A Radar Echo Inversion Method Based on the Radiometric Method

Abstract

The present invention discloses a radar echo inversion method based on the radiation method, which constructs a two-dimensional texture array Dt1 of azimuth Ai*distance Di according to the echo pattern to be drawn; establishes a two-dimensional storage array Dt2 of azimuth Ai*distance Di; establishes a chart MapE; receives track information, quantizes it to the corresponding position in the corresponding two-dimensional texture array according to the azimuth distance of the track information, and generates relevant display data according to the position information by the radiation method; stores the generated display data in the two-dimensional storage array Dt2 according to the track state; receives the real echo, and fuses it with the two-dimensional storage data into the two-dimensional texture data Dt1; and refreshes it regularly to complete the image update operation. The method is simple and convenient to implement, has low requirements on the equipment and computing power of the equipment for graphics processing, can obtain relatively good echo data inverted according to the track information, optimizes the display effect of the echo, and reduces the cost of radar system development and maintenance.

Description

Technical Field

[0001] The invention belongs to the technical field of radar video signal display methods, and in particular relates to a radar echo inversion method based on a radiation method. Background Art

[0002] As an important means of detection and testing, radar is widely used in meteorology, geology, transportation and other fields. With the increasing types and number of radars, modern display and control terminals should be able to comprehensively process multi-sensor information platforms and external platform information to support the display of comprehensive situations.

[0003] At present, the display of conventional radar data video signals has the following problems. First, the existing comprehensive situation can display the radar video information and comprehensive track information of a single sensor, resulting in the existence of track information in the blind area of ​​a single sensor without corresponding echo information. Secondly, due to the complex environment and the existence of false targets in a strong interference environment, it is necessary to strengthen the echo display of real targets based on the track information of other sensors. Moreover, when receiving and processing radar video echo data, radar equipment usually generates a large amount of data. The full transmission requires high network resources, and it is necessary to invert the echo based on the track information of other sensors for display. Summary of the invention

[0004] The purpose of the present invention is to solve the problems raised in the background technology and to propose a radar echo inversion method based on the radiation method. The implementation method is simple and does not require a large amount of hardware resources. The display effect of the radar original video can be optimized and the cost of radar system development and maintenance can be reduced.

[0005] In order to achieve the purpose of the present invention, the present invention discloses a radar echo inversion method based on the radiation method, which comprises the following steps:

[0006] Step 1: construct a two-dimensional texture array Dt1 of azimuth Ai*distance Di according to the echo pattern to be drawn, and the value represents the display amplitude of the echo video at different azimuths and distances;

[0007] Step 2: Create a two-dimensional storage array Dt2 of azimuth Ai*distance Di to cache the video data obtained from track inversion and perform related processing;

[0008] Step 3: Create a graph MapE, which uses the batch number as the primary key and the video data position linked list corresponding to the batch number as the element, to store the video data corresponding to each track target;

[0009] Step 4, receiving the track information, quantizing it to a corresponding position in the corresponding two-dimensional texture array according to the azimuth distance of the track information, and generating relevant display data by a radial method according to the position information;

[0010] Step 5: According to the track status, the generated display data is stored in the two-dimensional storage array Dt2;

[0011] Step 6: Receive the real echo and fuse it with the two-dimensional storage data into the two-dimensional texture data Dt1;

[0012] Step 7: Refresh at regular intervals to complete the image update operation.

[0013] Furthermore, in step 1, according to the detection distance of the over-the-horizon radar, a two-dimensional texture array of azimuth 1024*distance 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters; each column of data represents the data of an azimuth, and each data contains RGBA4 color values; the A (Alpha) value is fixed to 0; if there is an echo, the initial value of A (Alpha) is 150; each echo data needs to be quantized to a value of 0-255 and filled into the corresponding two-dimensional texture array Dt1 value.

[0014] Furthermore, in step 2, a two-dimensional storage array of azimuth 1024*distance 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters.

[0015] Furthermore, in step 3, the track batch number is stored in the form of a BCD code, the data location information is the quantized azimuth value*distance value+distance value, and multiple data are stored in the form of a data linked list.

[0016] Furthermore, in step 4, the track information includes single-sensor track information or multi-sensor integrated track information; according to the azimuth distance information of the track, it is quantized to a position in the two-dimensional texture array, and all display points are found by the radiation method with the position as the midpoint.

