Visual aid display method and system based on gaze heuristic principles

Abstract

The application provides a visual auxiliary display method and system based on a gaze heuristic principle, relates to the technical field of flight platform docking, and comprises the following steps: acquiring original data; performing spatial position relationship analysis according to the original data to obtain a real-time dynamic position of a dynamic target; performing reference position calculation according to the real-time dynamic position to obtain a dynamic cross target reference position; performing dynamic characteristic analysis according to dynamic target motion parameters, extracting amplitude characteristics, frequency characteristics of the dynamic target disturbance and the influence law of the dynamic target disturbance on the docking point position of a docking mechanism, and obtaining dynamic adjustment parameters; coupling the dynamic cross target reference position and the dynamic adjustment parameters in the time domain to generate a real-time presentation position of a dynamic cross; and performing coordinate mapping and graphical rendering of the real-time presentation position in a HUD display coordinate system and outputting a control signal. The application significantly reduces the operation cognitive load and improves the unstable platform docking precision and the reliability in harsh working conditions.

Description

Technical Field

[0001] This invention relates to the field of flight platform docking technology, and more specifically, to a visual aid display method and system based on the gaze heuristic principle. Background Technology

[0002] In the field of precise docking of dynamic targets, relative pose control between unstable platforms remains a key technical challenge, especially when the tracked target exhibits high-frequency non-inertial motion. Visual assistance systems based on head-up displays (HUDs) are widely used in dynamic docking guidance. Existing technologies primarily achieve this through two methods: first, statically projecting the theoretical geometric position of the docking point onto the HUD. This method ignores real-time target pose shifts induced by environmental disturbances, leading to a significant increase in spatial deviation between the guidance symbol and the actual docking point as disturbances increase; second, predicting the target's trajectory based on filtering algorithms and generating dynamic guidance markers. However, due to the lack of a closed-loop mapping mechanism between target dynamics and visual symbols, the symbol response delay has a phase difference with the actual target motion, exacerbating the operator's tracking burden. Particularly in scenarios with strong turbulence and multi-degree-of-freedom coupled motion, existing HUD guidance symbols lack the ability to actively compensate for the target's main disturbance modes, forcing the operator to continuously switch the visual focus between the dynamic target and the static symbol. This not only increases cognitive load but also causes fine-tuning commands to lag behind the platform's transient motion, significantly reducing docking accuracy and efficiency. This disconnect between dynamic displacement and displayed symbols severely restricts the reliability of docking under complex working conditions.

[0003] Based on the shortcomings of the existing technologies, there is an urgent need for a visual aid display method and system based on the gaze heuristic principle. Summary of the Invention

[0004] The purpose of this invention is to provide a visual aid display method and system based on the gaze heuristic principle to improve the aforementioned problems. To achieve the above objective, the technical solution adopted by this invention is as follows:

[0005] Firstly, this application provides a visual aid display method based on the gaze heuristic principle, comprising:

[0006] Acquire raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters;

[0007] Based on the original data, spatial positional relationships are analyzed to obtain the real-time dynamic position of the dynamic target;

[0008] The reference position is calculated based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained.

[0009] Based on the dynamic target motion parameters, dynamic characteristic analysis is performed. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, dynamic adjustment parameters are obtained.

[0010] The dynamic cross target reference position is coupled with the dynamic adjustment parameters in the time domain, and the dynamic target position change characteristics are mapped to the dynamic change characteristics of the visual symbol to generate the real-time presentation position of the dynamic cross.

[0011] The real-time display position is mapped and graphically rendered in the HUD display coordinate system, and a control signal is output to drive the dynamic crosshair display of the HUD.

[0012] Secondly, this application also provides a visual aid display device based on the gaze heuristic principle, including:

[0013] The acquisition module is used to acquire raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters;

[0014] The parsing module is used to parse the spatial position relationship based on the original data to obtain the real-time dynamic position of the dynamic target;

[0015] The calculation module is used to calculate the reference position based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained.

[0016] The extraction module is used to perform dynamic characteristic analysis based on the motion parameters of the dynamic target. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, dynamic adjustment parameters are obtained.

[0017] The coupling module is used to couple the dynamic cross target reference position with the dynamic adjustment parameters in the time domain, and map the dynamic target position change features to the dynamic change features of the visual symbol to generate the real-time presentation position of the dynamic cross.

[0018] The output module is used to perform coordinate mapping and graphical rendering of the real-time display position in the HUD display coordinate system, and output the control signal that drives the HUD display of the dynamic cross.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention establishes a real-time closed-loop mapping relationship between the dynamic parameters of the moving target and the HUD visual symbols, and combines a temporal coupling mechanism to transform the main disturbance characteristics of the target into visual compensation quantities with the same frequency and opposite phase. This enables precise synchronization between the guidance symbols and the dynamic disturbances in the physical space without the need for manual perspective switching, significantly reducing the cognitive load of manipulation and improving the docking accuracy of unstable platforms and the reliability under harsh working conditions.

[0021] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic flowchart of the visual aid display method based on the gaze heuristic principle described in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the visual aid display system based on the gaze heuristic principle described in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the visual aid display device based on the gaze heuristic principle as described in an embodiment of the present invention.

