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

Abstract

The application provides a 3D vector reconstruction method for millimeter wave radar high-voltage line detection, and belongs to the technical field of millimeter wave radar collision avoidance. Specifically, the method enhances the authenticity of a three-dimensional image through vector reconstruction and shadow map secondary rendering, and displays the position of a high-voltage line in real time through coordinate interpolation and coordinate conversion, and continuously updates the high-voltage line detected by a radar. The method can effectively solve the problem of visualizing and navigating the high-voltage line information detected by a millimeter wave radar, improve the reliability of high-voltage line warning, and ensure the safety of helicopter flight.

Description

TECHNICAL FIELD

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

[0002] During low-altitude flight, aircrafts are faced with various complex terrain environments, such as high mountains, canyons, trees, high-voltage lines, power poles and buildings, which pose a serious threat to navigation safety. High-voltage lines are the most dangerous to low-altitude aircrafts because they are difficult to identify with the naked eye. 3D vector reconstruction for high-voltage line detection can improve environmental perception and more intuitively display high-voltage lines to aircrafts, thereby achieving safe navigation of low-altitude aircrafts.

[0003] Current 3D target detection technology mainly uses three types of sensors, namely cameras, laser radars and millimeter wave radars. Although cameras have a low cost, they are severely affected by weather. Laser radars have a high cost and are prone to noise in complex environments. Millimeter wave radars have a medium cost, can penetrate rain and fog, and have a long detection distance. However, high-voltage line detection based on millimeter wave radars has a simple display of obstacles and cannot clearly display the surrounding environment to provide accurate and safe navigation for low-altitude flight. SUMMARY

[0004] Therefore, 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 3D vector reconstruction method for millimeter wave radar high-voltage line detection provided by the present application adopts the following technical solution:

[0006] A 3D vector reconstruction method for millimeter wave radar high-voltage line detection comprises the following steps:

[0007] Step 1: Read the terrain detection data loaded by the millimeter wave radar fusion, load the 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 view picture display;

[0008] Step 2: Perform coordinate processing on the current terrain and high-voltage line information: segment the terrain elevation data, assemble the terrain three-dimensional vertex data, assemble the aircraft fixed-point data, assemble the high-voltage line and power pole model three-dimensional vertex data, and calculate the coordinate interpolation of the high-voltage line and power pole model three-dimensional coordinates relative to the terrain elevation data;

[0009] Step 3, according to the calculated high-voltage line three-dimensional vector vertex data, different modules of the high-voltage line are assigned different color values and opacity, corresponding terrain model, aircraft model, high-voltage line model and power pole model are drawn in the visual picture, the power pole model is placed at the center point coordinate 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 once rendering is performed;

[0010] Step 4, the image obtained in step 3 is rendered twice by shadow mapping to realize light projection of different scenes and enhance the three-dimensional image authenticity of the high-voltage line and the power pole;

[0011] Step 5, it is judged whether perspective transformation is needed, the transformation of the model and the change of the spatial coordinates are realized through improved matrix transformation, and then the perspective transformation is realized;

[0012] Step 6, it is judged whether the threat degree of the current high-voltage line reaches the alarm threshold, and the information of the high-voltage line to be displayed is input into the vector reconstruction module if the threat degree does not reach the alarm threshold, and the high-voltage line reaching the alarm threshold is set to an alarm color;

[0013] Step 7, the flight parameter information in the aircraft flight state is transmitted through the PCIe interface or the network port, the field of view is transformed through the viewpoint transformation by using the flight parameter information, and the dynamic adjustment of the three-dimensional visual picture is completed;

[0014] Step 8, the next row of data is processed, and steps 1 to 7 are repeated.