[0017] Furthermore, the radial method is: take the same distance, the direction, front and back are Nn points in total; take the distance plus 1, the direction, front and back are (Nn-10) points in total; take the distance minus 1, the direction, front and back are (Nn-10) points in total. The position information of these points is stored in MapE.

[0018] Furthermore, if the track status is added, the points of the batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; if the track status is updated, the historical points of the batch number in MapE are deleted from the two-dimensional storage array Dt2 according to the track deletion method, and the latest points of the batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; if the track status is deleted, the historical points of the batch number in MapE are directly deleted from the two-dimensional storage array Dt2 according to the track deletion method.

[0019] Furthermore, the track storage method is: determine whether the point in the two-dimensional storage array Dt2 has a value. If there is no value, the value of the point is assigned to be 150; if there is a value, the value of the point is increased by 25; if the value of the point is greater than or equal to 250, the value is assigned to be 250. The track deletion method is: determine whether the point in the two-dimensional storage array Dt2 has a value. If there is a value, the value of the point is reduced by 25; if the value of the point is less than 150, the value is assigned to be 0.

[0020] Furthermore, the video echo data is sent to the display and control terminal in the form of echo data of all distance units in the same direction through network transmission; if there is video echo data, the video fusion method is to quantize the received video data according to the direction Ai and the distance Di; the direction is quantized to a value of 0-1023, and the distance is quantized to an array with a distance unit of 30m, which corresponds one to one with the numerical position in the two-dimensional storage array Dt2, and the value is compared with the value in the two-dimensional storage array Dt2, and the maximum value is taken and stored in the two-dimensional texture array Dt1; if there is no video echo data and there is servo direction information, then when the servo direction information is received, the direction is quantized to a value of 0-1023, and the value in the two-dimensional storage array Dt2 corresponding to the direction is directly copied and stored in the two-dimensional texture array Dt1 corresponding to the direction.

[0021] Furthermore, if external video data is accessed, the display is refreshed according to the refresh frequency of the external echo; if no external video data is accessed but servo orientation data is accessed, the display is refreshed according to the rotation rate of the servo; if there is neither external video data nor servo orientation data, the display is refreshed at a rate of 30 frames / second or 60 frames / second.

[0022] Compared with the prior art, the significant progress of the present invention is: 1) the implementation method is simple and does not require a large amount of hardware resources, which can optimize the display effect of the radar original video and reduce the cost of radar system development and maintenance. 2) The process is easy to implement and can be widely used in various radar systems.

[0023] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A schematic flow chart of a radar echo inversion method based on the radiation method. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] like Figure 1 As shown, a radar echo inversion method based on the radiation method is described as a radar echo inversion method based on track information, which includes the following steps:

[0028] A two-dimensional texture array Dt1 of azimuth (Ai)*distance (Di) is constructed according to the echo pattern to be drawn, and the values ​​represent the display amplitudes of the echo videos at different azimuths and distances.

[0029] A two-dimensional storage array Dt2 of azimuth (Ai)*distance (Di) is established to cache the video data obtained from track inversion and perform related processing.

[0030] Create a map MapE to store the video data corresponding to each track.

[0031] Receive the track information, quantize it to the corresponding position in the corresponding two-dimensional texture array according to the azimuth distance of the track information, and generate relevant display data by radial method according to the position information.

[0032] According to the track status, the generated display data is stored in the two-dimensional storage array Dt2.

[0033] Receive the real echo, quantize the corresponding position of the azimuth (Ai) and distance (Di), and fuse it with the two-dimensional storage data into the two-dimensional texture data Dt1.

[0034] Refresh the two-dimensional texture array data regularly to complete the image update operation.

[0035] Example

[0036] In one embodiment, the specific implementation of the present invention includes the following steps:

[0037] Step S101, establishing a two-dimensional texture array Dt1.

[0038] According to the echo pattern to be drawn, a two-dimensional texture array Dt1 of azimuth (Ai)*distance (Di) is constructed, and the values ​​represent the display amplitude of the echo video at different azimuths and distances. According to the detection distance of the over-the-horizon radar, this method constructs a two-dimensional texture array of azimuth (1024)*distance (16384), where each azimuth represents 0.25 degrees and each distance represents 30 meters.

[0039] Each column of data represents the data of one direction, and each data contains RGBA4 color values. The A (Alpha) value is fixed to 0; if there is an echo, the initial value of A (Alpha) is 150. Each echo data quantization needs to be filled into the corresponding value of the two-dimensional texture array Dt1 with a value of 0-255.