[0026] The diagram is labeled as follows: 800, Visual aid display device based on gaze heuristic principle; 801, Processor; 802, Memory; 803, Multimedia component; 804, I / O interface; 805, Communication component; 901, Acquisition module; 902, Parsing module; 903, Calculation module; 904, Extraction module; 905, Coupling module; 906, Output module. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Example 1:

[0030] This embodiment provides a visual aid display method based on the gaze heuristic principle.

[0031] See Figure 1 The figure shows that the method includes steps S100 to S600.

[0032] Step S100: Obtain raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters;

[0033] Understandably, this step integrates the real-time status information of the master and slave platforms with the full-dimensional motion parameters of the dynamic target to build a complete data foundation covering the spatial motion chain, providing a high-quality input source for subsequent position modeling. This multi-source heterogeneous data synchronous acquisition strategy effectively supports the precise perception requirements in complex motion scenarios.

[0034] Step S200: Analyze the spatial positional relationship based on the original data to obtain the real-time dynamic position of the dynamic target;

[0035] It should be noted that this step adopts a layered decoupled spatial analysis mechanism, which deconstructs the dynamic target position into a composite expression of the basic pose and relative perturbation. A unified spatial reference frame is established through multi-level coordinate transformation, which realizes highly robust tracking of the target position under strong interference environment and solves the essential contradiction that the traditional single coordinate system cannot adapt to non-rigid target motion.

[0036] Step S300: Calculate the reference position based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained.

[0037] Understandably, this step, by constructing a cross-domain mapping network between the docking mechanism, the display interface, and the dynamic target, and based on a preset rigid geometric constraint relationship, seamlessly converts the physical spatial position of the dynamic target into the HUD display reference coordinates, forming a direct channel from the physical world to virtual guidance, thus eliminating the operational delays and cognitive biases introduced by manual spatial conversion.

[0038] Step S400: Perform dynamic characteristic analysis based on the dynamic target motion parameters. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, obtain the dynamic adjustment parameters.

[0039] It should be noted that, in response to the unique non-inertial motion characteristics of dynamic targets, this step applies motion mode decomposition technology to remove the carrier-induced components, extract the main frequency characteristics and three-dimensional amplitude distribution of the target's own disturbance, establish a quantitative correlation model between the disturbance characteristics and the spatial offset of the docking mechanism, and generate an adaptive compensation parameter set to counteract random disturbances.

[0040] Step S500: Couple the dynamic cross target reference position with the dynamic adjustment parameters in the time domain, and map the dynamic target position change features to the dynamic change features of the visual symbol to generate the real-time presentation position of the dynamic cross.

[0041] Understandably, this step designs a temporal dynamic coupling engine that inversely reconstructs the target perturbation features into the anti-offset motion trajectory of the visual symbol. Through the same-frequency anti-phase compensation mechanism, the guiding symbol generates a reverse dynamic offset in the direction of target motion. Essentially, it constructs an active cancellation path from physical perturbation to visual guidance, which greatly reduces the trajectory prediction burden of the operator.

[0042] Step S600: Map the real-time display position to coordinates and render it graphically in the HUD display coordinate system, and output the control signal that drives the dynamic crosshair of the HUD display.

[0043] It should be noted that this step is based on the persistence of vision of the human eye and the optical constraints of display to establish a visual enhancement rendering strategy for dynamic symbols. Under the premise of ensuring spatial projection accuracy, the visibility of symbols is optimized by using techniques such as adaptive brightness adjustment and motion blur suppression. This optimizes the matching gap between the physical compensation mechanism and the perceptual characteristics of the human eye under high-frequency oscillation environment.

[0044] Further, step S200 includes steps S210 to S230.

[0045] Step S210: Based on the flight parameter data of the main platform, the flight parameter data of the slave platform, the flight control data of the main platform, and the flight control data of the slave platform in the original data, perform spatial coordinate system modeling processing. By establishing the transformation relationship between the main platform coordinate system, the slave platform coordinate system, and the environmental coordinate system, a unified representation of the relative pose of the two aircraft is obtained.

[0046] Step S220: Based on the unified representation of the relative pose of the two machines in step S220, solve the key node positions and calculate the reference position data of the main platform pod and the dynamic target reference positions in the slave platform coordinate system.

[0047] Step S230: Dynamically update the position based on the reference position data and the dynamic target motion parameters in the original data. By superimposing the motion change of the dynamic target relative to its reference position onto the position in the platform coordinate system, the real-time dynamic position of the dynamic target relative to the platform body is obtained.

