Radar detection envelope visualization method and apparatus

Abstract

The application provides a radar detection envelope visualization method and device, and relates to the technical field of radar visualization. The method comprises the following steps: acquiring model information and beam parameters of a radar; determining a scanning mode of the radar according to the model information, and acquiring scanning parameters corresponding to the scanning mode; calculating a sequence of trajectory points of the beam of the radar changing with time in the scanning mode according to the scanning mode and the scanning parameters; calculating a maximum beam distance point in the direction of the radar beam corresponding to each trajectory point in the sequence of trajectory points based on the beam parameters, performing triangular gridding processing on a plurality of maximum beam distance points corresponding to the sequence of trajectory points, and obtaining envelope geometric data; creating a three-dimensional rendering object according to the envelope geometric data and a preset envelope material, and loading the three-dimensional rendering object into a three-dimensional geographic scene, so that a detection envelope corresponding to the radar is superimposed and displayed with the three-dimensional geographic scene.

Description

Technical Field

[0001] This application relates to the field of radar visualization technology, and in particular to a radar detection envelope visualization method and apparatus. Background Technology

[0002] Radar, as an important electronic detection device, is widely used in air traffic control, meteorological observation, maritime surveillance, and national defense early warning. In actual combat command, situational awareness, and electromagnetic environment assessment scenarios, operators often need to intuitively understand the radar's detection coverage to make comprehensive judgments on the target's detectable area, coverage blind spots, and the coordinated coverage among multiple radars. Therefore, presenting the radar's detection envelope in a three-dimensional visualization within a geographical scene has become an important function in modern command and control systems and simulation platforms.

[0003] In related technologies, the three-dimensional visualization of radar detection envelope is typically achieved as follows: Based on the radar's deployment location, maximum detection range, and the horizontal and vertical coverage angles of the beam, a conical or spherical geometric model with the radar's location as its vertex is constructed. This geometric model is then overlaid on a three-dimensional geographic scene as the radar's detection envelope. In this way, operators can observe the radar's static coverage area in the three-dimensional geographic scene and perform simple situational analysis by combining it with terrain, target location, and other factors.

[0004] However, the detection envelope presented by the aforementioned technologies is a fixed geometric shape constructed based on the maximum coverage of the radar, reflecting the overall spatial area that the radar can theoretically cover. In actual operation, radar usually scans space according to specific scanning rules. At any given moment, the spatial area actually illuminated by the radar beam is only a part of the overall coverage. Therefore, there is a difference between the presented detection envelope and the instantaneous illumination area of ​​the radar beam during actual operation, making it difficult to accurately reflect the true detection situation of the radar at different scanning moments. Summary of the Invention

[0005] In view of the above problems, this application provides a radar detection envelope visualization method and apparatus.

[0006] The first aspect of this application provides a method for visualizing radar detection envelope, comprising: acquiring radar model information and beam parameters; determining the radar scanning mode based on the model information and acquiring the scanning parameters corresponding to the scanning mode; calculating the trajectory point sequence of the radar beam changing over time under the scanning mode based on the scanning mode and scanning parameters; calculating the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence based on the beam parameters; performing triangulation processing on multiple maximum beam distance points corresponding to the trajectory point sequence to obtain envelope geometric data; creating a three-dimensional rendering object based on the envelope geometric data and a preset envelope material, and loading the three-dimensional rendering object into a three-dimensional geographic scene so that the radar detection envelope is superimposed on the three-dimensional geographic scene.

[0007] Another aspect of this application provides a radar detection envelope visualization device, comprising:

[0008] The system comprises the following modules: a data acquisition module for acquiring radar parameters, including radar model and beam parameters; a scanning mode parsing module for determining the radar's scanning mode based on the radar model and acquiring the corresponding scanning parameters; a trajectory calculation module for calculating the sequence of trajectory points of the radar beam changing over time under the scanning mode, based on the scanning mode and scanning parameters; an envelope generation module for calculating the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence based on the beam parameters, and performing triangulation on multiple maximum beam distance points to obtain envelope geometric data; and a rendering module for creating a 3D rendering object based on the envelope geometric data and a preset envelope material, and loading the 3D rendering object into a 3D geographic scene so that the radar's detection envelope is overlaid on the 3D geographic scene.

[0009] Compared with the prior art, the radar detection envelope visualization method and apparatus provided in this application have at least the following advantages:

[0010] (1) This application automatically matches and parses the corresponding scanning mode and scanning parameters by radar model information, which can adapt to the diverse scanning methods of different types of radars. It does not require separate modeling for each type of radar, thus improving the versatility of the solution and the efficiency of engineering adaptation.

