Calibration method, device and equipment of aircraft head-up display system and storage medium

Abstract

The application discloses a kind of calibration method, device, equipment and storage medium of aircraft head-up display system.The method comprises: the target image of electronic target plate in the preset area is obtained by calibration camera;Wherein, calibration camera is installed on the flat display mounting bracket in aircraft head-up display system;Complete theoretical target projection and complete target effective area projection are displayed on electronic target plate;By adjusting the position of flat display mounting bracket in real time, and return to execute the target image of electronic target plate in the preset area is obtained by calibration camera, until the center point of target image is in the target effective area projection range in target image, the horizontal axis and vertical axis of target image are respectively parallel with the horizontal axis and vertical axis of theoretical target projection in target image.The scheme provided by the present application realizes the automatic calibration of aircraft head-up display system under the premise of ensuring the calibration accuracy of aircraft head-up display system, and reduces a lot of time and manpower.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, and in particular to calibration methods, apparatus, equipment and storage media for aircraft head-up display systems. Background Technology

[0002] Figure 1 This is a schematic diagram of a head-up display system provided in an embodiment of the present invention. Figure 1 As shown, a Head-Up Display (HUD) system consists of a HUD projector, a HUD assembly, a HUD mounting bracket, and HUD symbol generation software (residing in the IDU). Typically, the HUD projector is positioned above the pilot's head, while the transparent HUD assembly is positioned directly in front of the pilot.

[0003] The head-up display (HUD) receives information from sensors such as the atmospheric data computer, inertial reference system, radio altimeter, instrument landing system, ranging equipment, VHF omnidirectional beacon, and automatic orientation system. After processing and calculating this information, it displays primary flight information, sensor malfunctions, wind shear warnings, and other alerts. Simultaneously, the HUD can receive and display guidance information from the automatic flight control system. This information is projected onto a transparent HUD combination display directly in front of the pilot and focused at infinity, ensuring that flight guidance symbols and attitude symbols are aligned and proportionally adjusted relative to the external scene. Maintaining a head-up attitude, the pilot can read flight parameters and observe the external scene through the HUD combination display without frequently switching between the lower display and the external scene, effectively reducing pilot visual fatigue and saving reaction time. The HUD can serve as the primary flight display for the pilot's use throughout the entire flight phase.

[0004] The symbols displayed by a head-up display (HUD) are aligned relative to the external view. The theoretical installation position of the HUD guarantees this display characteristic, but errors are introduced during actual installation. Therefore, the HUD needs to be calibrated and verified to minimize installation errors and ensure that the displayed symbols meet accuracy requirements.

[0005] Currently, head-up display (HUD) system calibration primarily involves adjusting the target plate's position relative to the aircraft, aligning the target on the plate to a fixed position relative to the aircraft to complete mechanical or electronic calibration. During calibration, the relative position of the target plate and the aircraft is critical, requiring the following conditions to be met: ① The target plate is perpendicular to the aircraft's heading; ② The distance between the target plate and the designed eye position is a set value; ③ The horizontal and vertical axes of the target on the target plate are parallel to the aircraft's pitch and yaw axes, respectively; ④ The intersection of the horizontal and vertical axes of the target on the target plate and the projection of the designed eye position onto the target plate lie on the same vertical line.

[0006] In related technologies, commonly used target plates include manual mechanical target plates, automatic mechanical target plates, and electronic target plates. The target on a manual mechanical target plate is fixed. When performing mechanical calibration using a manual mechanical target plate, the aircraft must first be leveled, then a laser tracker is used to establish the aircraft's coordinate system, and then the manual mechanical target plate is manually adjusted to a fixed position relative to the aircraft. The target on an automatic mechanical target plate is also fixed. When performing mechanical calibration using an automatic mechanical target plate, a laser tracker is used to establish the aircraft's coordinate system, and then the mechanical target plate is adjusted to a fixed position relative to the aircraft using its adjustment mechanism. The target on an electronic target plate can be moved within the electronic target plate. When performing electronic calibration using an electronic target plate, the aircraft must first be leveled, then a laser tracker is used to establish the aircraft's coordinate system, and then the electronic target plate is manually adjusted to a fixed planar position within the aircraft's coordinate system. Finally, the target on the target plate is moved to a fixed position relative to the aircraft.