[0048] In the dynamic target spatial pose analysis process, a spatial transformation tree is first constructed based on the motion control data and flight state parameters of the master and slave platforms, with the environmental coordinate system as the reference and the master platform coordinate system and slave platform coordinate system as branches. By fusing atmospheric data and inertial measurement unit information, a unified pose expression model including rotation transformation matrix and translation vector is established. This model quantifies the six-degree-of-freedom relative motion between the two platforms (including longitudinal displacement caused by pitch angle deviation, lateral offset caused by roll coupling, and other complex disturbances) into a rigid pose transformation chain. Then, through inverse kinematics calculation, the structural coordinates of the master platform pod are mapped to the field-of-view coordinate system of the slave platform to calculate the nominal static position of the dynamic target. At this point, the trajectory offset component caused by the platform's basic motion has been eliminated. Finally, the six-degree-of-freedom motion parameters of the dynamic target are introduced, and the nonlinear disturbance of the cone sleeve relative to the pod position is decomposed into three-axis translational oscillation and pitch / yaw coupled oscillation. Through a kinematic superposition model, these high-frequency micro-displacements are fused into the static reference position in real time, forming holographic position data that simultaneously carries the platform's entrainment motion and the target's own body disturbance. This hierarchical analysis mechanism not only solves the problem of coordinate system reference drift under strong turbulence, but also fully preserves the elastic vibration characteristics of the cone sleeve, providing true value input in both spatial and temporal dimensions for subsequent compensation algorithms.

[0049] Further, step S300 includes steps S310 to S330.

[0050] Step S310: Solve the rigid structural spatial geometric relationship model based on the predefined fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod to obtain the mapping relationship of the geometric relationship between the docking point of the platform docking mechanism and the reference point of the main platform pod in the HUD coordinate system;

[0051] Step S320: Solve for the desired docking point position based on the real-time dynamic position. By equating the real-time position of the dynamic target center point with the position of the desired docking point of the docking mechanism, the real-time position of the desired docking point of the docking mechanism in the coordinate system of the platform body is calculated.

[0052] Step S330: Based on the mapping relationship and real-time position, perform HUD dynamic reference determination processing. By converting the expected docking point position of the docking mechanism to the HUD coordinate system through the mapping relationship and expressing it as a position reference of a visual symbol, the dynamic crosshair target reference position is obtained.

[0053] In the visual guidance reference generation mechanism, firstly, based on the rigid geometric topological relationship between the mechanical mounting point of the docking mechanism, the physical position of the HUD display screen, and the interface of the main platform pod, a set of cross-platform spatial constraint equations is constructed. This equation is then solved using homogeneous coordinate transformation to obtain the projection mapping matrix of the docking point relative to the pod reference on the HUD pixel plane. When subjected to turbulent disturbances, the actual center point of a dynamic target (such as a conical sleeve) will experience spatial drift. At this time, the instantaneous centroid coordinates of the target are taken as the ideal approach position of the docking mechanism. The real-time three-dimensional coordinates of the desired docking point are then calculated inversely from the platform body coordinate system. This operation essentially establishes a dynamic positional equivalence relationship between the "conical sleeve center and the oil gun tip." Subsequently, based on a preset projection mapping model, the three-dimensional coordinates of the docking point are transformed into a two-dimensional reference point in the HUD display coordinate system through rotation and translation transformation. Simultaneously, the installation offset angle compensation between coordinate systems is superimposed to eliminate the influence of mechanical assembly tolerances, ultimately outputting visually anchored coordinates that accurately align with the physical spatial state. This process integrates rigid body kinematic constraints and dynamic position tracking, and can maintain the core guidance logic that "aligning the cross with the pod indicates that the docking mechanism has reached the center of the cone sleeve" even in scenarios with large amplitude swing of the cone sleeve.

[0054] Further, step S400 includes steps S410 to S430.

[0055] Step S410: Based on the motion parameters of the dynamic target, perform main mode identification and spectral analysis. By decomposing the main peak of the motion spectrum energy of the dynamic target in three-dimensional space, the perturbation mode parameters are extracted. The perturbation mode parameters include the dominant characteristic frequency combination of the inherent perturbation mode of the dynamic target itself and its corresponding reference amplitude characteristics.

[0056] Step S420: Perform fluid-structure interaction modeling based on disturbance mode parameters. By establishing the wake field characteristics of the main platform and the nonlinear coupling model between the platform-induced airflow and the dynamic target structure motion, calculate the dynamic influence coefficient of the actual disturbance amplitude of the dynamic target relative to the reference amplitude characteristics under the current flight dynamics environment, and predict the resonance risk frequency characteristics under the critical vortex shedding frequency.

[0057] Step S430: Based on the dominant characteristic frequency combination, dynamic influence coefficient and resonance risk frequency characteristics, perform docking point disturbance transmission modeling. By establishing the phase-amplitude transfer function relationship between the three-dimensional dynamic offset of the dynamic target center point and the required spatial compensation displacement from the tip of the rigid docking mechanism of the platform, calculate the dynamic adjustment parameters required to drive the dynamic cross symbol to achieve synchronous and anti-phase displacement compensation with the dynamic target disturbance.

