A method for applying elevation digital map under ZYNQ platform

Abstract

The present invention belongs to the field of electronics and geographic information systems, and specifically relates to an elevation digital map application method under a ZYNQ platform, comprising the following steps: step one: a host computer reads an original elevation map data file through a GDAL library; and parses the original elevation map data file to obtain an elevation digital map binary file; step two: the host computer loads a map parsing program into a FLASH memory on the ZYNQ platform; step three: the host computer loads the elevation digital map binary file into an EMMC memory on the ZYNQ platform; step four: the ZYNQ platform runs a map parsing program to read and parse the elevation digital map binary file.

Description

Technical Field

[0001] The invention belongs to the field of electronics and geographic information systems, and in particular relates to an elevation digital map application method under a ZYNQ platform. Background Art

[0002] With the development and innovation of embedded systems, the application scenarios are becoming more and more complex. Real-time path planning and autonomous three-dimensional navigation system are one of the application scenarios, and elevation digital map is the key data required by the path planning system. However, the current software for parsing elevation digital maps is almost all based on Windows platform or Linux platform. Under Zynq or other embedded platforms that do not run the operating system, the elevation digital map cannot be parsed and used. It is necessary to design an elevation digital map application method suitable for the Zynq platform. Summary of the invention

[0003] Purpose of the present invention:

[0004] In order to overcome the problem that the elevation digital map cannot be parsed and applied under the Zynq platform, the present invention designs an elevation digital map application method suitable for the Zynq platform. The method provides map data drive for application scenarios that need to use elevation digital maps under the Zynq platform, including data processing, data loading, data parsing and data reading. The above four complete processing flows are designed to ensure the accuracy and practicality of the data.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A method for applying an elevation digital map on a ZYNQ platform comprises the following steps:

[0007] Step 1: The host computer reads the original elevation map data file through the GDAL library; and parses the original elevation map data file to obtain the elevation digital map. Figure 2 Binary file;

[0008] Step 2: The host computer loads the map parsing program into the FLASH memory on the ZYNQ platform;

[0009] Step 3: The host computer converts the elevation digital Figure 2 The binary file is loaded into the EMMC memory on the ZYNQ platform;

[0010] Step 4: The ZYNQ platform runs the map parsing program to read and parse the elevation digital map. Figure 2 Binary file.

[0011] Further, in step 1, the elevation digital map Figure 2 The binary file includes: header index information and elevation information.

[0012] Furthermore, the header index information includes the longitude x of the map starting point, the latitude y of the map starting point, the map longitude interval xi, the map latitude interval yi, the map width w, the map height h, the data scanning mode, and the CRC check data stored in binary format.

[0013] Further, the elevation information includes: elevation data of all points in the original elevation map data file stored in binary form in the order of first row and then column;

[0014] The elevation data of the point in row xx and column yy in the original elevation map data file is in the elevation digital map. Figure 2 The calculation formula for the storage address in the binary file is as follows:

[0015]

[0016] Further, in step 2, the host computer is connected to the ZYNQ platform via Ethernet;

[0017] The ZYNQ platform is connected to the FLASH memory via the qspi port;

[0018] The ZYNQ platform receives the map parsing program through Ethernet and stores it in the DDR3 memory area, and then stores the map parsing program in DDR3 into FLASH through QSPI.

[0019] Further, in step 3, the ZYNQ platform converts the elevation digital map into Figure 2 The binary file is loaded into the EMMC memory on the ZYNQ platform:

[0020] B1: ZYNQ platform is powered on, bootRom is executed and Ethernet is initialized, and Ethernet monitoring mode is entered;

[0021] B2: After the ZYNQ platform receives the start signal, it starts to receive the elevation digital map. Figure 2 Binary file data packets, and write the received data packets into the EMMC memory in units of 64KB;

[0022] B3: After the ZYNQ platform receives the end signal, all data packets are received and the elevation digital ground Figure 2 Binary file loading completed.

[0023] Further, in step 3, the host computer sends the elevation digital map through the following process: Figure 2 Binary file:

[0024] A1: The host computer will load the elevation digital map to be loaded Figure 2The binary file is read into the cache and the elevation digital map is calculated. Figure 2 The height of the digital Figure 2 Split the binary file into multiple data packets;

[0025] The host computer sends multiple data packets sequentially through Ethernet, and sends a start signal before each data packet is sent;

[0026] A2: After the host computer has sent all the data packets, it sends an end signal to end data transmission.

[0027] Furthermore, in step 4, the ZYNQ platform runs a map parsing program; first, the header index information is parsed; then, the elevation data of each point on the map is parsed according to the header index information and the storage address calculation formula.

[0028] Beneficial effects:

[0029] The beneficial effect of the present invention is that it can provide data drive for elevation digital map related applications on the Zynq platform, can realize the conversion, loading and use of elevation digital maps, has a perfect process system, and can realize lightweight elevation digital map applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure module of the host computer and ZYNQ platform;

[0031] Figure 2 Elevation digital map Figure 2 Schematic diagram of binary file loading process;

[0032] Figure 3 This is a schematic diagram of the header index information storage format;

[0033] Figure 4 This is a schematic diagram of the elevation information storage format. DETAILED DESCRIPTION

[0034] A method for applying an elevation digital map on a ZYNQ platform comprises the following steps:

[0035] 1) Use GDAL (Geospatial Data Abstraction Library) to read the elevation map data file (.tif / .dem), and parse it to obtain the original elevation map information including the header index information and elevation map data. The header index information includes: the longitude and latitude data of the upper left corner of the map, the longitude and latitude interval data between every two points on the map, the map width, and the map length data; the elevation map data includes the elevation data of all points on the map, and the points on the map are discrete points distributed at equal longitude intervals and equal latitude intervals at a certain resolution.