[0007] In the calibration schemes of the head-up display systems mentioned above, a lot of time and manpower are required to ensure the position of the target relative to the aircraft, while also ensuring the openness of the space directly in front of the aircraft. Summary of the Invention

[0008] This invention provides a calibration method, apparatus, electronic device, and storage medium for an aircraft head-up display system. While ensuring the accuracy of the calibration, it realizes the automated calibration of the aircraft head-up display system, reducing a significant amount of time and manpower.

[0009] According to one aspect of the present invention, a calibration method for an aircraft head-up display system is provided, comprising:

[0010] The target image of the electronic target plate within the preset area is acquired by a target calibration camera; wherein, the target calibration camera is mounted on the head-up display mounting bracket of the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection;

[0011] By adjusting the position of the head-up display mounting bracket in real time and returning to execute the acquisition of the target image of the electronic target plate within the preset area by the target calibration camera, until the center point of the target image is within the projection range of the effective target area in the target image, the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively.

[0012] According to another aspect of the present invention, a calibration apparatus for an aircraft head-up display system is provided, comprising:

[0013] The target image acquisition module is used to acquire a target image of an electronic target plate within a preset area via a target calibration camera; wherein, the target calibration camera is mounted on the head-up display mounting bracket of the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection;

[0014] The system calibration module is used to adjust the position of the head-up display mounting bracket in real time and return to execute the acquisition of the target image of the electronic target plate in the preset area by the target calibration camera until the center point of the target image is within the projection range of the effective target area in the target image, and the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the calibration method of the aircraft head-up display system according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the calibration method of the aircraft head-up display system according to any embodiment of the present invention.

[0020] The calibration scheme for an aircraft head-up display system according to this invention involves acquiring a target image of an electronic target plate within a preset area using a calibration camera. The calibration camera is mounted on a head-up display mounting bracket within the aircraft head-up display system. The electronic target plate displays a complete theoretical target projection and a complete target effective area projection. By adjusting the position of the head-up display mounting bracket in real time and then reverting to acquiring the target image of the electronic target plate within the preset area using the calibration camera, the process continues until the center point of the target image is within the target effective area projection range. The horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection, respectively. This technical solution reduces the requirements for the placement of the electronic target plate, the calibration site space, and the openness of the aircraft when calibrating the aircraft head-up display system. Furthermore, it enables automated calibration of the aircraft head-up display system, significantly reducing time and manpower, and achieving accurate calibration of the aircraft head-up display system, thereby ensuring that the symbol position of the head-up display meets the accuracy requirements.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a head-up display system provided in an embodiment of the present invention;

[0024] Figure 2 This is a flowchart of a calibration method for an aircraft head-up display system provided in Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of an electronic target plate provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of a target calibration camera provided in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a target calibration camera mounting bracket provided in an embodiment of the present invention;

[0028] Figure 6This is a schematic diagram of the position of an electronic target plate provided in an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of a projection principle provided by an embodiment of the present invention;

[0030] Figure 8 A front view of an electronic target plate showing the theoretical target projection and the effective target area projection provided in an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of the target image acquired by the target calibration camera provided in an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of the target image acquired by the calibration camera after calibration, provided in an embodiment of the present invention.

[0033] Figure 11 This is a schematic diagram of the projection of the camera coordinate system origin onto the theoretical target plate according to an embodiment of the present invention.

[0034] Figure 12 This is a schematic diagram of the structure of a calibration device for an aircraft head-up display system provided in Embodiment 2 of the present invention;

[0035] Figure 13 This is a schematic diagram of the structure of an electronic device for calibrating the aircraft head-up display system according to an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Example 1

[0039] Figure 2 This is a flowchart illustrating a calibration method for an aircraft head-up display (HUD) system, as provided in Embodiment 1 of the present invention. This embodiment is applicable to calibrating aircraft HUD systems. The method can be executed by a calibration device for the aircraft HUD system, which can be implemented in hardware and / or software and can be configured within an electronic device. Figure 2 As shown, the method includes:

[0040] S210. Acquire a target image of an electronic target plate within a preset area using a target calibration camera; wherein the target calibration camera is mounted on a head-up display mounting bracket in the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection.

