3D vector reconstruction method for millimeter wave radar high-voltage line detection

Abstract

The invention provides a 3D vector reconstruction method for millimeter-wave radar high-voltage line detection, belongs to the technical field of millimeter-wave radar collision avoidance, and particularly relates to a method for enhancing the authenticity of a three-dimensional image through vector reconstruction and shadow mapping secondary rendering, displaying the position of a high-voltage line in real time through coordinate interpolation and coordinate conversion, and improving the accuracy of collision avoidance. The method can effectively solve the problem of visual navigation of the information of the high-voltage line detected by the millimeter wave radar, improves the reliability of high-voltage line alarm, and guarantees the flight safety of a helicopter.

Description

Technical Field

[0001] The present application relates to the field of millimeter wave radar collision avoidance, and in particular to a 3D vector reconstruction method for millimeter wave radar high-voltage line detection. Background Art

[0002] When flying at low altitude, aircrafts face various complex terrains, such as mountains, canyons, trees, high-voltage lines, power poles, and buildings, which pose a serious threat to navigation safety. Since high-voltage lines are difficult to identify with the naked eye, they pose the greatest threat to low-altitude aircraft. 3D vector reconstruction of high-voltage line detection can improve environmental perception, present high-voltage lines to aircraft more intuitively, and achieve safe navigation of low-altitude aircraft.

[0003] The current 3D target detection technology mainly uses three sensors: camera, laser radar and millimeter wave radar. Although the camera is low-cost, it is seriously affected by the weather. The laser radar is expensive and prone to noise in complex environments. The millimeter wave radar is medium-cost, can penetrate rain and fog, and has a long detection distance. However, the high-voltage line detection technology based on millimeter wave radar has a relatively simple display of obstacles and it is difficult to clearly display the surrounding environment and provide an accurate and safe channel for low-altitude flight. Summary of the invention

[0004] In view of this, the present application provides a 3D vector reconstruction method for millimeter wave radar high-voltage line detection, which solves the problems in the prior art and improves the real-time performance of high-voltage line vector reconstruction and the realism of high-voltage line three-dimensional images.

[0005] The present application provides a 3D vector reconstruction method for high-voltage line detection using a millimeter-wave radar, which adopts the following technical solution:

[0006] A 3D vector reconstruction method for millimeter wave radar high-voltage line detection, comprising:

[0007] Step 1, read and load the terrain detection data fused by the millimeter wave radar, load terrain elevation data, high-voltage line center point coordinates, high-voltage line direction and size information, power pole center point coordinates, power pole direction and size information, high-voltage line model data, power pole model data and texture data required for visual display;

[0008] Step 2, coordinate processing of the currently obtained terrain and high-voltage line information: segmentation of terrain elevation data, assembly of terrain three-dimensional vertex data, assembly of aircraft fixed-point data, assembly of three-dimensional vertex data of high-voltage line and power pole model, and calculation of coordinate interpolation of three-dimensional coordinates of high-voltage line and power pole model relative to terrain elevation data;

[0009] Step 3: according to the calculated three-dimensional vector vertex data of the high-voltage line, different color values ​​and opacity are assigned to different modules of the high-voltage line, and the corresponding terrain model, aircraft model, high-voltage line model and power pole model are drawn in the visual screen. The power pole model is placed at the coordinates of the center point of the high-voltage line, the directions of the power pole and the high-voltage line are adjusted according to the direction information, the power pole and the high-voltage line are scaled according to the size information, all models are placed in place, the texture information of different models is read, and rendering is performed once;

[0010] Step 4, performing secondary rendering on the image obtained in step 3 through shadow mapping to achieve illumination projection of different scenes and enhance the authenticity of the three-dimensional images of high-voltage lines and power poles;

[0011] Step 5, determine whether a perspective transformation is required, and implement the transformation of the model and the change of the spatial coordinates through improved matrix transformation, thereby implementing the perspective transformation;

[0012] Step 6: Determine the threat level of the current high-voltage line. If it does not reach the alarm threshold, input the information of the high-voltage line to be displayed into the vector reconstruction module, and set the high-voltage line that reaches the alarm threshold to the alarm color;

[0013] Step 7: The flight parameter information of the aircraft in flight state is transmitted through the PCIe interface or the network port, and the flight parameter information is used to achieve the field of view transformation through the viewpoint transformation to complete the dynamic adjustment of the three-dimensional visual picture;

[0014] Step 8: Process the next row of data and repeat steps 1 to 7.