[0011] (2) This application calculates the sequence of trajectory points of the radar beam changing over time, and determines the maximum beam distance point in the direction of each trajectory point based on the beam parameters. Then, it performs triangular meshing on multiple maximum beam distance points. The resulting envelope geometric data can accurately reflect the actual detection coverage of the radar within the scanning cycle. Compared with the traditional method of approximating the radar using regular geometric bodies (such as cones and sectors), the envelope model of this application is closer to the actual detection capability of the radar.

[0012] (3) This application loads the created three-dimensional rendering object into the three-dimensional geographic scene, so that the radar detection envelope is superimposed on the geographic elements such as terrain and land features, which makes it easier for users to intuitively judge the radar's detection blind zone, coverage area and relative relationship with the target area in the real geographic coordinate system, significantly improving the auxiliary decision-making ability of situational awareness and combat simulation. Attached Figure Description

[0013] The above and other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0014] Figure 1 A flowchart illustrating a radar detection envelope visualization method according to an embodiment of this application is shown schematically.

[0015] Figure 2 A flowchart illustrating the generation of envelope geometry data according to an embodiment of this application is shown schematically;

[0016] Figure 3 A flowchart illustrating a dynamic demonstration mechanism according to an embodiment of this application is shown schematically.

[0017] Figure 4 This diagram schematically illustrates the overall system architecture of the radar detection envelope visualization method according to an embodiment of this application.

[0018] Figure 5 A block diagram of a radar detection envelope visualization device according to an embodiment of this application is shown schematically. Detailed Implementation

[0019] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0020] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0021] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0022] Before describing the specific embodiments of this application in detail, technical terms will first be explained to facilitate a better understanding of this application.

[0023] Radar detection envelope: refers to the geometric surface formed by the maximum detection range that a radar beam can cover in three-dimensional space under a specific scanning mode. The shape of the radar detection envelope depends not only on the radar's own physical parameters (such as transmit power, antenna gain, operating wavelength, etc.), but also on the beam scanning method used by the radar. Different scanning methods will form different shapes of detection envelopes.

[0024] Circular scanning, W-shaped scanning, and Z-shaped scanning are three common beam scanning methods in radar systems. Circular scanning refers to a scanning method where the radar beam rotates continuously 360 degrees around the azimuth axis with the radar itself as the center; this is commonly used in early warning and surveillance radars. W-shaped scanning refers to a scanning method where the radar beam reciprocates within a specified azimuth and elevation angle range, forming a W-shaped trajectory; this is commonly used in tracking radars. Z-shaped scanning refers to a scanning method where the radar beam scans line by line according to a preset angle, starting a new line after each line, forming a Z-shaped or grid-like trajectory; this is commonly used in the search mode of phased array radars.

[0025] A three-dimensional geographic scene refers to a three-dimensional visualization environment constructed based on a real geographic coordinate system, capable of displaying terrain, features, and spatial relationships. The three-dimensional geographic scene in this application embodiment can be built on a three-dimensional geographic information system platform such as Cesium, enabling the overlay display of Earth surface elements and radar detection envelopes.

[0026] A 3D rendering object is a data object composed of geometric data and appearance materials that can be rendered and displayed by a graphics processor in a 3D scene. In the Cesium-based implementation, a 3D rendering object can be represented as Cesium.Primitive, which is obtained by combining Cesium.Geometry and Cesium.Appearance through Cesium.GeometryInstance.

[0027] Triangulation refers to the geometric process of connecting a set of discrete spatial points to form a mesh surface composed of triangular patches. In this application, the Delaunay triangulation algorithm and other algorithms can be used to triangulate the maximum beam distance points to construct a closed and continuous envelope surface.

[0028] In view of this, embodiments of this application provide a radar detection envelope visualization method and apparatus, which can adapt to the corresponding scanning mode according to the radar model information, calculate the scanning trajectory of the radar beam and the corresponding maximum beam distance point according to the scanning mode and beam parameters, and construct detection envelope geometric data that accurately reflects the characteristics of the scanning mode through triangular meshing processing, so as to realize the accurate overlay display of radar detection envelope and three-dimensional geographic scene.

[0029] Figure 1 A flowchart illustrating a radar detection envelope visualization method according to an embodiment of this application is shown schematically.