[0058] In the dynamic target characteristic modeling process, the first step is to decouple the main modal characteristics of the target's six-degree-of-freedom motion trajectory: using the energy peak identification technology of the three-dimensional motion spectrum, the dominant frequency of the inherent vibration of the conical sleeve structure and the reference amplitude under undisturbed conditions are separated to accurately characterize its dynamic characteristics. Subsequently, an aerodynamic-structural cross-domain coupling model is constructed, integrating the vortex intensity distribution at the wingtip of the main platform, the characteristics of the flow field induced from the platform approach, and the aeroelastic parameters of the conical tube, to establish a nonlinear mapping relationship between the pressure pulsation of the three-dimensional unsteady flow field and the structural response. Key output parameters include the turbulence enhancement coefficient (characterizing the amplification effect of vortex-induced vibration) and the frequency-locked resonance band (predicting the critical coupling region of the Strauhaus number). Finally, a spatial disturbance transmission link is established: based on the vector transmission model of the offset of the flexible conical sleeve center point and the pose of the rigid oil gun tip, the amplitude gain factor is calculated. With phase lag angle Compensation function:

[0059]

[0060]

[0061]

[0062]

[0063] in, Represents the dynamic compensation transfer function; Represents the dynamic gain function; Indicates the amount of resonance phase compensation; Represents the natural base; Represents the imaginary unit; This indicates a system response delay; Indicates the vibration frequency of the cone sleeve; Indicates the tapered sleeve damping ratio; Indicates the frequency of resonance risk; Indicates the frequency ratio.

[0064] Further, step S420 includes steps S421 to S423.

[0065] Step S421: Perform flow field vorticity characteristic analysis based on disturbance mode parameters. By combining the main platform airfoil configuration, current airspeed and angle of attack parameters, and the platform relative position and approach speed, calculate the master control Strauhal number of the main platform wake vortex shedding and its corresponding three-dimensional vorticity field spatial distribution characteristics to obtain key vorticity field characteristic parameters characterizing the current flight dynamics environment.

[0066] Step S422: Perform aerodynamic load pulsation mapping processing based on key vorticity field characteristic parameters. By establishing an aerodynamic admittance function model between the unsteady vorticity field and the dynamic target surface pressure pulsation distribution, calculate the aerodynamic force pulsation amplitude and phase distribution on the windward side and hinge point of the dynamic target, and obtain the equivalent time-varying aerodynamic load spectrum acting on the dynamic target.

[0067] Step S423: Based on the equivalent time-varying aerodynamic load spectrum and key vorticity field characteristic parameters, the response synthesis and resonance risk assessment are performed. By inputting the aerodynamic load spectrum into the dynamic target structure dynamic frequency response function model, the total root mean square displacement amplitude of the actual vibration response of the dynamic target and its corresponding dynamic influence coefficient of the reference amplitude characteristics are solved. By identifying the frequency-locking region where the natural frequency of the dynamic target and the vortex shedding main frequency satisfy a specific critical similarity number, the resonance risk frequency characteristics under the critical vortex shedding frequency are predicted.

[0068] In the core process of modeling fluid-structure interaction effects, the dominant Strouhal number for wake vortex shedding from the main platform is first calculated based on the airfoil configuration characteristics of the main platform (such as leading-edge sweep angle and aspect ratio) and real-time flight status (airspeed and angle of attack), combined with the platform's relative position and approach velocity vector. The key distribution characteristics of the three-dimensional vorticity field are analyzed, including the rupture location of the wingtip vortex core, the radial decay gradient of circulation intensity, and the vortex street development mode. Then, a cross-domain transmission link between the unsteady flow field and the dynamic target surface load is established: based on the aerodynamic admittance function model, the spatial gradient of the vorticity field is mapped to the dynamic pressure distribution on the windward side of the cone sleeve and the torque pulsation characteristics at the hinge point, and the correspondence between the vortex sweep direction, core strength, and structural response amplitude-phase is quantified. Finally, the dynamic characteristics of the cone sleeve structure are integrated, and the actual vibration response spectrum under aerodynamic excitation is solved through the frequency response function model—extracting the dynamic influence coefficient (turbulence amplification / suppression factor) relative to the reference amplitude from the root mean square displacement amplitude. At the same time, the risk frequency band is identified based on the vortex-induced vibration frequency locking mechanism: when the vortex shedding main frequency and the cone sleeve natural frequency meet the critical similarity ratio (such as the resonance factor under a specific Strouhal number), the early warning mechanism is triggered and the high-risk resonance frequency characteristics are marked.

[0069] The formula for calculating the dynamic influence coefficient is:

[0070]

[0071] in, The dynamic influence coefficient represents the amplification / reduction factor of the actual amplitude of the dynamic target relative to the reference amplitude under fluid-structure interaction. Represents the dynamic target frequency response function; This represents the power spectral density of the equivalent aerodynamic load. Indicates the analysis cutoff frequency; Represents frequency variables; Indicates the reference amplitude characteristic; Represents the differential symbol.

[0072] The resonance risk frequency identification condition is expressed as follows:

[0073]

[0074] in, Represents the set of resonant risk frequencies; Represents the set of inherent frequencies of a dynamic target; This indicates the measured dominant frequency of vortex shedding; Represents the Strauhal number; The characteristic length is represented by the maximum cross-sectional diameter of the dynamic target or the distance between hinge points. This represents the characteristic velocity, specifically the average velocity in the current main platform's wake core region. This represents the frequency matching threshold, used to determine the permissible deviation of frequency locking; It represents the critical energy ratio, the minimum percentage of eddy kinetic energy required to trigger strong resonance (usually taken as 0.7).