[0015] Optionally, the method for calculating the coordinate interpolation of the three-dimensional coordinates of the high-voltage line and the power pole model relative to the terrain elevation data includes:

[0016] By means of bilinear interpolation, the heights of the four sampling points closest to the high-voltage line and the terrain are calculated, and the terrain height under the high-voltage line model coordinates is calculated based on the height interpolation of the four sampling points;

[0017] The coordinates of the detection point of the high-voltage line are defined as P(x, y), and the coordinates of the four sampling points closest to the high-voltage line and the terrain are A 11 (x1,y1),A 12 (x2,y1),A 21 (x1,y2) and A 22 (x2,y2);

[0018] According to A 11 (x1,y1) and A 12 The height value of (x2, y1) is interpolated in the x direction to calculate the height f(R1) of R1(x, y1) and A 21 (x1,y2) and A 22The height of R2(x,y2) is calculated from the height of (x2,y2) f(R2),

[0019] Then, the final height value f(P) of P(x,y) is calculated by interpolating R1(x,y1) and R2(x,y2) in the y direction.

[0020] Optionally, the step 3 specifically includes:

[0021] The coordinates, direction and size information of the center point of the high-voltage line are received through the PCIe interface or the network port, and the power pole model is placed at the center point coordinates of the power pole detection point. The direction of the high-voltage line to be displayed is known to be The size is α, and the power pole model and the high-voltage line model are multiplied by the scaling matrix R1 to obtain the power pole and the high-voltage line of the corresponding size, and then the power pole model and the high-voltage line model are multiplied by the rotation matrix R2 to obtain the power pole and the high-voltage line of the corresponding direction, where the matrix R1 and the matrix R2 are respectively:

[0022]

[0023] By detecting the coordinates of the leftmost, rightmost and center points at the highest point of the edge of the power pole model, the high-voltage line connection point is obtained, the row number of the high-voltage line is queried, and each row of high-voltage lines is connected respectively;

[0024] The leftmost coordinate of the highest point is (x min ,y max ,z max ), the highest rightmost coordinate is (x max ,y max ,z max ), the coordinates of the highest center point are (x mid ,y max ,z max ),in,

[0025] Read the texture data to render the three-dimensional image once.

[0026] Optionally, the step 4 specifically includes:

[0027] Build a custom frame buffer, attach the shadow texture to the custom frame buffer, and build the transformation matrix B to convert from the lighting space to the texture space, where the matrix B is:

[0028]

[0029] Multiply the MVP matrix of the light source's perspective by the B matrix to get the shadow texture matrix shadowMVP:

[0030] shadowMVP=B*MVP;

[0031] The shadowMVP matrix is ​​passed into the uniform variables in the vertex shader and the fragment shader, the shadow texture is enabled, and the placed high-voltage line and power pole models are re-rendered to obtain a three-dimensional image of the high-voltage line and power pole with shadows attached.

[0032] Optionally, in step 5, if a perspective transformation is required, the viewpoint is converted to a coordinate value on a corresponding model coordinate system, and the terrain, aircraft, power pole and high-voltage line models are directly translated and transformed, and a three-dimensional visual picture of the current area is presented for each model from the line of sight.

[0033] It is known that the current viewpoint is P0(x0,y0,z0), and after the viewpoint is switched, the viewpoint becomes P now (x now ,y now ,z now ), the moving step after switching is step, and the angle is β, where:

[0034]

[0035] Find the viewpoint P after the perspective switch now The four closest terrain sampling points are P A (x1,y1,z A ), P B (x2,y1,z B ), P C (x1,y2,z C ), P D (x2,y2,z D ), then z now By bilinear interpolation, we can obtain:

[0036]

[0037] x now ,y now and z now Substitute the translation transformation matrices of the terrain, aircraft, power pole and high-voltage line models respectively to achieve perspective switching.