[0041] The electronic target plate can be understood as a high-definition flat-screen display. Figure 3 This is a schematic diagram of an electron target plate provided in an embodiment of the present invention. Figure 3 As shown, the electronic target plate contains four OTP points for determining its position information. The origin of the electronic target plate's coordinate system is located at the center of the display screen; the azimuth and pitch axes are perpendicular to each other and parallel to the two sides of the display, respectively. Various symbols and patterns can be displayed on the electronic target plate.

[0042] In this embodiment of the invention, the calibration camera can be mounted on the head-up display mounting bracket of the aircraft head-up display system via a calibration camera mounting bracket, and the head-up display mounting bracket is mounted on the aircraft. Figure 4 This is a schematic diagram of the structure of a target calibration camera provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of a target calibration camera mounting bracket provided in an embodiment of the present invention.

[0043] In this embodiment of the invention, an electronic target plate is placed within a preset area, which can be understood as the effective area in front of the aircraft (i.e., the head-up display mounting bracket). For example, when the electronic target plate is in the preset area, a complete image of the electronic target plate can be acquired using a calibration camera. Also for example, when the electronic target plate displays both the complete theoretical target projection and the complete effective target area projection, it can be determined that the electronic target plate is within the preset area. This can be determined by the user's visual observation; when a user-input confirmation command is received, it can be confirmed that the electronic target plate is within the preset area. Optionally, after the electronic target plate is placed, a target image of the electronic target plate is acquired using a calibration camera, and it is determined whether the acquired target image contains a complete theoretical target projection image and a complete effective target area projection image. If so, the electronic target plate is within the preset area; otherwise, the position of the electronic target plate is adjusted until the acquired target image displays both the complete theoretical target projection image and the complete effective target area projection. For example, Figure 6 This is a schematic diagram of the position of an electronic target plate provided in an embodiment of the present invention, such as... Figure 6 As shown, when the electronic target board is determined to be within a preset area, and the electronic target board displays both the theoretical target projection and the target effective area projection, a target image of the electronic target board is acquired using a target calibration camera. It can be understood that the target image is the image of the electronic target board captured by the target calibration camera. Since the electronic target board displays both the theoretical target projection and the target effective area projection, the acquired target image includes not only the electronic target board image but also the theoretical target projection and the target effective area projection displayed within the electronic target board. Specifically, it can be assumed that there is a theoretical target board directly in front of the electronic target board, and the distance from the head-up display mounting bracket is a preset target calibration design distance. This theoretical target board is perpendicular to the aircraft's yaw axis, parallel to the aircraft's yaw axis, and parallel to the aircraft's pitch axis. This theoretical target board contains the theoretical target and the target effective area. The theoretical target projection and the target effective area projection can be understood as the projection of the theoretical target and the target effective area within the theoretical target board onto the electronic target board, forming the corresponding projected image.

[0044] Optionally, before acquiring the target image of the electronic target plate within a preset area using a target calibration camera, the method further includes: determining the positional relationship between the electronic target plate and the head-up display mounting bracket; constructing an electronic target plate model in an aircraft coordinate system based on the positional relationship and the digital model of the electronic target plate; wherein the aircraft coordinate system is a coordinate system with the designed eye position of the aircraft head-up display system as the origin; constructing a theoretical target plate and a theoretical target and a target effective area within the theoretical target plate in the aircraft coordinate system; projecting the theoretical target and the target effective area onto the electronic target plate model with the designed eye position as the center, respectively determining the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area, respectively, and the first shape and position information in the electronic target plate model in the aircraft coordinate system; displaying the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area on the electronic target plate according to the first shape and position information.

[0045] In this embodiment of the invention, the positional relationship between the electronic target plate and the head-up display (HUD) mounting bracket can be obtained using a laser tracker or a measuring camera. This positional relationship can also be understood as the positional relationship of the electronic target plate relative to the HUD mounting bracket. Since the aircraft coordinate system is a coordinate system with the designed eye position of the aircraft HUD system as its origin, meaning the parallel mounting bracket is located within the aircraft coordinate system, the positional relationship between the electronic target plate and the HUD mounting bracket can also be understood as the positional relationship of the electronic target plate within the aircraft coordinate system. The designed eye position can be understood as the position where the pilot observes various projected symbols through the HUD assembly in the HUD system, i.e., the installation position of the HUD assembly. Based on the digital model of the electronic target plate and the positional relationship between the electronic target plate and the HUD mounting bracket, an electronic target plate model is constructed in the aircraft coordinate system. Specifically, based on the corresponding positions of the electronic target plate in the digital model and in the aircraft coordinate system, an electronic target plate model corresponding to the digital model of the electronic target plate is constructed.