[0075] Further, step S500 includes steps S510 to S530.

[0076] Step S510: Model the dynamic compensation component based on the dynamic adjustment parameters. By constructing an oscillation function expression that is in the same frequency as the dominant disturbance frequency of the dynamic target, but whose amplitude is adjusted according to the compensation amount and whose phase is shifted according to the lag amount, the visual compensation oscillation component function is obtained.

[0077] Step S520: Perform spatial disturbance cancellation processing based on the dynamic cross-shaped target reference position and the visual compensation oscillation component function. By superimposing the value of the visual compensation oscillation component function at the current moment onto the coordinate value of the target reference position, calculate the instantaneous coordinate offset of the reference position after compensation in real time.

[0078] Step S530: Based on the preset mathematical model of platform attitude loop control, perform dynamic characteristic correction on instantaneous coordinate offset to compensate for the time delay between pilot control and actual aircraft movement, and generate the real-time display position of dynamic cross.

[0079] In the generation process of dynamic visual guidance, firstly, based on the dominant frequency characteristics in the compensation parameters, a three-dimensional dynamic compensation function is constructed that has the same frequency as the target vibration but with reverse phase characteristics. For example, when the cone sleeve swings to the left at a frequency of 4Hz, a synchronous oscillation wave that deviates to the right is generated. Its amplitude is scaled proportionally according to the airflow enhancement factor (e.g., magnified by 1.8 times under turbulent conditions), and the phase is preset with a lead compensation angle of 180°+22° to compensate for the mechanism delay. Subsequently, the spatial disturbance of the visual symbol is dynamically canceled: the output of the compensation function is used as a vector offset and superimposed on the dynamic cross reference position in real time. When the vibration displacement of the cone sleeve is... At that time, the drive cross mark is generated. The instantaneous reverse displacement creates a spatial mirror compensation effect; finally, a human-machine response delay compensation mechanism is injected: based on the bandwidth characteristics of the control system from the platform pitch / roll channel (typical value 2-3Hz), a second-order hysteresis model is used to predict the attitude response characteristics of the flight platform, such as the airframe delay response 300ms after the flight control stick input. A proportional-derivative lead correction term is preset in the crosshair position command so that the guidance symbol seen by the pilot already contains the predicted attitude state 0.3 seconds later, eliminating the tracking error caused by the "control-response" time delay.

[0080] Further, step S600 includes steps S610 to S630.

[0081] Step S610: Based on the vector representation of the real-time display position in the three-dimensional platform body coordinate system, perform HUD display space coordinate transformation processing to obtain the two-dimensional projection coordinates on the HUD display plane;

[0082] Step S620: Perform dynamic symbol graphic rendering modeling based on the two-dimensional projection coordinates of the plane. By using the coordinates as the central reference point, superimpose the predefined geometric features of the cross shape, and adjust the line type, line width, brightness and flashing characteristics of the cross lines based on the current flight stage, docking distance and ambient light conditions, a dynamic cross symbol raster representation that matches the visual guidance intention is generated.

[0083] Step S630: Based on the rasterized representation of the dynamic cross symbol, the signal is synthesized by performing a time-series scan conversion of the raster image according to the HUD video frame format, aligning it with the system clock and vertical synchronization signal, superimposing symbol jitter filtering and control logic, and outputting a control signal to drive the HUD to display the dynamic cross.

[0084] Specifically, in the terminal generation process of HUD dynamic cross display, firstly, by integrating real-time head posture tracking data and optical system distortion correction parameters, the three-dimensional guidance position of the body coordinate system is accurately mapped to the two-dimensional coordinates of the display plane, eliminating positioning deviations caused by viewing angle shift and lens distortion. Then, based on ambient light intensity, turbulence disturbance intensity, and docking stage characteristics, the visual attributes of the cross symbol are dynamically modulated. Preferably, adaptive line width adjustment is used to enhance contour recognition, high brightness mode and background suppression algorithm are switched according to glare conditions, motion tracking guidance is enhanced through arm extension mechanism, and a strobe warning strategy is injected to adapt to key operation nodes. Finally, in the signal synthesis stage, precise spatiotemporal control is achieved, vertical synchronization locking technology is used to eliminate screen tearing defects, dynamic filtering algorithm is used to suppress symbol jitter caused by mechanical vibration, and the driving waveform is optimized to achieve millisecond-level response of the fluorescent unit, ensuring the stability and real-time performance of visual guidance information under extreme conditions.

[0085] Example 2:

[0086] like Figure 2 As shown, this embodiment provides a visual aid display system based on the gaze heuristic principle, including:

[0087] The acquisition module 901 is used to acquire raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters.

[0088] The parsing module 902 is used to parse the spatial position relationship based on the original data to obtain the real-time dynamic position of the dynamic target;

[0089] The calculation module 903 is used to calculate the reference position based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained.

[0090] The extraction module 904 is used to perform dynamic characteristic analysis based on the motion parameters of the dynamic target. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, dynamic adjustment parameters are obtained.