[0038] Optionally, step 7 specifically includes:

[0039] Define the rotation around the x-axis as the pitch angle, the rotation around the y-axis as the yaw angle, and the rotation around the z-axis as the roll angle. By rotating the pitch, yaw, and roll angles and moving the viewpoint to the preset position, the translation matrix T is obtained through the position and speed, and the view transformation matrix is ​​obtained as: view = T*R roll *Ryaw *R pitch ;

[0040] It is known that the current viewpoint is P0(x0,y0,z0), and after movement the viewpoint becomes P fly (x fly ,y fly ,z fly ), where P fly =viewP0;

[0041] The moving back view point P fly Input the translation transformation matrix to obtain the motion picture and posture of the aircraft during flight.

[0042] Optionally, in step 1, the texture data includes terrain texture, sky texture, aircraft model texture, and high-voltage line and power pole texture.

[0043] Optionally, in step 7, the flight parameter information of the aircraft in flight state includes flight attitude, aircraft position and flight speed, and the dynamic adjustment of the three-dimensional visual picture includes movement of the visual picture and attitude adjustment of the aircraft model.

[0044] In summary, this application includes the following beneficial technical effects:

[0045] In view of the fact that the three-dimensional display of high-voltage lines is not intuitive enough, the present invention performs coordinate interpolation processing on the high-voltage line detection information, processes the vector reconstruction, direction, size, lighting, and shadow of the high-voltage lines, and displays the relative position of the high-voltage lines and the terrain in real time, thereby improving the realism of the three-dimensional image of the high-voltage lines.

[0046] In view of the complex coordinate conversion matrix parameters of the three-dimensional scene transformation during the flight process, the processing flow of this application is based on the terrain data fused by radar and DEM. According to the received high-voltage line detection information, the coordinate conversion process is optimized, and the three-dimensional visual picture is dynamically adjusted on the screen coordinate system to realize three-dimensional scene roaming, reduce the complexity of perspective transformation, and improve the real-time performance of high-voltage line vector reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 Schematic diagram of the 3D vector reconstruction method for millimeter wave radar high-voltage line detection. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0050] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0051] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0052] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0053] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0054] An embodiment of the present application provides a 3D vector reconstruction method for millimeter wave radar high-voltage line detection.

[0055] like Figure 1 As shown, a 3D vector reconstruction method for millimeter wave radar high-voltage line detection includes:

[0056] Step 1, read and load the terrain detection data fused by the millimeter wave radar, load terrain elevation data, high-voltage line center point coordinates, high-voltage line direction and size information, power pole center point coordinates, power pole direction and size information, high-voltage line model data, power pole model data and texture data required for visual display. Among them, the texture data includes terrain texture, sky texture, aircraft model texture and high-voltage line and power pole texture.

[0057] Step 2, coordinate processing of the currently obtained terrain and high-voltage line information: segmentation of terrain elevation data, assembly of terrain three-dimensional vertex data, assembly of aircraft fixed-point data, assembly of three-dimensional vertex data of high-voltage line and power pole models, and calculation of coordinate interpolation of the three-dimensional coordinates of the high-voltage line and power pole model relative to the terrain elevation data.

[0058] Step 3, according to the calculated three-dimensional vector vertex data of the high-voltage line, different modules of the high-voltage line are assigned different color values ​​and opacity. The high-voltage line module refers to the line between two detection points. The corresponding terrain model, aircraft model, high-voltage line model and power pole model are drawn in the visual screen, and the power pole model is placed at the coordinates of the center point of the high-voltage line. The direction of the power pole and the high-voltage line is adjusted according to the direction information. The power pole and the high-voltage line are scaled according to the size information. All models are placed in place, the texture information of different models is read, and rendering is performed once.

[0059] Step 4, the image obtained in step 3 is rendered again through shadow mapping to achieve lighting projection of different scenes and enhance the authenticity of the three-dimensional images of high-voltage lines and power poles.

[0060] Step 5, determine whether a perspective transformation is required, and implement the transformation of the model and the change of the spatial coordinates through improved matrix transformation, thereby achieving perspective transformation.

[0061] Step 6, determine the threat level of the current high-voltage line. If it has not reached the alarm threshold, input the information of the high-voltage line to be displayed into the vector reconstruction module, set the high-voltage line that has reached the alarm threshold as an alarm color, multiply the alarm color with the color value and opacity of the vector model, and obtain a three-dimensional display of the high-voltage line vector model in the alarm state.