[0030] like Figure 1 As shown, the radar detection envelope visualization method according to this embodiment may include steps S1 to S5.

[0031] Step S1: Obtain the radar model information and beam parameters.

[0032] In this embodiment, the radar model information is used to identify the specific radar type, and different radar models correspond to different scanning modes. Beam parameters include physical parameters characterizing the radar's detection capability, such as the radar's deployment location (e.g., longitude, latitude, and altitude coordinates), transmit power, antenna gain, operating wavelength, target radar cross-section, and minimum detectable signal power of the receiver.

[0033] Step S2: Determine the radar scanning mode based on the model information and obtain the scanning parameters corresponding to the scanning mode.

[0034] A mapping table corresponding to radar models and scanning modes can be pre-established. The radar model information obtained in step S1 is used to query the mapping table to determine the scanning mode used by the radar. In this embodiment, the scanning mode includes any one of circular scanning, W-shaped scanning, and Z-shaped scanning.

[0035] The specific content of the scanning parameters varies depending on the scanning mode:

[0036] When the scanning mode is circular scan, the scanning parameters include the starting azimuth angle. angular velocity and pitch angle .

[0037] When the scanning mode is W-type scan, the scanning parameters include the center azimuth angle. Center pitch angle Azimuth scanning amplitude Pitch scan amplitude and frequency parameters , .

[0038] When the scanning mode is Z-scan, the scanning parameters include the starting azimuth angle. Starting pitch angle Scanning speed Row scan cycle and the angle interval between rows .

[0039] Step S3: Calculate the sequence of trajectory points of the radar beam changing over time in the scanning mode, based on the scanning mode and scanning parameters.

[0040] The scanning trajectory of the radar beam reflects the change in beam pointing over time. In this embodiment, the trajectory point sequence contains multiple trajectory points, each corresponding to a sampling time. and the azimuth angle of the radar beam at that moment and pitch angle Different mathematical models are used to calculate the trajectory point sequence for different scanning modes.

[0041] For example, when the scanning mode is circular scanning, the radar beam rotates continuously 360 degrees around the radar center, with a constant elevation angle. The azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formula:

[0042]

[0043] In the formula, For time, for The azimuth angle of the radar beam at any given time. for The elevation angle of the radar beam at all times. The starting azimuth angle, Angular velocity, This is the elevation angle constant. The detection envelope generated in this scanning mode is in the shape of a cone or frustum with the radar as the apex.

[0044] When the scanning mode is W-shaped scanning, the radar beam performs reciprocating scanning within a specified azimuth and elevation angle range, forming a W-shaped trajectory. The azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formula:

[0045]

[0046] In the formula, For time, for The azimuth angle of the radar beam at any given time. for The elevation angle of the radar beam at all times. The central azimuth angle, Pitch angle centered on This refers to the azimuth scan amplitude. This refers to the pitch scan amplitude. , This is the frequency parameter. The probe envelope generated in this scanning mode is an irregular three-dimensional curved surface.

[0047] When the scanning mode is Z-scan, the radar beam scans line by line in a preset angular step, starting a new line after each line ends. The azimuth angle changes linearly with time within each line, while the elevation angle changes with the line number. Discrete growth. In the first... During line scanning, the azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formulas:

[0048]

[0049] In the formula, For row number, For time, for The azimuth angle of the radar beam at any given time. for The elevation angle of the radar beam at all times. The starting azimuth angle, The initial pitch angle, For scanning speed, For row scan cycles, This represents the angular spacing between lines. The line number is... The default value is an integer, ranging from 0 to 90. This term is used to reverse the direction between odd and even rows, thus forming a reciprocating Z-shaped scan trajectory. The probe envelope generated in this scanning mode is a rectangular grid-like surface.

[0050] Step S4: Based on the beam parameters, calculate the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence, and perform triangular meshing on the multiple maximum beam distance points corresponding to the trajectory point sequence to obtain envelope geometric data.

[0051] Figure 2 A flowchart illustrating the generation of envelope geometry data according to an embodiment of this application is shown schematically.

[0052] like Figure 2 As shown, the generation of envelope geometry data according to this embodiment may further include steps S41 to S43.

[0053] Step S41: Calculate the maximum detection range in the direction of the radar beam corresponding to each trajectory point in the trajectory point sequence, and extend the maximum detection range along the direction of the radar beam corresponding to each trajectory point, starting from the radar deployment location, to obtain the maximum beam distance point corresponding to each trajectory point.

