A map display and plotting method and system for a nationally produced display and control system

Abstract

The application relates to a map display and plotting method and system for a national production display control system and relates to the technical field of digital map generation. The map display and plotting method comprises the following steps: converting and blocking original vector map data to obtain a plurality of map data blocks, and calculating corresponding block memory occupation; creating a plurality of data receiving threads, receiving and analyzing positioning protocol data transmitted by a Beidou navigation module, and extracting satellite positioning information; converting and filtering satellite positioning information according to a screen plane coordinate system to obtain screen positioning information; according to a double-buffer differential plotting mechanism, the screen positioning information is plotted to the map data block, and is rendered and displayed in combination with the block memory occupation; through map blocking loading, double-buffer plotting and an incremental updating mechanism, smooth map operation and high-frequency target refreshing under limited computing power are realized; through a multi-thread architecture design, balanced resource allocation is guaranteed, and low delay from data receiving to map display is ensured.

Description

Technical Field

[0001] This invention relates to the field of digital map generation technology, and in particular to a map display and plotting method and system for a fully domestically produced display and control system. Background Technology

[0002] With the increasing importance of information technology security, there is an urgent need for fully domestically produced software and hardware platforms in fields such as national defense and critical infrastructure. Existing high-performance display and control systems largely rely on foreign commercial processors, operating systems (such as Windows and general-purpose Linux), and graphics libraries, posing significant information security risks.

[0003] Although Loongson processors, Kylin operating systems, and BeiDou navigation systems are mature and in use, integrating them into performance-constrained embedded display and control terminals to achieve efficient, stable, and real-time map display and target plotting is still a challenge.

[0004] Application number CN202011034614.3 discloses a method, system, and device for dynamically configuring and displaying electronic map layers. The method includes: configuring layer information using a preset visual interface and obtaining basic layer configuration information; requesting an electronic map service to obtain map tiles and rendering the map; sending a request to the backend to obtain interface information of the layer to be rendered and interface configuration information of the interface; rendering the layer using both immediate rendering and dynamic rendering modes; and obtaining layer configuration information from the layer configuration interface after rendering is complete. This invention enables dynamic configuration and display of layer information through a visual interface.

[0005] The existing technical solutions mentioned above have the following drawbacks: 1. The computing power of existing domestic CPUs in embedded scenarios lags behind that of mainstream commercial chips. Directly porting traditional map engines based on GPU acceleration or complex algorithms will result in low rendering efficiency and interface lag; 2. The raw positioning data output by the Beidou module contains noise and fluctuations, which are particularly noticeable in complex electromagnetic environments or occlusion environments. Directly using the raw positioning data for plotting will lead to trajectory jitter and inaccurate positioning, making it difficult to meet the requirements of high-end applications. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a map display and plotting method and system for a fully domestically produced display and control system. Through map block loading, double-buffered plotting, and incremental update mechanisms, it achieves smooth map operation and high-frequency target refresh under limited computing power. Through multi-threaded architecture design, it ensures balanced resource allocation and low latency from data reception to map display, meeting the stringent real-time requirements of military, industrial, and other fields.

[0007] The objective of this invention is achieved through the following technical solution: A map display and plotting method for a fully domestically produced display and control system, comprising: Based on the preset underlying graphics interface conversion and block-based original vector map data, several map data blocks are obtained, and the memory occupied by the corresponding map blocks is calculated. Create several data receiving threads to receive and parse the positioning protocol data transmitted by the Beidou navigation module, and extract satellite positioning information; Based on the transformation of the screen plane coordinate system and adaptive filtering, the satellite positioning information is obtained; According to the preset double-buffered differential drawing mechanism, the screen positioning information is plotted to the map data block, and the memory occupied by the map block is combined for rendering and display.

[0008] By adopting the above technical solution, the original vector map is preprocessed into a pyramid-structured tile database using the Mercator projection algorithm, and the LRU algorithm is used to dynamically manage the tile memory. Then, a multi-threaded mechanism is used to receive and parse the NMEA-0183 protocol data from the Beidou module in real time. After Mercator projection transformation, the coordinates are intelligently smoothed using an adaptive Kalman filter algorithm (which dynamically adjusts the Q / R matrix based on satellite signal strength and motion state). Finally, under the double-buffered drawing mechanism, only targets with changing positions are locally redrawn (dirty rectangle detection), and a differentiated icon strategy is used for plotting. This achieves high refresh rate and low memory usage while ensuring positioning accuracy and display stability.

[0009] The present invention is further configured such that: the specific steps of obtaining several map data blocks based on the preset underlying graphics interface conversion and block-based original vector map data, and calculating the memory occupied by the corresponding map blocks, include: The original vector map data is traversed to obtain several vector coordinate points; Data cleaning is performed on all the vector coordinate points to obtain several unique coordinate points; Based on the scaling factor, all the unique coordinate points are quantized and topologically compressed to obtain several simplified coordinate points. Based on the data attributes, all the simplified coordinate points are separated and associated to obtain geometric key-value pairs; The geometric key-value pairs are converted according to the preset underlying graphics interface to generate a graphics coordinate dataset; The graphic coordinate dataset is divided into several graphic coordinate layers according to a preset hierarchical ratio. The entire graphic coordinate layer is divided according to the preset tile size to obtain several map data blocks; The access frequency of all the map data blocks is calculated to obtain the activity level of the blocks, and then compared with a preset activity threshold to obtain the active data blocks. Based on the viewport center point and zoom level, the active data blocks are loaded to obtain the memory usage of the corresponding tiles.

