sequence is simulated and sent out.
As shown in fig. 2, the hardware end comprises a Zynq, a parallel-serial coding module and a digital-to-analog conversion module, wherein the Zynq comprises a PS end and a PL end, and the PL end comprises a serial data sending module, a resolution time sequence generating module and an interface time sequence synthesizing module; after a PS (ARM) end of Zynq (SOC processor of Xilinx) receives a control command frame sent by a PC software end through a network port, the control command frame is configured with a resolution time sequence generating module through a GP interface, and the resolution time sequence generating module generates a video control signal time sequence with corresponding resolution. The PS end of Zynq processes the data frame: if the data is the gesture and height frame data, the data is sent out through a GP interface sending serial port data sending module according to the format of the corresponding missile-borne data frame; if the video frame data is the video frame data, the video frame data is sent to an interface time sequence synthesis module through an HP interface after the detection and framing of the whole frame data are finished at a PS end, and the corresponding time sequence data are sent to a parallel-serial encoding module and a digital-analog conversion module according to the video control signal time sequence of corresponding resolution, so that the synchronous output of two signals of analog and digital video is realized to an image processing computer.
The PC software end is shown in FIG. 3 and comprises an interactive interface setting module, a data processing display and transmission module and a synchronous coordinate display module.
The interactive interface setting module receives an externally input resolution control instruction, selects corresponding resolution and sends the resolution control instruction to the hardware end; receiving an externally input algorithm selection instruction, selecting a corresponding image preprocessing algorithm, and sending the corresponding image preprocessing algorithm to a data processing display and sending module;
The data processing display and transmission module is shown in fig. 4, and comprises a video reading and decoding module, a preprocessing module, an attitude height data reading module and a data synchronization framing and transmission module; the video reading and decoding module reads video data and judges the type of the video data: if the video data is compressed, the video data is sent to a preprocessing module after corresponding video decoding processing is finished, and if the video data is uncompressed, the video data is directly sent to the preprocessing module; the preprocessing module carries out corresponding processing on the video data according to the selected image preprocessing algorithm, the obtained processed video image is sent to the interactive interface setting module for synchronous display, and meanwhile, the preprocessing module sends the processed video data to the data synchronous framing sending module; after the corresponding gesture, height and GPS data are read by the gesture height data reading module, the gesture, height and GPS data are sent to the interactive interface setting module for synchronous display, and the gesture and height data are sent to the data synchronous framing sending module; the data synchronization framing transmitting module carries out corresponding synchronization data framing on the video data, the gesture and the height data and then transmits the video data and the gesture and the height data to the hardware end;
as shown in fig. 5, the image processing computer recognizes the target detection on the received video data with gesture and high calibration, obtains the result data after the target detection and recognition, and feeds back to the synchronous coordinate display module; and the synchronous coordinate display module displays the result data according to the corresponding frame number.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (3)
1. The simulated flying and pitching process device for algorithm verification is characterized by comprising a PC software end and a hardware end; the PC software end reads and processes the video data, the attitude data, the height data and the GPS data acquired by the aircraft in the flight process, synchronously displays the video data, the attitude data, the height data and the GPS data, and sends the video data, the attitude data and the height data to the hardware end through the network port; the hardware end carries out frame decoding processing on the data sent by the PC software end: if the control command frame is the control command frame, configuring a hardware end; if the frame is the data frame, after the frame is combined into a complete frame, simulating the real bullet sending synchronous time sequence to send out;
The hardware end comprises a Zynq, a parallel-serial coding module and a digital-to-analog conversion module, wherein the Zynq comprises a PS end and a PL end, and the PL end comprises a serial data transmitting module, a resolution time sequence generating module and an interface time sequence synthesizing module; after receiving a control command frame sent by a PC software end through a network port, the PS end configures a resolution time sequence generating module through a GP interface, and the resolution time sequence generating module generates a video control signal time sequence with corresponding resolution; the PS end processes the data frame: if the data is the gesture and height frame data, the data is sent out through a GP interface sending serial port data sending module according to the format of the corresponding missile-borne data frame; if the video frame data is the video frame data, the video frame data is sent to an interface time sequence synthesis module through an HP interface after the detection and framing of the whole frame data are finished at a PS end, and the corresponding time sequence data are sent to a parallel-serial encoding module and a digital-analog conversion module according to the video control signal time sequence of corresponding resolution, so that the synchronous output of two signals of analog and digital video is realized to an image processing computer.
2. The simulated flying and pitching process device for algorithm verification according to claim 1, wherein the PC software end comprises an interactive interface setting module, a data processing display and transmission module and a synchronous coordinate display module;
The interactive interface setting module receives an externally input resolution control instruction, selects corresponding resolution and sends the resolution control instruction to the hardware end; receiving an externally input algorithm selection instruction, selecting a corresponding image preprocessing algorithm, and sending the corresponding image preprocessing algorithm to a data processing display and sending module;
The data processing display and sending module judges the type of the video data, and carries out corresponding processing on the video data according to a selected image preprocessing algorithm, and the obtained processed video image is sent to the interactive interface setting module for synchronous display; after the data processing display and transmitting module reads the corresponding gesture, height and GPS data, the gesture, height and GPS data are transmitted to the interactive interface setting module for synchronous display; the data processing display and sending module carries out corresponding synchronous data framing on the video data, the gesture and the height data and then sends the synchronous data to the hardware end;
The image processing computer performs target detection and identification on the received video data with the gesture and the high calibration, obtains result data after the target detection and identification, and feeds the result data back to the synchronous coordinate display module; and the synchronous coordinate display module displays the result data according to the corresponding frame number.
3. The simulated fly-over-the-air and projectile process device for algorithmic verification of claim 2, wherein the data processing display and transmission module comprises a video reading and decoding module, a preprocessing module, an attitude height data reading module and a data synchronization framing and transmitting module;
The video reading and decoding module reads video data and judges the type of the video data: if the video data is compressed, the video data is sent to a preprocessing module after corresponding video decoding processing is finished, and if the video data is uncompressed, the video data is directly sent to the preprocessing module; the preprocessing module carries out corresponding processing on the video data according to the selected image preprocessing algorithm, the obtained processed video image is sent to the interactive interface setting module for synchronous display, and meanwhile, the preprocessing module sends the processed video data to the data synchronous framing sending module; after the corresponding gesture, height and GPS data are read by the gesture height data reading module, the gesture, height and GPS data are sent to the interactive interface setting module for synchronous display, and the gesture and height data are sent to the data synchronous framing sending module; and the data synchronization framing transmitting module carries out corresponding synchronization data framing on the video data, the gesture and the height data and then transmits the video data and the gesture and the height data to the hardware end.
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| CN103400018A (en) * | 2013-07-12 | 2013-11-20 | 中国民用航空飞行校验中心 | Flight program check and verification system and method |
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| CN106909762A (en) * | 2017-04-17 | 2017-06-30 | 吉林化工学院 | A kind of method for designing of the visualization system for simulating aircraft |
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