[0062] Step 7: The flight parameter information of the aircraft in flight state is transmitted through the PCIe interface or the network port, and the flight parameter information is used to transform the viewpoint to achieve the field of view transformation, and complete the dynamic adjustment of the three-dimensional visual picture. The flight parameter information of the aircraft in flight state transmitted through the PCIe interface or the network port includes the flight attitude, the aircraft position and the flight speed, and the dynamic adjustment of the three-dimensional visual picture includes the movement of the visual picture and the attitude adjustment of the aircraft model.

[0063] Step 8: Process the next row of data and repeat steps 1 to 7.

[0064] This application aims to solve the problem of insufficient visualization of detection results in millimeter-wave radar collision avoidance mode, and provides a 3D vector reconstruction method for millimeter-wave radar high-voltage line detection. The authenticity of the three-dimensional image is enhanced by vector reconstruction and secondary rendering of shadow maps, and the position of the high-voltage line is displayed in real time by coordinate interpolation and coordinate conversion. The high-voltage line detected by the radar is continuously updated. This method can effectively solve the problem of visualization navigation of high-voltage line information detected by millimeter-wave radar, improve the reliability of high-voltage line warning, and ensure the safety of helicopter flight. It can be applied to the field of millimeter-wave radar collision avoidance.

[0065] Specific:

[0066] Methods for calculating the coordinate interpolation of the three-dimensional coordinates of the high-voltage line and power pole model relative to the terrain elevation data include:

[0067] By means of bilinear interpolation, the heights of the four sampling points closest to the high-voltage line and the terrain are calculated, and the terrain height under the high-voltage line model coordinates is calculated based on the height interpolation of the four sampling points; the detection point coordinates of the high-voltage line are defined as P(x, y), and the coordinates of the four sampling points closest to the high-voltage line and the terrain are A 11 (x1,y1),A 12 (x2,y1),A 21 (x1,y2) and A 22 (x2,y2); according to A 11 (x1,y1) and A 12 The height value of (x2, y1) is interpolated in the x direction to calculate the height f(R1) of R1(x, y1) and A 21 (x1,y2) and A 22 The height of R2(x,y2) is calculated from the height of (x2,y2) f(R2),

[0068] Then, the final height value f(P) of P(x,y) is calculated by interpolating R1(x,y1) and R2(x,y2) in the y direction.

[0069] The step 3 specifically includes:

[0070] The coordinates, direction and size information of the center point of the high-voltage line are received through the PCIe interface or the network port, and the power pole model is placed at the center point coordinates of the power pole detection point. The direction of the high-voltage line to be displayed is known to be The size is α, and the power pole model and the high-voltage line model are multiplied by the scaling matrix R1 to obtain the power pole and the high-voltage line of the corresponding size, and then the power pole model and the high-voltage line model are multiplied by the rotation matrix R2 to obtain the power pole and the high-voltage line of the corresponding direction, where the matrix R1 and the matrix R2 are respectively:

[0071]

[0072] By detecting the coordinates of the leftmost, rightmost and center points at the highest point of the power pole model edge, the high-voltage line connection point is obtained, the row number of the high-voltage line is queried, and each row of high-voltage lines is connected respectively; the leftmost coordinate of the highest point is (x min ,y max ,z max ), the highest rightmost coordinate is (x max ,y max ,z max ), the coordinates of the highest center point are (x mid ,y max ,z max ),in, Read the texture data and render the 3D image once.

[0073] The step 4 specifically includes:

[0074] Build a custom frame buffer, attach the shadow texture to the custom frame buffer, and build the transformation matrix B to convert from the lighting space to the texture space, where the matrix B is:

[0075] Multiply the MVP matrix of the light source perspective with the B matrix to obtain the shadow texture matrix shadowMVP: shadowMVP = B*MVP.

[0076] The shadowMVP matrix is ​​passed into the uniform variables in the vertex shader and the fragment shader, the shadow texture is enabled, and the placed high-voltage line and power pole models are re-rendered. The re-rendering includes the vertex shader and the fragment shader to obtain a three-dimensional image of the high-voltage line and the power pole with shadows attached.