[0010] By adopting the above technical solution, the original vector map is first subjected to Douglas-Peucker coordinate quantization and topological compression to generate geometric key-value pairs. Then, the graphic coordinate dataset is divided into preset hierarchical proportions using a quadtree layering strategy, and spatial blocks are formed based on preset tile sizes. Subsequently, the tile access frequency is calculated based on the LRU (Least Recently Used) algorithm to filter active data blocks, and tiles are dynamically loaded according to the viewport center point and zoom level. Finally, the memory usage of the tiles is calculated through Mercator projection transformation. The use of topological compression (run-length encoding / quadtree) and dynamic loading strategies improves the compression ratio; at the same time, the viewport preloading mechanism improves rendering efficiency, achieving a balance between high accuracy and real-time performance.

[0011] The present invention is further configured such that the specific steps of creating several data receiving threads to receive and parse the positioning protocol data transmitted by the BeiDou navigation module and extract satellite positioning information include: Connect to the Beidou navigation module according to the preset serial port parameters and create a corresponding data receiving thread; According to the data receiving thread, the serial port data stream transmitted by the Beidou navigation module is received to obtain positioning protocol data; The positioning protocol data is segmented and parsed to obtain the frame header, middle character frame, and frame tail; Perform an XOR operation on the intermediate character frame to obtain the character XOR value, and then verify it with the end of the frame. If the XOR value of the character is the same as the frame tail, it is determined that the current positioning protocol data is correct, and the corresponding positioning information is extracted by matching the frame header. If the frame header is a key frame, then extract key positioning information including Coordinated Universal Time, latitude and longitude, positioning status, number of satellites, precision factor and altitude in sequence according to the field index; If the frame header is an extended frame, then the Coordinated Universal Time and latitude and longitude of the extended frame are matched with those of the key frame; if they are the same, then extended positioning information containing satellite signal strength, ground velocity and heading angle is extracted. The key positioning information and the extended positioning information are integrated according to a preset positioning storage format to obtain satellite positioning information.

[0012] By adopting the above technical solution, the system receives the raw BeiDou data stream by creating a multi-threaded serial communication link, and ensures protocol integrity by using frame header identification and segmentation, and XOR verification (such as the XOR-8 algorithm). Based on the spatiotemporal matching mechanism of key frames (such as GPGGA) and extended frames (such as GPVTG), positioning parameters (including core data such as time, coordinates, and status, as well as extended information such as speed and heading) are extracted in layers. Finally, the system is integrated into structured positioning information. Through multiple verification and frame coordination mechanisms, the system ensures the real-time performance, reliability, and information completeness of BeiDou module data parsing, which is especially suitable for highly dynamic navigation scenarios.

[0013] The present invention is further configured such that: the specific steps of obtaining screen positioning information by transforming the satellite positioning information according to the screen plane coordinate system and adaptively filtering the satellite positioning information include: The screen is monitored and analyzed to obtain several screen pixel values; The screen pixel values ​​are aggregated into regions according to a preset pixel threshold, the effective screen size is calculated, and a screen planar coordinate system is constructed. The scaling ratio is calculated based on the map size and the effective screen size, and the satellite positioning information is mapped by combining the center offset to obtain the planar positioning tuple. The planar positioning tuple is transformed to obtain the initial state vector, and the state covariance matrix is ​​initialized. The initial state vector is updated based on the preset state transition matrix and the state covariance matrix, and the process noise covariance matrix is ​​added to obtain the state update vector. The difference between the actual state vector and the state update vector is calculated, and combined with the measurement noise covariance matrix, the innovation theory covariance matrix is ​​obtained. The filter gain is obtained by performing calculations on the innovation theory covariance matrix and the state update vector. The satellite signal strength and target motion status are monitored based on time series data, and the signal strength difference and quantified motion strength difference are calculated. If the signal strength difference is negative or the motion strength difference is positive, then the filter gain is corrected and the state update vector is selected as the target positioning information; Otherwise, the actual state vector is selected as the target positioning information; The target positioning information is projected and transformed according to the screen plane coordinate system to obtain the screen positioning information.

[0014] By adopting the above technical solution, a screen plane coordinate system is constructed by analyzing screen pixels. After mapping satellite positioning information into planar tuples, an adaptive Kalman filter is introduced (using the state transition matrix to update the vector and add process noise). The filter gain is dynamically adjusted in combination with the real-time satellite signal strength and target motion state. When the signal weakens (intensity difference is negative) or the motion intensifies (intensity difference is positive), the predicted value is preferred; otherwise, the observed value is used. Finally, the positioning information is projected onto the screen coordinate system and output. The adaptive correction of the filter parameters is achieved through environmental perception, which significantly improves the positioning stability and display accuracy in signal fluctuation or high-speed motion scenarios, while ensuring the adaptive rendering efficiency of screen mapping.