[0046] A virtual theoretical target board, a theoretical target within the theoretical target board, and the effective target area are constructed in the aircraft coordinate system. Optionally, constructing the theoretical target board in the aircraft coordinate system includes: determining aircraft heading information in the aircraft coordinate system; wherein the aircraft heading information includes the aircraft heading axis, the aircraft yaw axis, and the aircraft pitch axis; constructing the theoretical target board in the aircraft coordinate system based on the aircraft heading information; wherein the theoretical target board is perpendicular to the aircraft heading axis, the yaw axis of the theoretical target board is parallel to the aircraft yaw axis, and the pitch axis of the theoretical target board is parallel to the aircraft pitch axis; the intersection of the yaw axis and the pitch axis of the theoretical target board coincides with the projection point of the designed eye position on the plane where the theoretical target board is located.

[0047] In the aircraft coordinate system, with the designed eye position as the center, the theoretical target and the effective target area are projected onto the electronic target model respectively, determining the first form and position information of the theoretical target projection and the effective target area projection in the electronic target model. The first form and position information can be understood as the shape, size, and position information of the theoretical target projection and the effective target area projection in the electronic target model of the aircraft coordinate system. Figure 7 This is a schematic diagram of a projection principle provided by an embodiment of the present invention. Then, based on the first form and position information of the theoretical target projection and the target effective area projection in the electronic target model within the aircraft coordinate system, the corresponding theoretical target projection and target effective area projection are displayed on the electronic target board. It can be understood that the theoretical target projection and target effective area projection displayed in the electronic target model are the same as the theoretical target board projection and target effective area projection displayed on the electronic target board itself.

[0048] Optionally, based on the first shape and position information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate, respectively. This includes: determining the mapping relationship between the electronic target plate coordinate system and the aircraft coordinate system; based on the mapping relationship and the first shape and position information, determining the second shape and position information of the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area within the electronic target plate coordinate system; and displaying the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area on the electronic target plate based on the second shape and position information. Specifically, the mapping relationship between the electronic target plate coordinate system and the aircraft coordinate system is determined, and based on the mapping relationship and the first shape and position information of the theoretical target projection and the target effective area projection in the aircraft coordinate system, the shape and position information (here referred to as the second shape and position information) corresponding to the theoretical target projection and the target effective area projection in the electronic target plate coordinate system is determined. Understandably, the form and position information of the theoretical target projection and the target effective area projection in the aircraft coordinate system (i.e., the first form and position information) is converted into form and position information in the electronic target plate coordinate system (i.e., the second form and position information). Then, based on the form and position information of the theoretical target projection and the target effective area projection in the electronic target plate coordinate system, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate. Figure 8 This is a front view of an electronic target plate showing the theoretical target projection and the effective target area projection, provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of a target image acquired by a target calibration camera provided in an embodiment of the present invention.

[0049] S220. By adjusting the position of the head-up display mounting bracket in real time, and returning to execute the acquisition of the target image of the electronic target plate within the preset area by the target calibration camera, until the center point of the target image is within the projection range of the effective target area in the target image, and the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively.

[0050] For example, the position of the head-up display (HUD) mounting bracket can be adjusted manually or automatically using the adjustment knobs on the bracket. After adjusting the position of the HUD mounting bracket in real time, the process returns to acquiring a target image of the electronic target plate within a preset area using a calibration camera, until the center point of the target image is within the projection range of the effective target area in the target image, and the horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection in the target image, respectively. At this point, the HUD mounting bracket is locked, thus completing the calibration of the aircraft's head-up display system. Figure 10 This is a schematic diagram of the target image acquired by the calibration camera after calibration, as provided in an embodiment of the present invention. Figure 10 As shown, the center point of the target image is within the effective target area projection range of the target image, that is, the origin of the camera coordinate system falls within the effective target area projection range of the target image. The horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection of the target image, that is, the horizontal and vertical axes of the camera coordinate system are parallel to the horizontal and vertical axes of the theoretical target projection of the target image, respectively.