[0091] The coupling module 905 is used to couple the reference position of the dynamic cross target with the dynamic adjustment parameters in the time domain, and map the dynamic target position change features to the dynamic change features of the visual symbol to generate the real-time presentation position of the dynamic cross.

[0092] The output module 906 is used to perform coordinate mapping and graphical rendering of the real-time display position in the HUD display coordinate system, and output the control signal that drives the dynamic crosshair of the HUD display.

[0093] In one specific embodiment of this application, the parsing module 902 includes:

[0094] The first analysis unit is used to perform spatial coordinate system modeling based on the flight parameter data of the main platform, the flight parameter data of the slave platform, the flight control data of the main platform, and the flight control data of the slave platform in the original data. By establishing the transformation relationship between the main platform coordinate system, the slave platform coordinate system and the environmental coordinate system, a unified representation of the relative pose of the two aircraft is obtained.

[0095] The second analytical unit is used to solve the key node positions based on the unified representation of the relative poses of the two machines in the step, and to calculate the reference position data of the main platform pod and the dynamic target reference positions in the slave platform coordinate system.

[0096] The third analysis unit is used to update the dynamic position based on the reference position data and the dynamic target motion parameters in the original data. By superimposing the motion change of the dynamic target relative to its reference position onto the position in the platform coordinate system, the real-time dynamic position of the dynamic target relative to the platform body is obtained.

[0097] In one specific embodiment of this application, the computing module 903 includes:

[0098] The first calculation unit solves the rigid structural spatial geometric relationship model based on the predefined fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod, and obtains the mapping relationship of the geometric relationship between the docking point of the platform docking mechanism and the reference point of the main platform pod in the HUD coordinate system.

[0099] The second calculation unit solves for the desired docking point position based on the real-time dynamic position. By equating the real-time position of the dynamic target center point with the position of the desired docking point of the docking mechanism, the real-time position of the desired docking point of the docking mechanism in the coordinate system of the platform body is calculated.

[0100] The third calculation unit performs HUD dynamic reference determination processing based on the mapping relationship and real-time position. By converting the expected docking point position of the docking mechanism to the HUD coordinate system through the mapping relationship and expressing it as a position reference of a visual symbol, the dynamic crosshair target reference position is obtained.

[0101] Example 3:

[0102] Corresponding to the above method embodiments, this embodiment also provides a visual aid display device based on the gaze heuristic principle. The visual aid display device based on the gaze heuristic principle described below and the visual aid display method based on the gaze heuristic principle described above can be referred to in correspondence.

[0103] Figure 3This is a block diagram illustrating a visual aid display device 800 based on a gaze heuristic principle, according to an exemplary embodiment. Figure 3 As shown, the gaze-based visual aid display device 800 may include a processor 801 and a memory 802. The gaze-based visual aid display device 800 may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0104] The processor 801 controls the overall operation of the gaze-based heuristic-based visual aid display device 800 to complete all or part of the steps in the gaze-based heuristic-based visual aid display method described above. The memory 802 stores various types of data to support the operation of the gaze-based heuristic-based visual aid display device 800. This data may include, for example, instructions for any application or method operating on the gaze-based heuristic-based visual aid display device 800, as well as application-related data, such as contact data, sent and received messages, images, audio, video, etc. The memory 802 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as keyboards, mice, and buttons. These buttons can be virtual or physical. Communication component 805 is used for wired or wireless communication between the gaze-based heuristic vision-assisted display device 800 and other devices. Wireless communication includes Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination thereof. Therefore, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, and an NFC module.

[0105] In an exemplary embodiment, the gaze-based visual aid display device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the gaze-based visual aid display method described above.

[0106] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, these program instructions implement the steps of the gaze-based heuristic-based visual aid display method described above. For example, the computer-readable storage medium may be the memory 802 including the program instructions described above. These program instructions may be executed by the processor 801 of the gaze-based heuristic-based visual aid display device 800 to complete the gaze-based heuristic-based visual aid display method described above.

[0107] Example 4:

[0108] Corresponding to the above method embodiments, this embodiment also provides a readable storage medium. The readable storage medium described below can be referred to in conjunction with the visual aid display method based on the gaze heuristic principle described above.

[0109] A readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the gaze-based heuristic-based visual aid display method described in the above method embodiments.

[0110] Specifically, the readable storage medium can be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other readable storage medium capable of storing program code.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A visual aid display method based on a gaze heuristic principle, characterized in that, include: Acquire raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters; Based on the original data, spatial positional relationships are analyzed to obtain the real-time dynamic position of the dynamic target; The reference position is calculated based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained. Based on the dynamic target motion parameters, dynamic characteristic analysis is performed. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, dynamic adjustment parameters are obtained. The dynamic cross target reference position is coupled with the dynamic adjustment parameters in the time domain, and the dynamic target position change characteristics are mapped to the dynamic change characteristics of the visual symbol to generate the real-time presentation position of the dynamic cross. The real-time display position is mapped and graphically rendered in the HUD display coordinate system, and a control signal is output to drive the dynamic crosshair display of the HUD.