[0015] The present invention is further configured such that: the specific steps of plotting the screen positioning information to the map data block according to the preset double-buffered differential drawing mechanism, and rendering and displaying the map data block in conjunction with the memory usage of the map data block include: Project the screen positioning information to obtain the positioning information inside the map; The positioning information inside the map is instantiated according to the business logic to obtain the positioning instance graphic and the target positioning coordinates; The target map block is determined by matching all map data blocks based on the location instance graphic. The screen memory area is divided according to the preset double-buffered differential drawing mechanism to obtain the foreground display area and the background drawing area. Match all map data blocks stored in the screen's display memory area based on the current target map block; If the target map tile is located in the screen's display memory area, the foreground display area reads it directly; otherwise, the background drawing area loads the current target map tile. The target map tiles are scheduled according to the screen's field of view, and the tile row and column numbers and tile levels are calculated. The location instance graphic is drawn according to the row and column numbers of the tile to obtain the map area layer; The target positioning coordinates are marked according to the tile hierarchy to obtain the vector layer; The map region layer and the vector layer are overlaid and rendered based on the base map raster layer to form a complete screen map; The dynamic positioning information in the foreground display area is drawn according to the memory occupied by the tiles, and all the positioning instance graphics displayed on the current screen are cropped and drawn.

[0016] By adopting the above technical solution, after converting the screen positioning information into map internal coordinates through projection transformation and instantiating it into a graphic object, the target map tile is dynamically scheduled using a dual-buffering mechanism (dividing the foreground display area and the background drawing area): if the target tile is already in the video memory, it is directly read in the foreground; otherwise, it is loaded asynchronously in the background. At the same time, the row and column numbers and levels of the tile are calculated based on the screen view to draw the map area layer and the vector marker layer. Finally, the base map raster is overlaid for rendering, and the dynamic positioning information is clipped and drawn according to the tile memory usage, achieving efficient and smooth map drawing. The dual-buffering mechanism eliminates rendering lag, and differential updates only redraw the changed areas. Combined with memory-aware clipping drawing, resource consumption is greatly reduced. By separating business logic and rendering logic through projection transformation and instantiation, multi-level coordinate markers (such as vector pins overlaid with the base map) are supported, adapting to complex geographic information scenarios.

[0017] The present invention is further configured such that the operation flow of the double-buffered differential drawing mechanism is as follows: The screen memory area is divided, and the background drawing area and the foreground display area are constructed by combining the memory bitmap and the screen resolution. Based on the target type, the internal positioning information of the map is plotted to obtain the corresponding positioning instance graphic; Dirty rectangle detection is performed on the target state to identify the target's movement distance, state transition, and target addition / deletion, and change flags are marked. Based on the change marker and the location instance graphic, a partial change map is drawn on the complete map template of the background drawing area to obtain the partial change map. The locally modified map is transmitted according to a preset buffer exchange layer and exchanged with the complete screen map in the front-end display area to display the updated screen map.

[0018] By adopting the above technical solution, the screen's video memory is divided into a foreground display area and a background rendering area. A dirty rectangle detection algorithm (based on target movement distance, state switching, and marking changed areas by additions and deletions) is used to locally render the located instance graphics. BitBlt or a similar fast bitmap transfer algorithm is then used to differentially exchange the locally changed map buffered in the background with the complete screen map in the foreground, ultimately achieving flicker-free and efficient rendering. The double-buffering mechanism completely eliminates screen tearing and flickering. Dirty rectangle detection accurately locates the smallest redraw area (updating only the dynamically changing parts of the target). Differential exchange reduces redundant data transmission. Combined with memory bitmaps and resolution-adaptive local clipping rendering, the CPU / GPU load is significantly reduced, improving real-time response performance and rendering smoothness in large-scale dynamic map scenarios.

[0019] Secondly, the present invention also provides a map display and plotting system for a fully domestically produced display and control system, employing the following technical solution: A map display and plotting system for a fully domestically produced display and control system, applied to the aforementioned map display and plotting method for a fully domestically produced display and control system, comprising: The conversion and segmentation module is used to convert and segment the original vector map data into several map data blocks, and calculate the memory usage of the corresponding blocks. The information receiving module is used to receive and parse the positioning protocol data transmitted by the Beidou navigation module through the data receiving thread, and extract satellite positioning information; The coordinate transformation module is used to transform and adaptively filter the satellite positioning information according to the screen plane coordinate system to obtain the screen positioning information; The plotting and display module is used to plot the screen positioning information to the map data block according to the preset double-buffered differential drawing mechanism, and to render and display the map data block in combination with the memory occupied by the map block.