[0015] Optionally, the method for calculating the coordinate interpolation of the high-voltage line and the terrain elevation data of the power pole model comprises:

[0016] The height of the four sampling points closest to the high-voltage line and the terrain is calculated by bilinear interpolation, and the terrain height under the high-voltage line model coordinate is calculated by interpolation according to the height of the four sampling points;

[0017] The coordinates of the detection points of the high-voltage line are defined as P(x, y), 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] The height f(R1) of R1(x, y1) is calculated by interpolation in the x direction according to the height values of A 11 (x1, y1) and A 12 (x2, y1), and the height of A 21 (x1, y2) and A 22(x2,y2) the height of the calculated R2(x,y2) the height f(R2),

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

[0020] Optionally, the step 3 specifically comprises:

[0021] The center point coordinates, direction and size information of the high-voltage line are received through the PCIe interface or the network port, 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 as , 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 corresponding to the 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 corresponding to the direction, wherein the matrix R1 and the matrix R2 are respectively:

[0022]

[0023] The leftmost, the rightmost and the center point coordinates of the highest edge of the power pole model are detected to obtain the connection point of the high-voltage line, the row number where the high-voltage line is located 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 rightmost coordinate of the highest point is (x max ,y max ,z max ), and the center point coordinate of the highest point is (x mid ,y max ,z max ), wherein,

[0025] The texture data is read to render the three-dimensional image once.

[0026] Optionally, the step 4 specifically comprises:

[0027] A custom frame buffer is constructed, the shadow texture is attached to the custom frame buffer, a transformation matrix B is constructed to convert from the light space to the texture space, wherein the matrix B is:

[0028]

[0029] The MVP matrix of the light source perspective is multiplied by the matrix B to obtain the shadow texture matrix shadowMVP:

[0030] shadowMVP = B * MVP;

[0031] The shadowMVP matrix is transmitted into the uniform variable in the vertex shader and the fragment shader, the shadow texture is enabled, the high-voltage line and the power pole model that have been placed are rendered again to obtain the high-voltage line and the power pole three-dimensional image with the added shadow.

[0032] Optionally, in step 5, if the view angle transformation is needed, the viewpoint is converted to the coordinate value on the corresponding model coordinate system, the terrain, the aircraft, the power pole and the high-voltage line model are directly translated and transformed, and the three-dimensional view picture of the current area is presented from the line-of-sight direction of each model;

[0033] The current viewpoint is known as P0(x0, y0, z0), the viewpoint after the view angle switching is P now (x now ,y now ,z now ), the moving step after the switching is step, and the angle is β, wherein:

[0034]

[0035] The four closest terrain sampling points of the viewpoint P now after the view angle switching are found, which are P A (x1, y1, z A ), P B (x2, y1, z B ), P C (x1, y2, z C ) and P D (x2, y2, z D ), and z now is obtained by the bilinear interpolation method:

[0036]

[0037] x now , y now and z now are substituted into the translation transformation matrix of the terrain, the aircraft, the power pole and the high-voltage line model respectively to realize the view angle switching.

[0038] Optionally, the step 7 specifically comprises:

[0039] The rotation around the x axis is defined as the pitch angle, the rotation around the y axis is defined as the yaw angle, and the rotation around the z axis is defined as the roll angle, the viewpoint is moved to the preset position by rotating the pitch, yaw and roll angles, the translation matrix is obtained by the position and the speed, and the view angle transformation matrix is view=T*R roll *Ryaw *R pitch ;

[0040] The current viewpoint is known as P0(x0, y0, z0), and the motion after the viewpoint becomes P fly (x fly ,y fly ,z fly ), wherein P fly = viewP0;

[0041] The motion after the viewpoint P fly is input into the translation transformation matrix, and the motion picture and the attitude in the flight process of the aircraft are obtained.

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

[0043] Optionally, in the step 7, the flight parameter information in the flight state of the aircraft is transmitted through a PCI e interface or a network port, including flight attitude, aircraft position and flight speed, and the dynamic adjustment of the three-dimensional view picture includes the motion of the view picture and the attitude adjustment of the aircraft model.

[0044] In summary, the present application has the following beneficial technical effects:

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

[0046] In view of the fact that the coordinate conversion matrix parameter of the three-dimensional scene transformation is complex, the processing flow of the present application is based on the terrain data fused by the radar and DEM, optimizes the coordinate conversion flow according to the received high-voltage line detection information, dynamically adjusts the three-dimensional view picture on the screen coordinate system, realizes three-dimensional scene roaming, reduces the complexity of the view angle transformation, and improves the real-time performance of the high-voltage line vector reconstruction. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

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

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

[0050] The following detailed description is presented in terms of specific embodiments illustrating the application. Those skilled in the art will recognize that other embodiments can be practiced with modifications and changes within the scope of the present application.

