Radar video data three-dimensional reconstruction and display method

Abstract

The invention discloses a radar video data three-dimensional reconstruction and display method, which comprises the following steps of: 1, establishing a two-dimensional texture array of echo data of the same elevation angle and different orientations according to the number of radar elevation beams and the number of orientations, and setting the length of the two-dimensional texture array; 2, creating a three-dimensional scene, and drawing a cone; mapping the two-dimensional texture array into a corresponding cone object; 3, the two-dimensional texture array is filled with echo data, the two-dimensional texture is refreshed at regular time, the corresponding cones are updated, and updating of the three-dimensional scene is completed. The implementation method is simple, the requirement for graphic processing equipment is low, a large number of computing resources are not needed, and a good video echo three-dimensional display effect can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of radar video data, and in particular relates to a three-dimensional reconstruction and display method of radar video data. Background Art

[0002] As an important means of detection and testing, radar is widely used in military, meteorological, geological, transportation and other fields. When receiving and processing radar video echo data, radar equipment usually generates a large amount of data, which contains rich spatial information. However, conventional PPI display can only display two-dimensional plane information. The three-dimensional display of radar video echo can enrich the information of radar echo and improve the operator's judgment level.

[0003] At present, the conventional radar data 3D reconstruction and display methods have the following main problems. Existing 3D display methods usually require high-performance graphics processing equipment and a large amount of computing resources, such as high-performance graphics cards and processors, to achieve high-quality 3D effects. However, for some devices with limited resources, such as some domestically produced devices, especially embedded domestically produced devices, due to the limitations of their hardware performance, they cannot meet the requirements of high-performance graphics processing and cannot achieve high-quality 3D display effects, which affects the display effect of radar echoes.

[0004] In view of the above problems, the present invention proposes a method for three-dimensional reconstruction and display of radar video data, which has a simple implementation method, has low requirements on graphics processing equipment, and does not require a large amount of computing resources to achieve a relatively good three-dimensional display effect of video echoes. Summary of the invention

[0005] The present invention aims to provide a radar video data three-dimensional reconstruction and display method, which can achieve a relatively good video echo three-dimensional display effect in an equipment environment with low computing power, thereby reducing the cost of radar system development and maintenance.

[0006] In order to achieve the purpose of the present invention, the present invention provides a method for three-dimensional reconstruction and display of radar video data, comprising the following steps: Step 1: establishing Ne two-dimensional texture arrays Ntex representing echo data of different azimuths at the same elevation angle according to the number of radar elevation beams and the number of azimuths, and setting the length Nd of the two-dimensional texture array;

[0007] Step 2: Create a three-dimensional scene and draw a cone; map the two-dimensional texture array Ntex to the corresponding cone Cn object;

[0008] Step 3: Fill the two-dimensional texture array Ntex with echo data, refresh the two-dimensional texture regularly, update the corresponding cone Cn, and complete the update of the three-dimensional scene.

[0009] Furthermore, the step 1 is specifically as follows:

[0010] Count the number of beam elevation angles Ne in the radar video echo, and establish Ne two-dimensional texture arrays Ntex. The two-dimensional texture array Ntex stores echo data of the same elevation angle at different azimuths. The length Nd of the two-dimensional texture array is set according to the maximum number of range units Nmax of the radar, where Nd=Nmax / k (k=1, 2, 4, 8...), k is the compression multiple, and Nmax<8192, and the width is the number of radar azimuths Na; when the range unit length is too large and exceeds the processing capacity of the device, the data is sampled proportionally;

[0011] Each column of data in the two-dimensional texture array Ntex represents data of one orientation, and the data includes RGBA4 color values.

[0012] Furthermore, the step 2 comprises the following steps:

[0013] 2-1. Create a three-dimensional scene: create a three-dimensional scene with a length of 3Nd, a width of 3Nd, and a height of 1.5Nd, and set the X-axis and Y-axis of the three-dimensional scene according to the number of the maximum range units of the radar;

[0014] 2-2. Draw a cone: Take the beam elevation angle En as the cone angle and draw Ne cones Cn; the cone Cn is a bottomless cone, whose vertex coordinates are fixed to the scene center point and are parallel to the Y axis. The cone Cn corresponds to the two-dimensional texture array Ntex one by one, and the cone Cn is inverted and stacked with the scene center point as the vertex; the cone angle of the cone Cn corresponds to the beam elevation array ELE of the two-dimensional array, its vertex angle is 2*(90-ELE), and the side length of the cone is the number of radar maximum distance units;

[0015] 2-3. Binding the texture array and the cone: Bind the two-dimensional texture array Ntex to its corresponding cone Cn.

[0016] Furthermore, the step 3 comprises the following steps:

[0017] 3-1. Echo data reconstruction and filling: Enable the receiving program. When receiving radar data, quantize the echo data, take the direction of the received data as the X-axis and the distance as the Y-axis, and fill the data into the coordinates (x, y) of the two-dimensional texture array Ntex;

[0018] 3-2. Refresh texture: refresh the two-dimensional texture regularly at a rate of 30 frames / second or 60 frames / second; at the same time, update the drawing of the cone Cn in the scene to complete the update of the three-dimensional scene.