[0020] By adopting the above technical solution, the original vector map is divided into tiled data blocks with pre-calculated memory usage by the transformation and segmentation module (using a quadtree spatial indexing algorithm). The information receiving module (based on the NMEA-0183 protocol to parse BeiDou positioning data) obtains satellite information. The coordinate transformation module (using affine transformation combined with an adaptive Kalman filter algorithm) eliminates positioning jitter and outputs screen coordinates. Finally, the plotting and display module (relying on dirty rectangle detection and double-buffered BitBlt transmission) realizes local differential rendering of dynamic targets. The tiled data blocks and memory pre-calculation mechanism significantly reduce the real-time rendering load, the adaptive filtering improves the smoothness of the positioning trajectory, and the double-buffered differential update only redraws the changing areas (such as the area around the moving target), greatly reducing the GPU rendering pressure and video memory bandwidth usage. Ultimately, high frame rate and low latency large-scale dynamic map smooth display is achieved on embedded devices.

[0021] Thirdly, the present invention also provides an electronic device, comprising: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement any of the methods described in the above scheme.

[0022] Fourthly, the present invention also provides a storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the map display and plotting method for a fully domestically produced display and control system as described above.

[0023] In summary, the beneficial technical effects of the present invention are as follows: 1. By using map tile loading, double-buffered drawing, and incremental update mechanisms, smooth map operation and high-frequency target refresh are achieved under limited computing power; 2. Through multi-threaded architecture design, balanced resource allocation is ensured, low latency is guaranteed from data reception to map display, and the stringent real-time requirements of military, industrial and other fields are met. Attached Figure Description

[0024] Figure 1 This is a flowchart illustrating a map display and plotting method according to one embodiment of the present invention.

[0025] Figure 2 This is a flowchart illustrating a map display and plotting method according to one embodiment of the present invention.

[0026] Figure 3 This is a flowchart illustrating the double-buffered differential drawing mechanism of one embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of a map display and plotting system according to one embodiment of the present invention. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Example 1: Reference Figure 1 The present invention discloses a map display and plotting method for a fully domestically produced display and control system, comprising: S1: Based on the preset underlying graphics interface conversion and block-based original vector map data, obtain several map data blocks and calculate the memory occupied by the corresponding blocks; S2: Create several data receiving threads to receive and parse the positioning protocol data transmitted by the Beidou navigation module, and extract satellite positioning information; S3: Based on the transformation of the screen plane coordinate system and adaptive filtering, the satellite positioning information is obtained; S4: According to the preset double-buffered differential drawing mechanism, the screen positioning information is plotted to the map data block, and the memory occupied by the map block is combined for rendering and display.

[0030] In this embodiment, a dual-buffered differential drawing mechanism is used: flickering is avoided by switching between the foreground buffer (display) and the background buffer (drawing), and only the local areas that have changed are redrawn (differential update). Adaptive filtering: Adjust filter parameters (such as Kalman gain) in real time based on the noise statistics of the positioning data to suppress high-frequency jitter.

[0031] The implementation principle of this embodiment is as follows: the vector map is cut into multi-level tiles by quadtree indexing, the memory usage of each tile is pre-calculated and an LRU cache pool is established to achieve dynamic loading and reclamation; the receiving thread managed by the thread pool parses the Beidou NMEA-0183 protocol, and passes it to the coordinate stage for affine transformation (world coordinates → screen coordinates) through a circular buffer, and uses Kalman filtering with noise covariance matrix adaptation to suppress positioning jitter; in the plotting stage, the dynamic target coverage area is detected by dirty rectangle, and only the tiles in this area are updated in the double buffer background. Combined with texture compression technology, the amount of data transmitted to the video memory is reduced, and finally the screen is refreshed locally through BitBlt operation to achieve smooth dynamic positioning display with high frame rate and low latency in the embedded environment.

[0032] Example 2: Step S1 includes: The original vector map data is traversed to obtain several vector coordinate points; Data cleaning is performed on all the vector coordinate points to obtain several unique coordinate points; Based on the scaling factor, all the unique coordinate points are quantized and topologically compressed to obtain several simplified coordinate points. Based on the data attributes, all the simplified coordinate points are separated and associated to obtain geometric key-value pairs; The geometric key-value pairs are converted according to the preset underlying graphics interface to generate a graphics coordinate dataset; The graphic coordinate dataset is divided into several graphic coordinate layers according to a preset hierarchical ratio. The entire graphic coordinate layer is divided according to the preset tile size to obtain several map data blocks; The access frequency of all the map data blocks is calculated to obtain the activity level of the blocks, and then compared with a preset activity threshold to obtain the active data blocks. Based on the viewport center point and zoom level, the active data blocks are loaded to obtain the memory usage of the corresponding tiles.