[0051] It should be noted that various aspects of the embodiments described below are presented in terms of sequences of actions. It should be appreciated that the descriptions are presented using these sequences for the purpose of providing a conceptual understanding of the subject matter. The actions in the sequences can be performed in different orders and / or concurrently with one another. Moreover, it is possible that one or more actions can be omitted from the sequences, or other actions can be added to the sequences, without departing from the scope of the present application.

[0052] It is also noted that the illustrative figures can show various components of the present application in schematic form, and that actual implementations of the components can differ in terms of shape, size, and / or number from those shown in the illustrative figures. The illustrative figures are intended to be merely illustrative, as numerous variations in configuration and arrangement of the components can be made without departing from the spirit of the present application.

[0053] In addition, in the following description, numerous specific details are provided for a thorough understanding of the examples. One skilled in the relevant art will recognize, however, that the aspects described herein can be practiced without one or more of these specific details.

[0054] The embodiments of the present application provide a 3D vector reconstruction method for high-voltage line detection of a millimeter wave radar.

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

[0056] Step 1, read the loaded terrain detection data of the millimeter wave radar fusion, load the 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 the display of the visual picture. 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 is performed on the current 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 high-voltage line and power pole model three-dimensional vertex data, and calculation of the coordinate interpolation of high-voltage line and power pole model three-dimensional coordinates relative to terrain elevation data.

[0058] Step 3, according to the calculated high-voltage line three-dimensional vector vertex data, different modules of the high-voltage line are assigned different color values and opacity, the high-voltage line module refers to the connecting line between two detection points, the corresponding terrain model, aircraft model, high-voltage line model, and power pole model are drawn in the visual picture, the power pole model is placed at the high-voltage line center point coordinates, the direction of the power pole and the high-voltage line is adjusted according to the direction information, and 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 twice by shadow mapping to realize light projection in different scenes and enhance the three-dimensional image reality of the high-voltage line and the power pole.

[0060] Step 5, determine whether perspective transformation is needed, implement model transformation and spatial coordinate change through improved matrix transformation, and then realize perspective transformation.

[0061] Step 6, determine the threat degree 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, set the high-voltage line that reaches the alarm threshold to an alarm color, multiply the alarm color with the vector model color value and opacity, and obtain the three-dimensional display of the high-voltage line vector model in the alarm state.

[0062] Step 7, transmit the flight parameter information in the aircraft flight state through the PCIe interface or network port, use the flight parameter information, realize field of view transformation through viewpoint transformation, and complete dynamic adjustment of the three-dimensional visual picture. Among them, the flight parameter information in the aircraft flight state transmitted through the PCIe interface or network port includes 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.

[0063] Step 8, process the next line of data, repeat steps 1 to 7.

[0064] The application aims at the problem of insufficient visualization of detection results in the millimeter wave radar anti-collision mode, and provides a 3D vector reconstruction method for millimeter wave radar high-voltage line detection, which enhances the authenticity of three-dimensional images through vector reconstruction and shadow map secondary rendering, and displays the position of the high-voltage line in real time through coordinate interpolation and coordinate conversion, and continuously updates the high-voltage line detected by the radar. The method can effectively solve the problem of visualization navigation of the detected high-voltage line information of the millimeter wave radar, improve the reliability of high-voltage line warning, and ensure the safety of helicopter flight. It can be applied in the field of millimeter wave radar anti-collision.

[0065] Specifically,

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

[0067] Through the method 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 coordinate is calculated by interpolating the heights of the four sampling points; the coordinates of the detection points of the high-voltage line are defined as P(x, y), 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); the height f(R1) of R1(x, y1) is calculated by interpolating the height values of A 11 (x1, y1) and A 12 (x2, y1) in the x direction, and the height f(R2) of R2(x, y2) is calculated by interpolating the heights of A 21 (x1, y2) and A 22 (x2, y2),

[0068] Then the 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 comprises:

[0070] The center point coordinates, direction and size information of the high-voltage line are received through the PCIe interface or the network port, 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 , and the size is α, 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 corresponding to the 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 corresponding to the direction, wherein the matrix R1 and the matrix R2 are respectively:

[0071]

[0072] The leftmost, rightmost and center point coordinates of the highest edge of the power pole model are detected to obtain the high-voltage line connection point, and the row number where the high-voltage line is located 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 rightmost coordinate of the highest point is (x max ,y max ,z max ), and the center point coordinate of the highest point is (x mid ,y max ,z max ), wherein The texture data is read, and the three-dimensional image is rendered once.