[0019] Furthermore, the A value in the RGBA is fixed to 130.

[0020] Furthermore, the two-dimensional texture array Ntex in step 2-2 must be rotated 90 degrees counterclockwise when mapped to the corresponding cone Cn object.

[0021] Furthermore, the values ​​of the echo data quantization range of 0-200 in step 3-1 are filled into the corresponding values ​​of the two-dimensional texture array Ntex.

[0022] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned method for three-dimensional reconstruction and display of radar video data is implemented.

[0023] A non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions are used to enable the computer to execute the above-mentioned radar video data three-dimensional reconstruction and display method.

[0024] A computer program product includes computer program instructions. When the computer program instructions are run on a computer, the computer is enabled to execute the above-mentioned radar video data three-dimensional reconstruction and display method.

[0025] Compared with the prior art, the significant improvements of the present invention are: (1) The design method of the present invention has a wider scope of application, and the required OPENGL version is only version 1.1, which can adapt to most current graphics processing devices; (2) The graphics processing capability and computing power of the equipment required by the present invention are lower than those of other conventional methods, and a relatively good video echo three-dimensional display effect can be achieved on devices with limited graphics and computing resources such as domestic or embedded devices.

[0026] 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

[0027] 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:

[0028] Figure 1 It is a flow chart of the steps of the present invention;

[0029] Figure 2 This is a front view effect diagram of an example of the present invention;

[0030] Figure 3 It is a side view effect diagram of an example of the present invention. DETAILED DESCRIPTION

[0031] 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.

[0032] A radar video data three-dimensional reconstruction and display method of the present invention, combined with Figure 1 , including the following steps:

[0033] Step 1: According to the number of radar elevation beams and azimuths, establish Ne two-dimensional texture arrays Ntex representing echo data at the same elevation angle but different azimuths, and set the length of the two-dimensional texture array Nd;

[0034] The number of beam elevation angles Ne in the radar video echo is counted, and Ne two-dimensional texture arrays Ntex are established; in this example, the number of beam elevation angles is 5, and the beam elevation angle array ELE={0°, 10°, 20°, 35°, 60°}, and the two-dimensional texture array Ntex stores echo data of the same elevation angle in different azimuths. The length of the two-dimensional texture array Nd is set according to the maximum number of range units Nmax of the radar, Nd=Nmax / k (k=1, 2, 4, 8...), k is the compression multiple, and Nmax≤8192, and the width is the number of radar azimuths Na; when the range unit length is too large and exceeds the processing capacity of the equipment, the data is sampled proportionally; if the range unit length is 2000, the larger of the two is selected and compressed to a length of 1000; in this example, the maximum length of each texture array is set to 1000, and the number of radar azimuths is set to 8192;

[0035] Each column of data in the two-dimensional texture array Ntex represents data of one direction, each data contains RGBA4 color values, and the corresponding two-dimensional array is assigned according to the radar echo data. For conventional radar echo, generally only its G (Green) value and A (Alpha channel) value need to be assigned, and the A (Alpha channel) value is fixed to 130.

[0036] Step 2: Create a three-dimensional scene and draw a cone; map the two-dimensional texture array Ntex to the corresponding cone Cn object;

[0037] 2-1. Create a three-dimensional scene: Create a three-dimensional scene with a length of 3Nd, a width of 3Nd, and a height of 1.5Nd, and set its X-axis and Y-axis according to the maximum number of radar distance units of 1000; the X-axis range is (-1500, 1500), and the Y-axis range is (0, 1500), that is, create a three-dimensional space with a length of 4500, a width of 4500, and a height of 1500, and the center point of the scene is located at the geometric center of the space (0, 0, 0);

[0038] 2-2. Draw a cone: Take the beam elevation angle En as the cone angle and draw Ne cones Cn; in this example, there are 5 elevation angles ELE, so 5 cones Cn are drawn. The cone Cn is a bottomless cone, and its vertex coordinates are fixed to the scene center point (0,0,0) and are parallel to the Y axis. The cone Cn corresponds to the two-dimensional texture array Ntex one by one. The cone Cn is inverted and stacked with the scene center point as the vertex; the cone angle of the cone Cn corresponds to the beam elevation array ELE of the two-dimensional array, and its vertex angle is 2*(90-ELE). The side length of the cone is 1000, which is the maximum distance unit number of the radar. The two-dimensional texture array Ntex must be rotated 90 degrees counterclockwise when mapped to the corresponding cone Cn object;

[0039] 2-3. Bind texture array and cone: Bind the two-dimensional texture array Ntex to its corresponding cone Cn. In this example, the five two-dimensional arrays are respectively rotated 90 degrees counterclockwise from the corresponding cone and mapped to the corresponding cone object surface.