[0051] Understandably, after the calibration of the aircraft head-up display system is completed, the target camera can be removed and the head-up display projector and head-up display combination unit can be installed on the head-up display mounting bracket.

[0052] The calibration method for the aircraft head-up display system provided by the embodiments of the present invention can accurately and quickly ensure that the electronic target plate meets the following requirements: the electronic target plate is perpendicular to the aircraft's heading direction; the distance between the electronic target plate and the designed eye position is a preset value; the horizontal and vertical axes of the target on the electronic target plate are parallel to the aircraft's pitch and yaw axes, respectively; and the intersection of the horizontal and vertical axes of the target on the electronic target plate and the projection of the designed eye position onto the target plate are on the same vertical line.

[0053] Optionally, after the center point of the target image is within the effective target area projection range of the target image, and the horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection in the target image, the method further includes: using the designed eye position of the aircraft head-up display system as the center point, projecting the center point of the target image onto the theoretical target board, and determining the center point projection within the theoretical target board; determining the pitch deviation and yaw deviation based on the center point projection within the theoretical target board and the theoretical target; wherein the pitch deviation is the distance between the center point projection and the horizontal axis of the theoretical target, and the yaw deviation is the distance between the center point projection and the vertical axis of the theoretical target.

[0054] Understandably, the positional relationship between the camera coordinate system and the aircraft coordinate system is determined. Based on this relationship, the origin of the camera coordinate system (i.e., the center point of the target image) is projected onto the theoretical target board within the aircraft coordinate system, using the designed eye position within the aircraft coordinate system as the center point. The projection of this center point (i.e., the projection of the origin of the camera coordinate system) is then determined within the theoretical target board. For example... Figure 11 This is a schematic diagram of the projection of the camera coordinate system origin onto the theoretical target plate, provided in an embodiment of the present invention. Figure 11 As shown, pitch and yaw deviations are determined based on the projection of the center point within the theoretical target and the theoretical target itself. For example, the distance between the center point projection and the horizontal axis of the theoretical target is taken as the pitch deviation, and the distance between the center point projection and the vertical axis of the theoretical target is taken as the yaw deviation. It can be understood that the pitch deviation is the difference between the horizontal axis of the camera coordinate system projection and the horizontal axis of the theoretical target within the theoretical target, and the yaw deviation is the difference between the vertical axis of the camera coordinate system projection and the vertical axis of the theoretical target.

[0055] Optionally, after determining the pitch and yaw deviations, the method further includes: feeding back the pitch and yaw deviations to the aircraft head-up display system. For example, after determining the pitch and yaw deviations, the pitch and yaw deviations are fed back to the aircraft head-up display system for electrical calibration.

[0056] Optionally, after completing the electrical calibration, the calibration can also be verified through the target verification device on the aircraft head-up display system to verify the accuracy of the calibration.

[0057] The calibration scheme for an aircraft head-up display system according to this invention involves acquiring a target image of an electronic target plate within a preset area using a calibration camera. The calibration camera is mounted on a head-up display mounting bracket within the aircraft head-up display system. The electronic target plate displays a theoretical target projection and a target effective area projection. By adjusting the position of the head-up display mounting bracket in real time and then reverting to acquiring the target image of the electronic target plate within the preset area using the calibration camera, the process continues until the center point of the target image is within the target effective area projection range. The horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection, respectively. This technical solution reduces the requirements for the placement of the electronic target plate, the calibration site space, and the openness of the aircraft when calibrating the aircraft head-up display system. Furthermore, it enables automated calibration of the aircraft head-up display system, significantly reducing time and manpower, and achieving accurate calibration of the aircraft head-up display system, thereby ensuring that the symbol position of the head-up display meets accuracy requirements.

[0058] Example 2

[0059] Figure 12 This is a schematic diagram of the structure of a calibration device for an aircraft head-up display system provided in Embodiment 2 of the present invention. Figure 12 As shown, the device includes:

[0060] The target image acquisition module 1201 is used to acquire a target image of an electronic target plate within a preset area through a target calibration camera; wherein, the target calibration camera is mounted on the head-up display mounting bracket of the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection;

[0061] The system calibration module 1202 is used to adjust the position of the head-up display mounting bracket in real time and return to execute the acquisition of the target image of the electronic target plate in the preset area by the target calibration camera until the center point of the target image is within the projection range of the effective target area in the target image, and the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively.