[0073] The step specifically 4 comprises:

[0074] A custom frame buffer is constructed, the shadow texture is attached to the custom frame buffer, a transformation matrix B is constructed to convert from the light space to the texture space, wherein the matrix B is:

[0075] The MVP matrix of the light source perspective is multiplied by the matrix B to obtain the shadow texture matrix shadowMVP: shadowMVP = B * MVP.

[0076] The shadowMVP matrix is transmitted into the uniform variable in the vertex shader and the fragment shader, the shadow texture is enabled, the high-voltage line and the power pole model that have been placed are rendered twice, the secondary rendering includes the vertex shader and the fragment shader, and the three-dimensional image of the high-voltage line and the power pole model with the attached shadow is obtained.

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

[0078] Given that the current viewpoint is P0(x0, y0, z0), the viewpoint is changed to P now (x now ,y now ,z now ) after the perspective switching, the moving step is step, and the angle is β, wherein:

[0079] The viewpoint Pnow 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 ), and z now is obtained by bilinear interpolation:

[0080]

[0081] Substitute x now , y now and z now into the translation transformation matrix of the terrain, aircraft, power pole and high-voltage line model to realize the view 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, obtain the translation matrix T through rotating the pitch, yaw and roll angles and moving the viewpoint to the preset position, and obtain the view transformation matrix as view=T*R roll *R yaw *R pitch .

[0084] Given that the current viewpoint is P0(x0,y0,z0) and the motion viewpoint is P fly (x fly ,y fly ,z fly ), wherein P fly = viewP0; input the motion viewpoint P fly into the translation transformation matrix to obtain the motion picture and attitude of the aircraft in the flight process.

[0085] The above merely describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A 3D vector reconstruction method for millimeter wave radar high voltage line detection, characterized in that, The method comprises the following steps: Step 1, reading the loaded terrain detection data of the millimeter wave radar fusion, loading the terrain elevation data, the high-voltage line center point coordinates, the high-voltage line direction and size information, the power pole center point coordinates, the power pole direction and size information, the high-voltage line model data, the power pole model data and the texture data required for the display of the visual picture; Step 2, performing coordinate processing on the current obtained terrain and high-voltage line information: segmenting the terrain elevation data, assembling the terrain three-dimensional vertex data, assembling the aircraft fixed-point data, assembling the high-voltage line and power pole model three-dimensional vertex data, and calculating the coordinate interpolation of the high-voltage line and power pole model three-dimensional coordinates relative to the terrain elevation data; Step 3, according to the calculated high-voltage line three-dimensional vector vertex data, assigning different colors and opacities to different modules of the high-voltage line, drawing the corresponding terrain model, aircraft model, high-voltage line model and power pole model in the visual picture, placing the power pole model at the high-voltage line center point coordinates, adjusting the directions of the power pole and high-voltage line according to the direction information, scaling the power pole and high-voltage line according to the size information, placing all the models in place, reading the texture information of different models, and performing a rendering; Step 4, performing secondary rendering on the image obtained in step 3 through shadow mapping, realizing the light projection of different scenes and enhancing the three-dimensional image authenticity of the high-voltage line and power pole; Step 5, judging whether the view angle needs to be changed, realizing the transformation of the model and the change of the space coordinates through the improved matrix transformation, and then realizing the view angle transformation; Step 6, judging the threat degree of the current high-voltage line, inputting the information of the high-voltage line to be displayed into the vector reconstruction module if the threat degree does not reach the alarm threshold, and setting the high-voltage line reaching the alarm threshold as an alarm color; Step 7, inputting the flight parameter information in the aircraft flight state through the PCIe interface or the network port, realizing the field of view transformation through the view point transformation by using the flight parameter information, and completing the dynamic adjustment of the three-dimensional visual picture; Step 8, processing the next line of data, and repeating steps 1 to 7.