[0033] In this embodiment, the scaling factor is the mapping coefficient between the map scaling level Z and the actual geographic scale, and the formula is Scale=2^Z\cdot(256 / Earth's circumference). Active threshold: 3D vector Tactive=(fmin,dmax,Wmin), default value (2 times / second, 600 pixels, 0.6); Geometric key-value pairs: The geometric description and attribute association structure of vector features, where the key is the feature spatial index (such as Hilbert encoding) and the value is the vertex coordinate string and attribute pointer; Hierarchical scale: A predefined set of discrete scales (e.g., 1:1000, 1:5000), which is used to achieve multi-resolution nesting through a quadtree.

[0034] The implementation principle of this embodiment is as follows: the topological integrity is constrained during quantization compression using the Douglas-Puk algorithm to generate geometric key-value pairs with attribute pointers; after dividing the pyramid model into levels according to a preset scale, it is divided into map tiles using a quadtree index; the activity of the tiles is dynamically calculated by combining spatiotemporal weights, and the active tiles within the maximum distance range of the viewport center are loaded into the LRU memory pool; when the total memory exceeds the threshold, low-activity tiles are eliminated, thereby achieving a balance between real-time rendering and memory usage.

[0035] Example 3: Step S2 includes: Connect to the Beidou navigation module according to the preset serial port parameters and create a corresponding data receiving thread; According to the data receiving thread, the serial port data stream transmitted by the Beidou navigation module is received to obtain positioning protocol data; The positioning protocol data is segmented and parsed to obtain the frame header, middle character frame, and frame tail; Perform an XOR operation on the intermediate character frame to obtain the character XOR value, and then verify it with the end of the frame. If the XOR value of the character is the same as the frame tail, it is determined that the current positioning protocol data is correct, and the corresponding positioning information is extracted by matching the frame header. If the frame header is a key frame, then extract key positioning information including Coordinated Universal Time, latitude and longitude, positioning status, number of satellites, precision factor and altitude in sequence according to the field index; If the frame header is an extended frame, then the Coordinated Universal Time and latitude and longitude of the extended frame are matched with those of the key frame; if they are the same, then extended positioning information containing satellite signal strength, ground velocity and heading angle is extracted. The key positioning information and the extended positioning information are integrated according to a preset positioning storage format to obtain satellite positioning information.

[0036] In this embodiment, key frame: refers to the $GPGGA protocol frame (which must contain core data such as latitude and longitude, time, and positioning status). Extended frames: These refer to auxiliary frames such as $GPVTG (speed / heading) and $GPGSV (satellite signal strength). Active threshold: The timeout reset threshold when the data receiving thread has no valid frames for a consecutive period of time (default 3 seconds); Field index: comma-separated field numbers in the NMEA protocol (e.g., latitude and longitude are fields 2-5); Location storage format: structured data table, with fields including timestamp (WGS84), encrypted latitude and longitude (GCJ-02), speed, heading, number of satellites, and positioning mode (0: invalid, 1: single point, 2: differential), etc.

[0037] The implementation principle of this embodiment is as follows: the Beidou module is connected via serial port and the data receiving thread is started. The raw data stream is managed by a circular buffer. After segmentation, the protocol frame is ensured to be complete by XOR and CRC double verification. If it is a key frame ($GPGGA), the core positioning parameters are extracted and the validity is verified. If it is an extended frame, the speed, heading and differential error data are supplemented after matching the key frame based on the spatiotemporal tolerance window (500ms / 10m). Finally, it is integrated into a structured dataset containing encrypted coordinate system positioning information, which is stored after spatiotemporal compression. During the process, outliers are continuously filtered and the timeout thread is automatically reset.

[0038] Example 4: Step S3 includes: The screen is monitored and analyzed to obtain several screen pixel values; The screen pixel values ​​are aggregated into regions according to a preset pixel threshold, the effective screen size is calculated, and a screen planar coordinate system is constructed. The scaling ratio is calculated based on the map size and the effective screen size, and the satellite positioning information is mapped by combining the center offset to obtain the planar positioning tuple. The planar positioning tuple is transformed to obtain the initial state vector, and the state covariance matrix is ​​initialized. The initial state vector is updated based on the preset state transition matrix and the state covariance matrix, and the process noise covariance matrix is ​​added to obtain the state update vector. The difference between the actual state vector and the state update vector is calculated, and combined with the measurement noise covariance matrix, the innovation theory covariance matrix is ​​obtained. The filter gain is obtained by performing calculations on the innovation theory covariance matrix and the state update vector. The satellite signal strength and target motion status are monitored based on time series data, and the signal strength difference and quantified motion strength difference are calculated. If the signal strength difference is negative or the motion strength difference is positive, then the filter gain is corrected and the state update vector is selected as the target positioning information; Otherwise, the actual state vector is selected as the target positioning information; The target positioning information is projected and transformed according to the screen plane coordinate system to obtain the screen positioning information.

[0039] In this embodiment, the pixel threshold is: pixels with a combined RGB three-channel brightness value ∈ [40, 220] (to avoid interference from pure black / pure white). Center offset: The pixel coordinate difference (Δx, Δy) between the map center point and the screen geometric center; Process noise covariance matrix: The noise variance matrix based on the vehicle dynamics model (CV / CA), with diagonal values ​​set to [0.1m², 0.1m² / s, 0.01rad²]. Measurement noise covariance matrix: dynamically calculated from the satellite positioning accuracy factor (HDOP), formula: σ=HDOP×1.5; The innovation theory covariance matrix: the residual covariance between predicted and measured values, used for Kalman gain updates.