2. The visual aid display method based on the gaze heuristic principle according to claim 1, characterized in that, Based on the original data, spatial positional relationship analysis is performed to obtain the real-time dynamic position of the dynamic target, including: Based on the flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, and flight control data of the slave platform in the original data, spatial coordinate system modeling is performed. By establishing the transformation relationship between the main platform coordinate system, the slave platform coordinate system, and the environmental coordinate system, a unified representation of the relative pose of the two aircraft is obtained. Based on the unified representation of the relative pose of the two machines in the steps, the key node positions are solved, and the reference position data of the main platform pod and the dynamic target in the slave platform coordinate system are calculated. Dynamic position updates are performed based on the reference position data and the dynamic target motion parameters in the original data. By superimposing the motion changes of the dynamic target relative to its reference position onto the position in the platform coordinate system, the real-time dynamic position of the dynamic target relative to the platform body is obtained.

3. The visual aid display method based on the gaze heuristic principle according to claim 1, characterized in that, Based on the real-time dynamic position, a reference position is calculated. By fusing the spatial relationship model of the docking mechanism's fixed position, the HUD's fixed position, and the main platform pod's fixed position with the real-time position of the dynamic target, the dynamic crosshair target reference position is obtained, including: The rigid structural spatial geometric relationship model based on the predefined fixed positions of the docking mechanism, HUD, and main platform pod is used to solve the problem and obtain the mapping relationship of the geometric relationship between the docking point of the platform docking mechanism and the reference point of the main platform pod in the HUD coordinate system. The desired docking point position is solved based on the real-time dynamic position. By equating the real-time position of the dynamic target center point with the position of the desired docking point of the docking mechanism, the real-time position of the desired docking point of the docking mechanism in the coordinate system of the platform body is calculated. Based on the mapping relationship and the real-time position, HUD dynamic reference determination processing is performed. By converting the expected docking point position of the docking mechanism to the HUD coordinate system through the mapping relationship and expressing it as a position reference of a visual symbol, the dynamic crosshair target reference position is obtained.

4. The visual aid display method based on the gaze heuristic principle according to claim 1, characterized in that, Dynamic characteristic analysis is performed based on the dynamic target motion parameters, including: Based on the motion parameters of the dynamic target, the main mode identification and spectral analysis are performed. By decomposing the main peak of the motion spectrum energy of the dynamic target in three-dimensional space, the perturbation mode parameters are extracted. The perturbation mode parameters include the dominant characteristic frequency combination of the inherent perturbation mode of the dynamic target itself and its corresponding reference amplitude characteristics. Based on the disturbance mode parameters, the fluid-structure interaction influence modeling process is performed. By establishing the wake field characteristics of the main platform and the nonlinear coupling model between the platform-induced airflow and the dynamic target structure motion, the dynamic influence coefficient of the actual disturbance amplitude of the dynamic target relative to the reference amplitude characteristics under the current flight dynamics environment is calculated, and the resonance risk frequency characteristics under the critical vortex shedding frequency are predicted. Based on the dominant characteristic frequency combination, the dynamic influence coefficient, and the resonance risk frequency characteristics, a model of the disturbance transmission at the docking point is performed. By establishing the phase-amplitude transfer function relationship between the three-dimensional dynamic offset of the dynamic target center point and the required spatial compensation displacement from the tip of the rigid docking mechanism of the platform, the dynamic adjustment parameters required to drive the dynamic cross symbol to achieve displacement compensation with the same frequency and opposite phase as the dynamic target disturbance are calculated.

5. The visual aid display method based on the gaze heuristic principle according to claim 4, characterized in that, Based on the disturbance mode parameters, fluid-structure interaction effect modeling is performed, including: Based on the disturbance mode parameters, the flow field vorticity characteristics are analyzed. By combining the airfoil configuration of the main platform, the current airspeed and angle of attack parameters, and the relative position and approach speed of the platform, the master Strauhal number of the main platform wake vortex shedding and its corresponding three-dimensional vorticity field spatial distribution characteristics are calculated, and the key vorticity field characteristic parameters characterizing the current flight dynamics environment are obtained. Based on the key vorticity field characteristic parameters, aerodynamic load pulsation mapping is performed. By establishing an aerodynamic admittance function model between the unsteady vorticity field and the pressure pulsation distribution on the surface of the dynamic target, the amplitude and phase distribution of aerodynamic force pulsation on the windward side and hinge point of the dynamic target are calculated, and the equivalent time-varying aerodynamic load spectrum acting on the dynamic target is obtained. Based on the equivalent time-varying aerodynamic load spectrum and the key vorticity field characteristic parameters, response synthesis and resonance risk assessment are performed. By inputting the aerodynamic load spectrum into the dynamic target structure dynamic frequency response function model, the total root mean square displacement amplitude of the actual vibration response of the dynamic target and its corresponding dynamic influence coefficient of the reference amplitude characteristics are solved. By identifying the frequency-locking region where the natural frequency of the dynamic target and the vortex shedding main frequency satisfy a specific critical similarity number, the resonance risk frequency characteristics at the critical vortex shedding frequency are predicted.