[0040] Step S102, establishing a two-dimensional storage array Dt2.

[0041] According to the echo pattern to be drawn, a two-dimensional storage array Dt2 of azimuth (Ai)*distance (Di) is constructed, and the values ​​represent the display amplitude of the echo video at different azimuths and distances. According to the actual detection distance of the radar, this method constructs a two-dimensional storage array of azimuth (1024)*distance (16384), where each azimuth represents 0.25 degrees and each distance represents 30 meters.

[0042] Step S103, creating a graph MapE.

[0043] The chart MapE uses the batch number as the primary key and the video data position linked list corresponding to the batch number as the element, which is used to store the video data corresponding to each track.

[0044] The track batch number is stored in the form of BCD code, usually 4 digits.

[0045] The data location information is the quantized azimuth value * distance value + distance value, and multiple data are stored in the form of a data linked list. For example, if there is an echo at the azimuth value 99, the distance values ​​344, 345, and 346, the data location is calculated as 99*16384+344=1622360, 99*16384+345=1622361, and 99*16384+346=1622362. Then create a data linked list Lis(1622360,1622361,1622363). Similarly, the method for parsing the data location is to take the linked list value (1622360,1622361,1622363), divide it by 16384, and get the quotient and remainder. Taking the first value as an example, the quotient of 1622360 divided by 16384 is 99, and the remainder is 344. It can be inferred that the position of the point in the two-dimensional storage array is 99 and the distance is 344.

[0046] Step S104, receiving track information.

[0047] According to the azimuth and distance information of the track, the position in the two-dimensional texture array is calculated with the dimension in step S101, the azimuth position is the real azimuth (degrees)*4; the distance position is the real distance (meters) / 30.

[0048] Use the position as the midpoint to find all the display points by the radial method. The radial method is: take the same distance, the direction, front and back, a total of Nn points; take the distance plus 1, the direction, front and back, a total of (Nn-10) points; take the distance minus 1, the direction, front and back, a total of (Nn-10) points. In this method, the value of Nn is 15, the direction range is 0-1023, and the distance range is 0-16383. According to the direction and distance position information of these points, the position information is stored in the linked list according to the storage calculation method in step S103.

[0049] Step S105, storing the data into the two-dimensional storage array Dt2.

[0050] If the track is in the newly added state, the point obtained in step S104 is stored in the two-dimensional storage array. Determine whether the point in the two-dimensional storage array Dt2 has a value. If there is no value, assign the value of the point to 150; if there is a value, add 25 to the value of the point; if the value of the point is greater than or equal to 250, assign it to 250, and store the linked list in the graph MapE.

[0051] If the track is in the deletion state, the track history data linked list in the chart MapE is taken out, and according to the method of parsing data in step S103, all the historical point location information of the track is obtained and deleted from the chart MapE. Determine whether the point in the two-dimensional storage array Dt2 has a value. If there is a value, the value of the point is reduced by 25; if the value of the point is <150, it is assigned a value of 0.

[0052] If the track is in the updating state, the relevant points in the two-dimensional storage array are deleted and the newly obtained points are stored in it.

[0053] Step S106, fusion of echo video.

[0054] Video echo data is generally transmitted over the network and sent to the display and control terminal in the form of echo data of all distance units in the same direction. If there is video echo data, the method of video fusion is to quantize the received video data according to the direction Ai and distance Di. The direction is quantized to a value of 0-1023, and the distance is quantized to an array with a distance unit of 30m. This can correspond one-to-one with the numerical position in our two-dimensional storage array Dt2, compare the value with the value in the two-dimensional storage array Dt2, and take the maximum value and store it in the two-dimensional texture array Dt1.

[0055] If there is no video echo data but there is servo position information, when the servo position information is received, the position is quantized to a value of 0-1023, and the value in the two-dimensional storage array Dt2 corresponding to the position is directly copied and stored in the two-dimensional texture array Dt1 corresponding to the position.

[0056] Step S107, refresh the texture.

[0057] If external video data is connected, the display will be refreshed according to the refresh rate of the external echo.

[0058] If there is no external video data access, but there is servo position data access, the display will be refreshed according to the rotation speed of the servo.

[0059] If there is no external video data or servo position data, the display is refreshed at a rate of 30 frames / second or 60 frames / second.