[0040] The implementation principle of this embodiment is as follows: a precise screen coordinate system is constructed through edge detection and distortion correction. After the satellite positioning information is mapped into planar tuples according to the map scale, the Kalman filter is initialized by the state vector synchronized by the timestamp. The filter gain is dynamically corrected based on the motion intensity difference (acceleration change rate > 0.5m / s³) and signal strength difference (< -3dB). Combined with the gyroscope angular velocity to suppress jitter, the positioning trajectory that is anti-ghosting and adaptable to multiple screens is finally output through homography matrix projection conversion.

[0041] Example 5: Reference Figure 2 Step S4 includes: S401: Project and transform the screen positioning information to obtain the internal positioning information of the map; S402: Instantiate the internal positioning information of the map according to the business logic to obtain the positioning instance graphic and the target positioning coordinates; S403: Match all map data blocks according to the positioning instance graphic to determine the target map block; S404: The screen memory area is divided according to the preset double-buffered differential drawing mechanism to obtain the foreground display area and the background drawing area. S405: Match all map data blocks stored in the screen's display memory area based on the current target map block; If the target map tile is located in the screen's display memory area, the foreground display area reads it directly; otherwise, the background drawing area loads the current target map tile. S406: Schedule target map tiles according to the screen field of view, and calculate the tile row and column numbers and tile level; S407: Draw the positioning instance graphic according to the tile row and column numbers to obtain the map area layer; S408: Mark the target positioning coordinates according to the tile hierarchy to obtain a vector layer; S409: Overlay and render the map area layer and the vector layer based on the base map raster layer to form a complete screen map; S410: Draw the dynamic positioning information in the front-end display area according to the memory occupied by the tiles, and crop and draw all the positioning instance graphics displayed in the current screen.

[0042] In this embodiment, the screen field of view range is the area of ​​the map currently displayed on the screen (a rectangular area formed by the diagonal pixel coordinates), calculated from the center point coordinates, zoom level, and screen resolution. Preloading is triggered when the field of view movement speed is greater than 5 pixels / frame.

[0043] Tile memory usage: The volume of a single map data block in video memory (including raster data, topology information, and attribute tables). Maximum memory usage per tile = Total video memory / (Tile level × 10), for example, with 8GB of video memory, the maximum memory usage for an L10 tile is 80MB.

[0044] Dynamic positioning information: Positioning instances carrying velocity vectors (v_x, v_y) and acceleration magnitudes, satisfying |Δa| / Δt>0.5m / s³ or angular velocity>15° / s.

[0045] Base map raster layer: A pyramid-style raster map provided by Tile Map Service (TMS), with a fixed tile size of 256×256 pixels and a coordinate system of Web Mercator (EPSG:3857).

[0046] The implementation principle of this embodiment is as follows: projection distortion is corrected by homography matrix, and positioning coordinates are instantiated according to motion state; target map tiles are quickly matched using spatial index, and tear-free rendering is achieved by combining double buffering mechanism and VSync signal; layer overlay is optimized based on field preloading and depth buffer test, and vector markers are dynamically drawn using anti-aliasing clipping and LRU memory management, and finally, high-precision, low-latency positioning visualization results are output.

[0047] Example 6: The operation flow of the double-buffered differential drawing mechanism is as follows: A: Divide the screen's video memory area and, in conjunction with the memory bitmap and screen resolution, construct a background drawing area and a foreground display area; B: Plot the internal positioning information of the map according to the target type to obtain the corresponding positioning instance graphic; C: Perform dirty rectangle detection on the target state, identify the target movement distance, state transition, and target addition / deletion, and mark the change flag; D: Based on the change marker and the positioning instance graphic, partially draw the complete map template of the background drawing area to obtain a partially changed map; E: The locally modified map is transmitted according to the preset buffer exchange layer, and a differential exchange is performed with the full screen map in the front-end display area to display the updated screen map.

[0048] In this embodiment, dirty rectangle detection involves identifying regions that need to be redrawn by measuring changes in the target bounding box (center coordinates + length and width), and calculating the magnitude of the moving vector |Δp| ​​and the change in Euler angles |Δθ|. A marker is triggered when |Δp| ​​> 5 pixels or |Δθ| > 3°.

[0049] Buffer swapping layer: A dedicated data transmission channel connecting the foreground and background buffers, supporting partial bit-block copying (PartialBitBlt) and vertical synchronization (VSync) signal synchronization. Swap latency ≤ 16.7ms (60Hz refresh rate), and single data transfer amount ≤ 90% of video memory bandwidth.

[0050] Differential swapping: Only pixel data within the dirty rectangular area is transferred to the foreground display area; non-dirty areas retain their original image. Enabled when the transfer area is ≤ 20% of the total screen pixels; otherwise, it degrades to full buffer swapping.