6. The visual aid display method based on the gaze heuristic principle according to claim 1, characterized in that, The dynamic crosshair target reference position is coupled with the dynamic adjustment parameters in the time domain, and the dynamic target position change features are mapped to the dynamic change features of the visual symbol to generate the real-time presentation position of the dynamic crosshair, including: Based on the dynamic adjustment parameters, the dynamic compensation component is modeled, and the visual compensation oscillation component function is obtained by constructing an oscillation function expression that is in the same frequency as the dominant disturbance frequency of the dynamic target, but whose amplitude is adjusted according to the compensation amount and whose phase is shifted according to the lag amount. Spatial disturbance cancellation processing is performed based on the dynamic cross-shaped target reference position and the visual compensation oscillation component function. The instantaneous coordinate offset of the reference position after compensation is calculated in real time by superimposing the value of the visual compensation oscillation component function at the current moment on the coordinate value of the target reference position. Based on a preset mathematical model for platform attitude control, the instantaneous coordinate offset is dynamically corrected to compensate for the time delay between pilot control and actual aircraft movement, thereby generating the real-time position of the dynamic crosshair.

7. The visual aid display method based on the gaze heuristic principle according to claim 1, characterized in that, The real-time display position is mapped and graphically rendered in the HUD display coordinate system, and a control signal is output to drive the dynamic crosshair display of the HUD, including: Based on the vector representation of the real-time display position in the three-dimensional platform body coordinate system, HUD display space coordinate transformation is performed to obtain the two-dimensional projection coordinates on the HUD display plane. Dynamic symbol graphic rendering modeling is performed based on the two-dimensional projection coordinates of the plane. By using the coordinates as the central reference point, predefined cross graphic geometric features are superimposed, and the line type, line width, brightness and flashing characteristics of the cross lines are adjusted based on the current flight stage, docking distance and ambient light conditions to generate a dynamic cross symbol raster representation that matches the visual guidance intention. Signal synthesis is performed based on the rasterized representation of the dynamic cross symbol. The raster image is converted into a time-series scan according to the HUD video frame format and aligned with the system clock and vertical synchronization signal. Symbol jitter filtering and control logic are superimposed, and a control signal that drives the HUD to display the dynamic cross is output.

8. A visual aid display system based on the gaze heuristic principle, characterized in that, include: The acquisition module is used to acquire raw data, which includes flight parameter data of the main platform, flight parameter data of the slave platform, flight control data of the main platform, flight control data of the slave platform, and dynamic target motion parameters; The parsing module is used to parse the spatial position relationship based on the original data to obtain the real-time dynamic position of the dynamic target; The calculation module is used to calculate the reference position based on the real-time dynamic position. By fusing the spatial relationship model of the fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod with the real-time position of the dynamic target, the reference position of the dynamic cross target is obtained. The extraction module is used to perform dynamic characteristic analysis based on the motion parameters of the dynamic target. By extracting the amplitude and frequency characteristics of the dynamic target disturbance and its influence on the docking point position of the docking mechanism, dynamic adjustment parameters are obtained. The coupling module is used to couple the dynamic cross target reference position with the dynamic adjustment parameters in the time domain, and map the dynamic target position change features to the dynamic change features of the visual symbol to generate the real-time presentation position of the dynamic cross. The output module is used to perform coordinate mapping and graphical rendering of the real-time display position in the HUD display coordinate system, and output the control signal that drives the HUD display of the dynamic cross.

9. The visual aid display system based on the gaze heuristic principle according to claim 8, characterized in that, The parsing module includes: The first analysis unit is used to perform spatial coordinate system modeling processing based on the master platform flight parameter data, slave platform flight parameter data, master platform flight control data and slave platform flight control data in the original data. By establishing the transformation relationship between the master platform coordinate system, slave platform coordinate system and environmental coordinate system, a unified representation of the relative pose of the two aircraft is obtained. The second analytical unit is used to solve the key node positions based on the unified representation of the relative poses of the two machines in the step, and to calculate the reference position data of the main platform pod and the dynamic target reference positions in the slave platform coordinate system. The third analysis unit is used to perform dynamic position updates based on the reference position data and the dynamic target motion parameters in the original data. By superimposing the motion changes of the dynamic target relative to its reference position onto the position in the platform coordinate system, the real-time dynamic position of the dynamic target relative to the platform body is obtained.

10. The visual aid display system based on the gaze heuristic principle according to claim 8, characterized in that, The computing module includes: The first calculation unit solves the rigid structural spatial geometric relationship model based on the predefined fixed position of the docking mechanism, the fixed position of the HUD and the fixed position of the main platform pod, and obtains the mapping relationship of the geometric relationship between the docking point of the platform docking mechanism and the reference point of the main platform pod in the HUD coordinate system. The second calculation unit solves for the desired docking point position based on the real-time dynamic position. By equating the real-time position of the dynamic target center point with the position of the desired docking point of the docking mechanism, the real-time position of the desired docking point of the docking mechanism in the coordinate system of the platform body is calculated. The third calculation unit performs HUD dynamic reference determination processing based on the mapping relationship and the real-time position. By converting the expected docking point position of the docking mechanism to the HUD coordinate system through the mapping relationship and expressing it as a position reference of a visual symbol, the dynamic crosshair target reference position is obtained.

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