[0062] Optionally, the device further includes:

[0063] The positional relationship determination module is used to determine the positional relationship between the electronic target plate and the head-up display mounting bracket before acquiring a target image of the electronic target plate within a preset area through the target calibration camera;

[0064] An electronic target board module construction module is used to construct an electronic target board model in an aircraft coordinate system based on the positional relationship and the digital model of the electronic target board; wherein, the aircraft coordinate system is a coordinate system with the design eye position of the aircraft head-up display system as the origin;

[0065] The theoretical target construction module is used to construct a theoretical target board and a theoretical target and target effective area within the theoretical target board in the aircraft coordinate system;

[0066] The form and position information determination module is used to project the theoretical target and the effective target area onto the electronic target model with the designed eye position as the center, and to determine the theoretical target projection and the effective target area projection corresponding to the theoretical target and the effective target area, respectively, and the first form and position information in the electronic target model in the aircraft coordinate system;

[0067] The projection display module is used to display, on the electronic target plate, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area, respectively, according to the first shape and position information.

[0068] Optionally, the theoretical target construction module is used for:

[0069] The aircraft heading information is determined in the aircraft coordinate system; wherein the aircraft heading information includes the aircraft heading axis, the aircraft yaw axis and the aircraft pitch axis;

[0070] Based on the aircraft heading information, a theoretical target is constructed in the aircraft coordinate system; wherein, the theoretical target is perpendicular to the aircraft heading axis, the yaw axis of the theoretical target is parallel to the aircraft yaw axis, and the pitch axis of the theoretical target is parallel to the aircraft pitch axis; the intersection of the yaw axis and the pitch axis of the theoretical target coincides with the projection point of the designed eye position on the plane where the theoretical target is located.

[0071] Optionally, the projection display module is used for:

[0072] Determine the mapping relationship between the electronic target plate coordinate system and the aircraft coordinate system;

[0073] Based on the mapping relationship and the first shape and position information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are respectively determined, and the second shape and position information in the electronic target plate coordinate system is determined;

[0074] Based on the second shape and position information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate, respectively.

[0075] Optionally, the device further includes:

[0076] The center point projection determination module is used to determine the center point projection within the theoretical target plate after the center point of the target image is within the effective target area projection range in the target image, and the horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection in the target image, respectively. The module uses the design eye position of the aircraft head-up display system as the center point to project the center point of the target image onto the theoretical target plate and determine the center point projection within the theoretical target plate.

[0077] The deviation determination module is used to determine pitch deviation and yaw deviation based on the projection of the center point within the theoretical target plate and the theoretical target; wherein, the pitch deviation is the distance between the projection of the center point and the horizontal axis of the theoretical target, and the yaw deviation is the distance between the projection of the center point and the vertical axis of the theoretical target.

[0078] Optionally, the device further includes:

[0079] The deviation feedback module is used to feed back the pitch deviation and yaw deviation to the aircraft head-up display system after determining the pitch deviation and yaw deviation.

[0080] The calibration device for the aircraft head-up display system provided in this embodiment of the invention can execute the calibration method for the aircraft head-up display system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0081] Example 3

[0082] Figure 13 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0083] like Figure 13As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0084] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0085] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the calibration of an aircraft head-up display system.

[0086] In some embodiments, the calibration of the aircraft head-up display system can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the calibration of the aircraft head-up display system described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the calibration of the aircraft head-up display system by any other suitable means (e.g., by means of firmware).

[0087] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0089] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0090] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0091] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0092] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0093] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0094] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A calibration method for an aircraft head-up display system, characterized in that, include: The target image of the electronic target plate within the preset area is acquired by a target calibration camera; wherein, the target calibration camera is mounted on the head-up display mounting bracket of the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection; By adjusting the position of the head-up display mounting bracket in real time and returning to execute the acquisition of the target image of the electronic target plate within the preset area through the target calibration camera, until the center point of the target image is within the projection range of the effective target area in the target image, the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively. Before acquiring a target image of the electronic target plate within a preset area using a target calibration camera, the process also includes: Determine the positional relationship between the electronic target plate and the head-up display mounting bracket; Based on the positional relationship and the digital model of the electronic target plate, an electronic target plate model is constructed in the aircraft coordinate system; wherein, the aircraft coordinate system is a coordinate system with the designed eye position of the aircraft head-up display system as the origin; Construct a theoretical target board and a theoretical target and target effective area within the theoretical target board in the aircraft coordinate system; Centered on the designed eye position, the theoretical target and the effective target area are projected onto the electronic target model respectively, and the theoretical target projection and the effective target area projection corresponding to the theoretical target and the effective target area are determined respectively, and the first form and position information in the electronic target model in the aircraft coordinate system is obtained. Based on the first positional information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate, respectively.