[0060] Through the above steps, the present invention proposes a radar echo inversion method based on the radiation method, which is simple to implement and does not require a large amount of hardware resources, can optimize the display effect of the radar original video, and reduce the cost of radar system development and maintenance. At the same time, the method of the present invention has a simple flow, is easy to implement, and can be widely used in various radar systems.

[0061] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A radar echo inversion method based on the radiation method, characterized in that: The following steps are involved: Step 1: construct a two-dimensional texture array Dt1 of azimuth Ai*distance Di according to the echo pattern to be drawn, and the value represents the display amplitude of the echo video at different azimuths and distances; Step 2: Create a two-dimensional storage array Dt2 of azimuth Ai*distance Di to cache the video data obtained from track inversion and perform related processing; Step 3: Create a graph MapE, which uses the batch number as the primary key and the video data position linked list corresponding to the batch number as the element, to store the video data corresponding to each track target; Step 4, receiving the track information, quantizing it to the corresponding position in the corresponding two-dimensional texture array according to the azimuth distance of the track information, and generating relevant display data by the radial method according to the position information; Step 5: According to the track status, the generated display data is stored in the two-dimensional storage array Dt2; Step 6: Receive the real echo and fuse it with the two-dimensional storage data into the two-dimensional texture data Dt1; Step 7: Refresh at regular intervals to complete the image update operation.

2. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 1, according to the detection distance of the over-the-horizon radar, a two-dimensional texture array of azimuth 1024*distance 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters; each column of data represents the data of an azimuth, and each data contains RGBA4 color values; the Alpha value is fixed to 0; if there is an echo, the initial Alpha value is 150; each echo data needs to be quantized to a value of 0-255 and filled into the corresponding value of the two-dimensional texture array Dt1.

3. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 2, a two-dimensional storage array of azimuth 1024*distance 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters.

4. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 3, the track batch number is stored in the form of BCD code, the data location information is the quantized azimuth value*distance value+distance value, and multiple data are stored in the form of a data linked list.

5. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 4, the track information includes single-sensor track information or multi-sensor integrated track information; according to the azimuth distance information of the track, it is quantized to a position in the two-dimensional texture array, and all display points are found by the radial method with the position as the midpoint.

6. The radar echo inversion method based on the radiation method according to claim 5, characterized in that: The radial method is: take the same distance, the direction, front and back are Nn points in total; take the distance plus 1, the direction, front and back are (Nn-10) points in total; take the distance minus 1, the direction, front and back are (Nn-10) points in total; store the position information of these points in MapE.

7. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 5, if the track status is newly added, the points of the batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; If the track status is updated, the historical points of the batch number in MapE are deleted from the two-dimensional storage array Dt2 according to the track deletion method, and the latest points of the batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; If the track status is deleted, the historical points of the batch number in MapE are directly deleted from the two-dimensional storage array Dt2 according to the track deletion method.

8. The radar echo inversion method based on the radiation method according to claim 7 is characterized in that: The track storage method is: determine whether the point in the two-dimensional storage array Dt2 has a value; if there is no value, assign the value of the point to 150; if there is a value, add 25 to the value of the point; if the value of the point is greater than or equal to 250, assign a value of 250; the track deletion method is to determine whether the point in the two-dimensional storage array Dt2 has a value; if there is a value, subtract 25 from the value of the point; if the value of the point is less than 150, assign a value of 0.

9. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 6, the video echo data is sent to the display and control terminal in the form of echo data of all distance units in the same direction through network transmission; if there is video echo data, the video fusion method is to quantize the received video data according to the direction Ai and the distance Di; the direction is quantized to a value of 0-1023, and the distance is quantized to an array with a distance unit of 30m, which corresponds to the value position in the two-dimensional storage array Dt2 one by one, and the value is compared with the value in the two-dimensional storage array Dt2, and the maximum value is taken and stored in the two-dimensional texture array Dt1; If there is no video echo data but there is servo position information, when the servo position information is received, the position is quantized to a value of 0-1023, and the value in the two-dimensional storage array Dt2 corresponding to the position is directly copied and stored in the two-dimensional texture array Dt1 corresponding to the position.

10. The radar echo inversion method based on the radiation method according to claim 1, characterized in that: In step 7, if external video data is accessed, the display is refreshed according to the refresh frequency of the external echo; if no external video data is accessed but servo position data is accessed, the display is refreshed according to the rotation rate of the servo; if there is neither external video data nor servo position data, the display is refreshed at a rate of 30 frames / second or 60 frames / second.

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