[0040] Step 3: Fill the two-dimensional texture array Ntex with echo data, refresh the two-dimensional texture regularly, update the corresponding cone Cn, and complete the update of the three-dimensional scene;

[0041] 3-1. Reconstruction and filling of echo data: Enable the receiving program. In this example, the compression factor k of the data N1=Nd / k (k=1, 2, 4, 8, 16...) is set to 1, that is, the data is not compressed; when the radar data is received, the echo data is quantized in real time, with the azimuth of the received data as the X-axis and the distance as the Y-axis, and the data is filled into the coordinates (x, y) of the two-dimensional texture array Ntex to ensure that the data is stored sequentially in the memory during filling, reduce the jump overhead, and ensure the maximum filling speed; in this example, the quantization range of the echo data is 0-200, that is, all data are mapped to values ​​between 0-200.

[0042] 3-2. Refresh texture: refresh the 2D texture regularly at a rate of 30 frames / second or 60 frames / second; in this example, a timer is set in the system to refresh the 2D texture regularly at 30 frames / second, and at the same time update the drawing of the cone Cn in the scene to complete the update of the 3D scene. The display effect is as follows Figure 2 and Figure 3 As shown;

[0043] Specifically, Figure 2 and Figure 3 The three-dimensional reconstruction and display of radar video echo data are shown. The green in the picture is the radar echo, and the black is the system background color. The green echo is discretely distributed in space, which conforms to the distribution characteristics of radar echo in the air and shows the image of radar echo in three-dimensional space. Figure 2 and Figure 3 Taking the multi-angle observation of echo distribution as an example, we can better judge the characteristics of the target. Not only can we clearly check the target direction and distance in the echo, but we can also check the height of the target in the echo and the spatial distribution of the target echo. Figure 3 Generally, the target is identified from multiple angles.

[0044] 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.

[0045] 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 method for three-dimensional reconstruction and display of radar video data, characterized in that: The following steps are involved: Step 1: According to the number of radar elevation beams and azimuths, establish Ne two-dimensional texture arrays Ntex representing echo data at the same elevation angle but different azimuths, and set the length of the two-dimensional texture array Nd; Step 2: Create a three-dimensional scene and draw a cone; map the two-dimensional texture array Ntex to the corresponding cone Cn object; Step 3: Fill the two-dimensional texture array Ntex with echo data, refresh the two-dimensional texture regularly, update the corresponding cone Cn, and complete the update of the three-dimensional scene.

2. The method for three-dimensional reconstruction and display of radar video data according to claim 1, characterized in that: The step 1 is specifically as follows: The number of beam elevation angles Ne in the radar video echo is counted to establish Ne two-dimensional texture arrays Ntex; the two-dimensional texture array Ntex stores echo data of the same elevation angle at different azimuths, and the length Nd of the two-dimensional texture array is set according to the maximum number of range units Nmax of the radar, Nd=Nmax / k (k=1,2,4,8...), k is the compression multiple, and Nmax≤8192, and the width is the number of radar azimuths Na; when the range unit length is too large and exceeds the processing capacity of the device, the data is sampled proportionally; Each column of data in the two-dimensional texture array Ntex represents data of one orientation, and the data includes RGBA4 color values.

3. The method for three-dimensional reconstruction and display of radar video data according to claim 1, characterized in that: The step 2 comprises the following steps: 2-1. Create a three-dimensional scene: create a three-dimensional scene with a length of 3Nd, a width of 3Nd, and a height of 1.5Nd, and set the X-axis and Y-axis of the three-dimensional scene according to the number of the maximum range units of the radar; 2-2. Draw a cone: Take the beam elevation angle En as the cone angle and draw Ne cones Cn; the cone Cn is a bottomless cone, whose vertex coordinates are fixed to the scene center point and are parallel to the Y axis. The cone Cn corresponds to the two-dimensional texture array Ntex one by one, and the cone Cn is inverted and stacked with the scene center point as the vertex; the cone angle of the cone Cn corresponds to the beam elevation array ELE of the two-dimensional array, its vertex angle is 2*(90-ELE), and the side length of the cone is the number of radar maximum distance units; 2-3. Binding the texture array and the cone: Bind the two-dimensional texture array Ntex to its corresponding cone Cn.

4. The method for three-dimensional reconstruction and display of radar video data according to claim 1, characterized in that: The step 3 comprises the following steps: 3-1. Echo data reconstruction and filling: Enable the receiving program. When receiving radar data, quantize the echo data, take the direction of the received data as the X-axis and the distance as the Y-axis, and fill the data into the coordinates (x, y) of the two-dimensional texture array Ntex; 3-2. Refresh texture: refresh the two-dimensional texture regularly at a rate of 30 frames / second or 60 frames / second; at the same time, update the drawing of the cone Cn in the scene to complete the update of the three-dimensional scene.

5. The method for three-dimensional reconstruction and display of radar video data according to claim 2, characterized in that: The A value in the RGBA is fixed to 130.

6. The method for three-dimensional reconstruction and display of radar video data according to claim 3, characterized in that: The two-dimensional texture array Ntex in step 2-2 must be rotated 90 degrees counterclockwise when mapped to the corresponding cone Cn object.

7. The method for three-dimensional reconstruction and display of radar video data according to claim 4, characterized in that: The echo data quantization range of 0-200 in step 3-1 is filled into the corresponding value of the two-dimensional texture array Ntex.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method of any one of claims 1 to 7.

10. A computer program product comprising computer program instructions, characterized in that When the computer program instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 7.

Images