2. The method of claim 1, wherein, The method for calculating the coordinate interpolation of the high-voltage line and power pole model three-dimensional coordinates relative to the terrain elevation data comprises the following steps: The four sampling points closest to the high-voltage line and the terrain are calculated through the bilinear interpolation, and the terrain height under the high-voltage line model coordinates is calculated through the interpolation of the heights 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 (x2,y1) are interpolated in the x direction to calculate the height f(R1) of R1(x,y1) and A 21 (x1,y2) and A 22 (x2,y2) are interpolated in the x direction to calculate the height f(R2) of R2(x,y2), The height value f(P) of the final P(x,y) is then calculated by interpolation in the y direction from R1(x,y1) and R2(x,y2), 3. The method of claim 1, wherein, The step 3 specifically comprises the following steps: The high-voltage line center point coordinates, direction and size information are received through a PCle interface or a network port, a power pole model is placed at the center point coordinates of the power pole detection point, and the direction of the high-voltage line to be displayed is known as The power pole model and the high-voltage line model are multiplied by a scaling matrix R1 with a size of a, to obtain a power pole and a high-voltage line corresponding in size, and then the power pole model and the high-voltage line model are multiplied by a rotation matrix R2, to obtain a power pole and a high-voltage line corresponding in direction, wherein the matrix R1 and the matrix R2 are respectively: The leftmost side, the rightmost side and the center point coordinates of the highest edge of the power pole model are detected to obtain the high-voltage line connection point, the row number where the high-voltage line is located is inquired, 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 rightmost coordinate of the highest point is (x max , y max , z max ), and the center coordinate of the highest point is (x mid , y max , z max ), wherein, The texture data is read to perform a rendering on the three-dimensional image.

4. The method of claim 1, wherein, The step 4 specifically comprises the following steps: A custom frame buffer is constructed, the shadow texture is attached to the custom frame buffer, a transformation matrix B is constructed to convert from the light space to the texture space, wherein the matrix B is: The MVP matrix of the light source view angle is multiplied by the matrix B to obtain a shadow texture matrix shadowMVP: shadowMVP = B * MVP; The shadowMVP matrix is transmitted into the uniform variable in the vertex shader and the fragment shader, the shadow texture is enabled, the high-voltage line and the power pole model which have been placed are rendered twice to obtain the three-dimensional image of the high-voltage line and the power pole with the added shadow.

5. The method of claim 1, wherein, In the step 5, if the perspective transformation is needed, the viewpoint is converted to the coordinate value on the corresponding model coordinate system, the terrain, the aircraft, the power pole and the high-voltage line model are directly translated and transformed, and the three-dimensional view picture of the current area is presented from the line-of-sight direction of each model; The current viewpoint is known as P0(x0, y0, z0), and the viewpoint becomes P now (x now , y now , z now ) after the viewpoint switching, the moving step is step, and the angle is β, wherein: Find the view point P after view switch now The four closest terrain sampling points, 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 Obtained by bilinear interpolation x now , y now , and z now are substituted into the translation transformation matrix of the terrain, aircraft, power pole and high-voltage line model respectively to realize the view angle switching.

6. The method of claim 5, wherein, The step 7 specifically comprises: The rotation around the x-axis is defined as a pitch angle, the rotation around the y-axis is defined as a yaw angle, and the rotation around the z-axis is defined as a roll angle. By rotating the pitch, yaw, and roll angles and moving the viewpoint to a preset position, a translation matrix T is obtained through the position and the speed, and a view angle transformation matrix is obtained as: view=T*R roll *R yaw *R pitch ; The current viewpoint is known to be P0(x0, y0, z0) and the motioned viewpoint becomes P fly (x fly , y fly , z fly ) where P fly = viewP0; The post-movement viewpoint P fly Input the translation transformation matrix to obtain the motion picture and the attitude in the flight process of the aircraft.

7. The method of claim 1, wherein, In the step 1, the texture data comprises terrain texture, sky texture, aircraft model texture and high-voltage line and power pole texture.

8. The method of claim 1, wherein, In the step 7, the flight parameter information in the flight state of the aircraft is transmitted through the PCIe interface or the network interface, the flight parameter information comprises flight attitude, aircraft position and flight speed, and the dynamic adjustment of the three-dimensional view picture comprises the movement of the view picture and the attitude adjustment of the aircraft model.

Images