[0051] Map template: A complete copy of the static base map raster data in the background buffer (including topology and coordinate system), with a fixed tile size of 256×256 pixels.

[0052] Atomic operation lock: A mutex lock that blocks read and write operations during data exchange to ensure data consistency in the buffer. The lock is held for ≤1ms; upon timeout, it is forcibly released and a CRC check is triggered.

[0053] The implementation principle of this embodiment is as follows: the dynamic target change area is locked by dirty rectangle detection, the background drawing area performs local redrawing and feathering fusion based on the complete map template, the difference pixels are transmitted to the front-end display area by using the atomic exchange layer, and the screen map update is achieved by combining LRU memory management.

[0054] Reference Figure 4 This invention provides a map display and plotting system for a fully domestically produced display and control system, applied to the aforementioned map display and plotting method, comprising: The conversion and segmentation module is used to convert and segment the original vector map data into several map data blocks, and calculate the memory usage of the corresponding blocks. The information receiving module is used to receive and parse the positioning protocol data transmitted by the Beidou navigation module through the data receiving thread, and extract satellite positioning information; The coordinate transformation module is used to transform and adaptively filter the satellite positioning information according to the screen plane coordinate system to obtain the screen positioning information; The plotting and display module is used to plot the screen positioning information to the map data block according to the preset double-buffered differential drawing mechanism, and to render and display the map data block in combination with the memory occupied by the map block.

[0055] In this embodiment, the memory occupied by a map tile is calculated as follows: memory = number of vector points × 32 bytes + topology index × 16 bytes.

[0056] The implementation principle of this embodiment is as follows: By dynamically dividing and managing vector map data through LRU caching, combined with BeiDou positioning filtering and noise reduction and protocol fault tolerance processing, the coordinates are mapped to the screen plane. The dual buffering mechanism is used to achieve high frame rate and low jitter navigation and positioning rendering based on dirty rectangle local update and atomic exchange.

[0057] Example 7 An electronic device, comprising: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement any of the methods described in the above scheme.

[0058] Example 8 A storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the map display and plotting method for a fully domestically produced display and control system as described above. The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A map display and plotting method for a fully domestically produced display and control system, characterized in that, include: Based on the preset underlying graphics interface conversion and block-based original vector map data, several map data blocks are obtained, and the memory occupied by the corresponding map blocks is calculated. Create several data receiving threads to receive and parse the positioning protocol data transmitted by the Beidou navigation module, and extract satellite positioning information; Based on the transformation of the screen plane coordinate system and adaptive filtering, the satellite positioning information is obtained; According to the preset double-buffered differential drawing mechanism, the screen positioning information is plotted to the map data block, and the memory occupied by the map block is combined for rendering and display; The operation flow of the double-buffered differential drawing mechanism is as follows: The screen memory area is divided, and the background drawing area and the foreground display area are constructed by combining the memory bitmap and the screen resolution. Based on the target type, the internal positioning information of the map is plotted to obtain the corresponding positioning instance graphic; Dirty rectangle detection is performed on the target state to identify the target's movement distance, state transition, and target addition / deletion, and change flags are marked. Based on the change marker and the location instance graphic, a partial change map is drawn on the complete map template of the background drawing area to obtain the partial change map. The locally modified map is transmitted according to the preset buffer exchange layer and exchanged with the complete screen map of the front-end display area to display the updated screen map.

2. The map display and plotting method for a fully domestically produced display and control system according to claim 1, characterized in that, The specific steps for converting and segmenting the original vector map data according to the preset underlying graphics interface to obtain several map data blocks, and calculating the memory occupied by the corresponding map blocks, include: The original vector map data is traversed to obtain several vector coordinate points; Data cleaning is performed on all the vector coordinate points to obtain several unique coordinate points; Based on the scaling factor, all the unique coordinate points are quantized and topologically compressed to obtain several simplified coordinate points. Based on the data attributes, all the simplified coordinate points are separated and associated to obtain geometric key-value pairs; The geometric key-value pairs are converted according to the preset underlying graphics interface to generate a graphics coordinate dataset; The graphic coordinate dataset is divided into several graphic coordinate layers according to a preset hierarchical ratio. The entire graphic coordinate layer is divided according to the preset tile size to obtain several map data blocks; The access frequency of all the map data blocks is calculated to obtain the activity level of the blocks, and then compared with a preset activity threshold to obtain the active data blocks. Based on the viewport center point and zoom level, the active data blocks are loaded to obtain the memory usage of the corresponding tiles.