2. The method according to claim 1, characterized in that, Constructing a theoretical target plate in the aircraft coordinate system includes: The aircraft heading information is determined in the aircraft coordinate system; wherein the aircraft heading information includes the aircraft heading axis, the aircraft yaw axis and the aircraft pitch axis; Based on the aircraft heading information, a theoretical target is constructed in the aircraft coordinate system; wherein, the theoretical target is perpendicular to the aircraft heading axis, the yaw axis of the theoretical target is parallel to the aircraft yaw axis, and the pitch axis of the theoretical target is parallel to the aircraft pitch axis; the intersection of the yaw axis and the pitch axis of the theoretical target coincides with the projection point of the designed eye position on the plane where the theoretical target is located.

3. The method according to claim 1, characterized in that, Based on the first positional information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate, respectively, including: Determine the mapping relationship between the electronic target plate coordinate system and the aircraft coordinate system; Based on the mapping relationship and the first shape and position information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are respectively determined, and the second shape and position information in the electronic target plate coordinate system is determined; Based on the second shape and position information, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area are displayed on the electronic target plate, respectively.

4. The method according to claim 1, characterized in that, After the center point of the target image is located within the projection range of the effective target area in the target image, and the horizontal and vertical axes of the target image are parallel to the horizontal and vertical axes of the theoretical target projection in the target image, respectively, the method further includes: Using the designed eye position of the aircraft head-up display system as the center point, the center point of the target image is projected onto the theoretical target plate, and the center point projection is determined within the theoretical target plate. Based on the projection of the center point within the theoretical target plate and the theoretical target, the pitch deviation and yaw deviation are determined; wherein, the pitch deviation is the distance between the projection of the center point and the horizontal axis of the theoretical target, and the yaw deviation is the distance between the projection of the center point and the vertical axis of the theoretical target.

5. The method according to claim 4, characterized in that, After determining the pitch and yaw errors, the following steps are also included: The pitch deviation and the yaw deviation are fed back to the aircraft head-up display system.

6. A calibration device for an aircraft head-up display system, characterized in that, include: The target image acquisition module is used to acquire a target image of an electronic target plate within a preset area via a target calibration camera; wherein, the target calibration camera is mounted on the head-up display mounting bracket of the aircraft head-up display system; the electronic target plate displays a complete theoretical target projection and a complete target effective area projection; The system calibration module is used to adjust the position of the head-up display mounting bracket in real time and return to execute the acquisition of the target image of the electronic target plate in the preset area by the target calibration camera until the center point of the target image is within the projection range of the effective target area in the target image, and the horizontal axis and vertical axis of the target image are parallel to the horizontal axis and vertical axis of the theoretical target projection in the target image, respectively. The device further includes: The positional relationship determination module is used to determine the positional relationship between the electronic target plate and the head-up display mounting bracket before acquiring a target image of the electronic target plate within a preset area through the target calibration camera; An electronic target board module construction module is used to construct an electronic target board model in an aircraft coordinate system based on the positional relationship and the digital model of the electronic target board; wherein, the aircraft coordinate system is a coordinate system with the design eye position of the aircraft head-up display system as the origin; The theoretical target construction module is used to construct a theoretical target board and a theoretical target and target effective area within the theoretical target board in the aircraft coordinate system; The form and position information determination module is used to project the theoretical target and the effective target area onto the electronic target model with the designed eye position as the center, and to determine the theoretical target projection and the effective target area projection corresponding to the theoretical target and the effective target area, respectively, and the first form and position information in the electronic target model in the aircraft coordinate system; The projection display module is used to display, on the electronic target plate, the theoretical target projection and the target effective area projection corresponding to the theoretical target and the target effective area, respectively, according to the first shape and position information.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the calibration method for the aircraft head-up display system according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the calibration method for the aircraft head-up display system according to any one of claims 1-5.

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