[0036] After parsing the original elevation map information, the header index information is Figure 3 The order shown is stored in binary format as an index; the elevation map data of all points on the map is stored in binary format in sequence from row to column, with equal longitude and equal latitude intervals, with the first point in the upper left corner of the map as the origin, and finally obtained Figure 4 A medium format elevation map data binary file (.bin file), where the header index information is in the header of the elevation map data binary file, and the elevation map data is immediately after the header index information;

[0037] 2) Load the map parsing program into the storage chip FLASH mounted on the ZYNQ platform. The PC and ZYNQ module are connected and communicated via Ethernet, the PS part and PL part inside ZYNQ are connected and communicated via the AXI bus, and the ZYNQ module and FLASH are connected and communicated via the QSPI port; the PS end inside ZYNQ receives the program file and writes it into the DDR3 memory area; the PS end processor writes the program file in DDR3 to the FLASH under the ZYNQ platform for program storage through the QSPI driver. Figure 1 shown.

[0038] 3) Load the elevation map data binary file obtained after processing in step 1 into the storage chip EMMC mounted on the ZYNQ platform. The PC and ZYNQ module are connected and communicated via Ethernet, with the PC as the Ethernet client and ZYNQ as the server. Due to the large amount of map data, a data loading protocol needs to be designed, and its specific implementation is as follows: Figure 2 As shown (A represents the PC side, B represents the ZYNQ module).

[0039] B1: The ZYNQ module is powered on, bootRom is executed and Ethernet peripherals are initialized, and the Ethernet monitoring mode is entered, waiting for the client to connect;

[0040] A1: The PC connects to the ZYNQ server, reads the program file to be loaded into the cache by reading the file, calculates the amount of data and packages it, divides the data into 256MB units, sends a start loading signal to the server, and then starts sending the first packet of data;

[0041] B2: After receiving the start signal, ZYNQ starts to receive the first packet of data, and after receiving the data, writes the data into the address specified by EMMC in units of 64KB;

[0042] A2: Send each packet of data in turn, and loop the process of A1 and B2 until the data is sent. Send an end signal to ZYNQ to end data sending;

[0043] B3: After ZYNQ receives the end signal, it indicates that data reception is completed and the map data loading ends.

[0044] 4) ZYNQ runs the map parsing program to read and parse the map data from EMMC. Since the elevation map data is stored in sequence, the longitude and latitude data of each coordinate point can be calculated through the header index information (starting point coordinates, interval). First, read the file header information from the specified address in EMMC, and follow Figure 3 The data format shown is parsed in turn to obtain the map data file information, starting point longitude x, starting point latitude y, longitude interval xi, latitude interval yi, map data width w, data height h, etc. The address of the elevation data corresponding to the coordinate point (xx, yy) stored in EMMC can be calculated by the following formula:

[0045]

[0046] After obtaining the data storage address by calculating the above formula, the elevation data can be retrieved from the EMMC address and used.

Claims

1. A method for applying an elevation digital map under a ZYNQ platform, characterized in that: The method comprises the following steps: Step 1: The host computer reads the original elevation map data file through the GDAL library; and parses the original elevation map data file to obtain an elevation digital map binary file; the elevation digital map binary file includes: header index information and elevation information, the header index information includes the map starting point longitude x, map starting point latitude y, map longitude interval xi, map latitude interval yi, map width w, map height h, data scanning mode, CRC check data stored in binary format; the elevation information includes: the elevation data of all points in the original elevation map data file stored in binary form in the order of first row and then column; The calculation formula for the storage address of the elevation data of the point in the xxth row and yyth column of the original elevation map data file in the elevation digital map binary file is as follows: Step 2: The host computer loads the map parsing program into the FLASH memory on the ZYNQ platform; Step 3: The host computer loads the elevation digital map binary file into the EMMC memory on the ZYNQ platform; Step 4: The ZYNQ platform runs a map parsing program to read and parse the elevation digital map binary file. The process is: first parse the header index information; then parse the elevation data of each point on the map according to the header index information and the storage address calculation formula.

2. The elevation digital map application method under the ZYNQ platform according to claim 1 is characterized by: In the step 2, the host computer is connected to the ZYNQ platform via Ethernet; The ZYNQ platform is connected to the FLASH memory via the qspi port; The ZYNQ platform receives the map parsing program through Ethernet and stores it in the DDR3 memory area, and then stores the map parsing program in DDR3 into FLASH through QSPI.

3. The elevation digital map application method under the ZYNQ platform according to claim 2 is characterized in that: In step 3, the ZYNQ platform loads the elevation digital map binary file into the EMMC memory on the ZYNQ platform through the following process: B1: ZYNQ platform is powered on, bootRom is executed and Ethernet is initialized, and Ethernet monitoring mode is entered; B2: After receiving the start signal, the ZYNQ platform starts to receive the elevation digital map binary file data packet and writes the received data packet into the EMMC memory in units of 64KB; B3: After the ZYNQ platform receives the end signal, all data packets are received and the loading of the elevation digital map binary file is completed.

4. The elevation digital map application method under the ZYNQ platform according to claim 3 is characterized by: In step 3, the host computer sends the elevation digital map binary file through the following process: A1: The host computer reads the elevation digital map binary file to be loaded into the cache, calculates the size of the elevation digital map binary file, and then divides the elevation digital map binary file into multiple data packets; The host computer sends multiple data packets sequentially through Ethernet, and sends a start signal before each data packet is sent; A2: After the host computer has sent all the data packets, it sends an end signal to end data transmission.

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