3. The map display and plotting method for a fully domestically produced display and control system according to claim 1, characterized in that, The specific steps for creating several data receiving threads to receive and parse the positioning protocol data transmitted by the BeiDou navigation module and extract satellite positioning information include: Connect to the Beidou navigation module according to the preset serial port parameters and create a corresponding data receiving thread; According to the data receiving thread, the serial port data stream transmitted by the Beidou navigation module is received to obtain positioning protocol data; The positioning protocol data is segmented and parsed to obtain the frame header, middle character frame, and frame tail; Perform an XOR operation on the intermediate character frame to obtain the character XOR value, and then verify it with the end of the frame. If the XOR value of the character is the same as the frame tail, it is determined that the current positioning protocol data is correct, and the corresponding positioning information is extracted by matching the frame header. If the frame header is a key frame, then extract key positioning information including Coordinated Universal Time, latitude and longitude, positioning status, number of satellites, precision factor and altitude in sequence according to the field index; If the frame header is an extended frame, then the Coordinated Universal Time and latitude and longitude of the extended frame are matched with those of the key frame; if they are the same, then extended positioning information containing satellite signal strength, ground velocity and heading angle is extracted. The key positioning information and the extended positioning information are integrated according to a preset positioning storage format to obtain satellite positioning information.

4. The map display and plotting method for a fully domestically produced display and control system according to claim 1, characterized in that, The specific steps for obtaining screen positioning information by transforming the satellite positioning information according to the screen plane coordinate system and adaptively filtering the information include: The screen is monitored and analyzed to obtain several screen pixel values; The screen pixel values ​​are aggregated into regions according to a preset pixel threshold, the effective screen size is calculated, and a screen planar coordinate system is constructed. The scaling ratio is calculated based on the map size and the effective screen size, and the satellite positioning information is mapped by combining the center offset to obtain the planar positioning tuple; the center offset is the difference in pixel coordinates between the map center point and the screen geometric center. The planar positioning tuple is transformed to obtain the initial state vector, and the state covariance matrix is ​​initialized. The initial state vector is updated based on the preset state transition matrix and the state covariance matrix, and the process noise covariance matrix is ​​added to obtain the state update vector; the process noise covariance matrix is ​​a noise variance matrix based on the vehicle dynamics model. The difference between the actual state vector and the state update vector is calculated, and combined with the measurement noise covariance matrix, the innovation theory covariance matrix is ​​obtained; the measurement noise covariance matrix σ is dynamically calculated based on the satellite positioning accuracy factor HDOP, with the formula: σ = HDOP × 1.5; The filter gain is obtained by performing calculations on the innovation theory covariance matrix and the state update vector. The satellite signal strength and target motion status are monitored based on time series data, and the signal strength difference and quantified motion strength difference are calculated. If the signal strength difference is negative or the motion strength difference is positive, then the filter gain is corrected and the state update vector is selected as the target positioning information; Otherwise, the actual state vector is selected as the target positioning information; The target positioning information is projected and transformed according to the screen plane coordinate system to obtain the screen positioning information.

5. The map display and plotting method for a fully domestically produced display and control system according to claim 1, characterized in that, The specific steps of plotting the screen positioning information onto the map data blocks according to the preset double-buffered differential drawing mechanism, and rendering and displaying the map data blocks based on their memory usage, include: Project the screen positioning information to obtain the positioning information inside the map; The positioning information inside the map is instantiated according to the business logic to obtain the positioning instance graphic and the target positioning coordinates; The target map block is determined by matching all map data blocks based on the location instance graphic. The screen memory area is divided according to the preset double-buffered differential drawing mechanism to obtain the foreground display area and the background drawing area. Match all map data blocks stored in the screen's display memory area based on the current target map block; If the target map tile is located in the screen's display memory area, the foreground display area reads it directly; otherwise, the background drawing area loads the current target map tile.

6. The map display and plotting method for a fully domestically produced display and control system according to claim 5, characterized in that, The specific steps of plotting the screen positioning information to the map data block according to the preset double-buffered differential drawing mechanism, and rendering and displaying the map data block based on its memory usage, also include: The target map tiles are scheduled according to the screen's field of view, and the tile row and column numbers and tile levels are calculated. The location instance graphic is drawn according to the row and column numbers of the tile to obtain the map area layer; The target positioning coordinates are marked according to the tile hierarchy to obtain the vector layer; The map region layer and the vector layer are overlaid and rendered based on the base map raster layer to form a complete screen map; The dynamic positioning information in the foreground display area is drawn according to the memory occupied by the tiles, and all the positioning instance graphics displayed on the current screen are cropped and drawn.

7. A map display and plotting system for a fully domestically produced display and control system, used to implement the map display and plotting method for a fully domestically produced display and control system as described in any one of claims 1 to 6, characterized in that, include: The conversion and segmentation module is used to convert and segment the original vector map data into several map data blocks, and calculate the memory usage of the corresponding blocks. The information receiving module is used to receive and parse the positioning protocol data transmitted by the Beidou navigation module through the data receiving thread, and extract satellite positioning information; The coordinate transformation module is used to transform and adaptively filter the satellite positioning information according to the screen plane coordinate system to obtain the screen positioning information; The plotting and display module is used to plot the screen positioning information to the map data block according to the preset double-buffered differential drawing mechanism, and to render and display the map data block in combination with the memory occupied by the map block.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-6.

9. A storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the map display and plotting method for a fully domestically produced display and control system as described in any one of claims 1 to 6.

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