[0077] In step 5, if perspective transformation is required, the viewpoint is converted to the coordinate value of the corresponding model coordinate system, and the terrain, aircraft, power pole and high-voltage line models are directly translated and transformed. The three-dimensional visual picture of the current area is presented to each model from the line of sight, which can simplify the complexity of coordinate transformation and improve the efficiency of perspective transformation calculation.

[0078] It is known that the current viewpoint is P0(x0,y0,z0), and after the viewpoint is switched, the viewpoint becomes P now (x now ,y now ,z now ), the moving step after switching is step, and the angle is β, where:

[0079] Find the viewpoint P after the perspective switchnow The four closest terrain sampling points are P A (x1,y1,z A ), P B (x2,y1,z B ), P C (x1,y2,z C ), P D (x2,y2,z D ), then z now By bilinear interpolation, we can obtain:

[0080]

[0081] x now ,y now and z now Substitute the translation transformation matrices of the terrain, aircraft, power pole and high-voltage line models respectively to achieve perspective switching.

[0082] The step 7 specifically includes:

[0083] Define the rotation around the x-axis as the pitch angle, the rotation around the y-axis as the yaw angle, and the rotation around the z-axis as the roll angle. By rotating the pitch, yaw, and roll angles and moving the viewpoint to the preset position, the translation matrix T is obtained through the position and speed, and the view transformation matrix is ​​obtained as: view = T*R roll *R yaw *R pitch .

[0084] It is known that the current viewpoint is P0(x0,y0,z0), and after movement the viewpoint becomes P fly (x fly ,y fly ,z fly ), where P fly =viewP0; move the viewpoint P fly Input the translation transformation matrix to obtain the motion picture and posture of the aircraft during flight.

[0085] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A 3D vector reconstruction method for millimeter wave radar high voltage line detection, characterized in that: include: Step 1, read and load the terrain detection data fused by the millimeter wave radar, load terrain elevation data, high-voltage line center point coordinates, high-voltage line direction and size information, power pole center point coordinates, power pole direction and size information, high-voltage line model data, power pole model data and texture data required for visual display; Step 2, coordinate processing of the currently obtained terrain and high-voltage line information: segmentation of terrain elevation data, assembly of terrain three-dimensional vertex data, assembly of aircraft fixed-point data, assembly of three-dimensional vertex data of high-voltage line and power pole model, and calculation of coordinate interpolation of three-dimensional coordinates of high-voltage line and power pole model relative to terrain elevation data; Step 3: according to the calculated three-dimensional vector vertex data of the high-voltage line, different color values ​​and opacity are assigned to different modules of the high-voltage line, and the corresponding terrain model, aircraft model, high-voltage line model and power pole model are drawn in the visual screen. The power pole model is placed at the coordinates of the center point of the high-voltage line, the directions of the power pole and the high-voltage line are adjusted according to the direction information, the power pole and the high-voltage line are scaled according to the size information, all models are placed in place, the texture information of different models is read, and rendering is performed once; Step 4, performing secondary rendering on the image obtained in step 3 through shadow mapping to achieve lighting projection of different scenes and enhance the authenticity of the three-dimensional images of high-voltage lines and power poles; Step 5, determine whether a perspective transformation is required, and implement the transformation of the model and the change of the spatial coordinates through improved matrix transformation, thereby implementing the perspective transformation; Step 6: Determine the threat level of the current high-voltage line. If it does not reach the alarm threshold, input the information of the high-voltage line to be displayed into the vector reconstruction module, and set the alarm color for the high-voltage line that reaches the alarm threshold; Step 7: The flight parameter information of the aircraft in flight state is transmitted through the PCIe interface or the network port, and the flight parameter information is used to achieve the field of view transformation through the viewpoint transformation to complete the dynamic adjustment of the three-dimensional visual picture; Step 8: Process the next row of data and repeat steps 1 to 7.

2. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: Methods for calculating the coordinate interpolation of the three-dimensional coordinates of the high-voltage line and power pole model relative to the terrain elevation data include: By means of bilinear interpolation, the heights of the four sampling points closest to the high-voltage line and the terrain are calculated, and the terrain height under the high-voltage line model coordinates is calculated based on the height interpolation of the four sampling points; The coordinates of the detection point of the high-voltage line are defined as P(x, y), and the coordinates of the four sampling points closest to the high-voltage line and the terrain are A 11 (x1,y1),A 12 (x2,y1),A 21 (x1,y2) and A 22 (x2,y2); According to A 11 (x1,y1) and A 12 The height value of (x2, y1) is interpolated in the x direction to calculate the height f(R1) of R1(x, y1) and A 21 (x1,y2) and A 22 The height of (x2, y2) is calculated from the height of R2(x, y2) f(R2), Then, the final height value f(P) of P(x, y) is calculated by interpolating R1(x, y1) and R2(x, y2) in the y direction.

3. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: The step 3 specifically includes: The coordinates, direction and size information of the center point of the high-voltage line are received through the PCle interface or network port, and the power pole model is placed at the center point coordinates of the power pole detection point. The direction of the high-voltage line to be displayed is known to be The size is α, and the power pole model and the high-voltage line model are multiplied by the scaling matrix R1 to obtain the power pole and the high-voltage line of the corresponding size, and then the power pole model and the high-voltage line model are multiplied by the rotation matrix R2 to obtain the power pole and the high-voltage line of the corresponding direction, where the matrix R1 and the matrix R2 are respectively: By detecting the coordinates of the leftmost, rightmost and center points at the highest point of the edge of the power pole model, the high-voltage line connection point is obtained, the row number of the high-voltage line is queried, and each row of high-voltage lines is connected respectively; The leftmost coordinate of the highest point is (x min ,y max , z max ), the highest rightmost coordinate is (x max ,y max , z max ), the coordinates of the highest center point are (x mid ,y max , z max ),in, Read the texture data to render the three-dimensional image once.

4. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: The step 4 specifically includes: Build a custom frame buffer, attach the shadow texture to the custom frame buffer, and build the transformation matrix B to convert from the lighting space to the texture space, where the matrix B is: Multiply the MVP matrix of the light source's perspective by the B matrix to get the shadow texture matrix shadowMVP: shadowMVP=B*MVP; The shadowMVP matrix is ​​passed into the uniform variables in the vertex shader and the fragment shader, the shadow texture is enabled, and the placed high-voltage line and power pole models are re-rendered to obtain a three-dimensional image of the high-voltage line and power pole with shadows attached.

5. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: In step 5, if a perspective transformation is required, the viewpoint is converted to the coordinate value of the corresponding model coordinate system, and the terrain, aircraft, power pole and high-voltage line models are directly translated and transformed, and a three-dimensional visual picture of the current area is presented for each model from the line of sight; It is known that the current viewpoint is P0 (x0, y0, z0). After the viewpoint is switched, the viewpoint becomes P now (x now ,y now , z now ), the moving step after switching is step, and the angle is β, where: Find the viewpoint P after the perspective switch now The four closest terrain sampling points are P A (x1, y1, z A ), P B (x2, y1, z B ), PC(x1, y2, z c ), P D (x2, y2, z D ), then z now By bilinear interpolation, we can obtain: x now ,y now and z now Substitute the translation transformation matrices of the terrain, aircraft, power pole and high-voltage line models respectively to achieve perspective switching.

6. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 5 is characterized in that: The step 7 specifically includes: Define the rotation around the x-axis as the pitch angle, the rotation around the y-axis as the yaw angle, and the rotation around the z-axis as the roll angle. By rotating the pitch, yaw, and roll angles and moving the viewpoint to the preset position, the translation matrix T is obtained through the position and speed, and the view transformation matrix is ​​obtained as: view = T*R roll *R yaw *R pitch ; It is known that the current viewpoint is P0(x0, y0, z0), and after movement the viewpoint becomes P fly (x fly ,y fly , z fly ), where P fly =viewP0; The moving back view point P fly Input the translation transformation matrix to obtain the motion picture and posture of the aircraft during flight.

7. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: In the step 1, the texture data includes terrain texture, sky texture, aircraft model texture, and high-voltage line and power pole texture.

8. The 3D vector reconstruction method for millimeter wave radar high voltage line detection according to claim 1 is characterized in that: In step 7, the flight parameter information of the aircraft in flight state includes the flight attitude, aircraft position and flight speed, and the dynamic adjustment of the three-dimensional visual picture includes the movement of the visual picture and the attitude adjustment of the aircraft model.

Images