[0054] For example, based on the radar equations, the maximum detection range in the radar beam direction corresponding to each trajectory point in the trajectory point sequence can be calculated according to the following formula:

[0055]

[0056] In the formula, For the first point in the trajectory point sequence The maximum detection range along the radar beam direction of each trajectory point This refers to the radar's transmission power. For radar antenna gain, The wavelength of the radar beam. The target's radar cross-section. This is the minimum detectable signal power for the radar receiver.

[0057] It should be noted that, in more refined implementations, the vertical elevation angle can also be considered. The effects on antenna gain and elevation-related total loss are used to calculate the maximum detection range using the following extended form of the radar equation:

[0058]

[0059] In the formula, The vertical elevation angle is The maximum detection range of the radar at that time The vertical elevation angle is The corresponding real-time antenna gain, This represents the minimum detectable signal-to-noise ratio for radar. For Boltzmann's constant (i.e., 1.38 × ... J / K), It is the standard thermodynamic temperature (i.e., 290K). For receiver noise bandwidth, For receiver noise figure, The total loss is related to the elevation angle (including atmospheric attenuation, antenna scanning loss, polarization loss, feeder loss, etc.).

[0060] After obtaining the number The maximum detection range in the direction of the radar beam where each trajectory point is located. Then, based on the radar's deployment location Starting from this point, the radar beam direction along this trajectory point (based on the azimuth angle) and pitch angle (Commonly determined unit direction vector) extension Length, which is the maximum beam distance point corresponding to that trajectory point. Repeating this process for all trajectory points in the trajectory point sequence will yield the maximum beam distance point sequence. .

[0061] Step S42: Connect the maximum beam distance points of adjacent trajectory points to obtain a triangular patch mesh. The triangular patch mesh includes multiple vertices and multiple triangles containing indices.

[0062] Specifically, the Delaunay triangulation algorithm can be used to analyze the maximum beam distance point sequence. Triangulation is performed. The Delaunay triangulation algorithm ensures that the generated triangular patches satisfy the empty circle property and maximize the minimum angle property, avoiding the generation of elongated and distorted triangles, thus obtaining a high-quality mesh surface. Each triangle in the triangular patch mesh is identified by the indices of its three vertices, indicating its topological relationship.

[0063] Step S43: Calculate the average normal vector of each vertex, and combine the maximum beam distance point, the index of each triangle, and the average normal vector to form envelope geometric data.

[0064] For each vertex in the mesh, the normal vectors of all triangles adjacent to that vertex are first calculated. Then, these normal vectors are averaged and normalized to obtain the average normal vector of that vertex. The average normal vector is used to support lighting calculations and surface shading in subsequent rendering processes, enabling the probe envelope to present a realistic 3D stereoscopic effect.

[0065] Finally, the envelope geometry data is obtained by combining all the maximum beam distance points (vertex coordinates), the index information of each triangle, and the average normal vector of each vertex.

[0066] Step S5: Create a 3D rendering object based on the envelope geometry data and the preset envelope material, and load the 3D rendering object into the 3D geographic scene so that the radar's detection envelope is superimposed on the 3D geographic scene.

[0067] The preset envelope material defines the visual style of the radar envelope when displayed in a 3D geographic scene, including but not limited to rendering attributes such as color, transparency, wireframe mode, and texture mapping. In practical applications, different envelope materials can be preset for different radars or different detection states as needed to distinguish the coverage range of different radars when displaying multiple radar envelopes.

[0068] Specifically, this step may further include steps S51 to S52.

[0069] Step S51: Combine the envelope geometry data with the preset envelope material through the geometry primitive interface to obtain a 3D rendering object.

[0070] For example, in an implementation based on the Cesium 3D geographic information system, the above combination process can be completed using Cesium's Primitive API, including the following sub-steps:

[0071] Sub-step 1, Geometric data encapsulation: Encapsulate the vertex coordinates, triangle indices, and average normal vectors from the envelope geometric data obtained in step S43 into a Cesium.Geometry object.

[0072] Sub-step two, appearance definition: Create a Cesium.Appearance object based on the preset envelope material, and define the visual attributes of the envelope such as color, transparency, whether it is translucent, whether it is closed, and whether it is flat.

[0073] Sub-step 3, Geometry instance creation: Use Cesium.GeometryInstance to combine the Cesium.Geometry object with the properties of each instance (such as instance color) to obtain the geometry instance.

[0074] Sub-step four, primitive creation: Use Cesium.Primitive to combine geometry instances with Cesium.Appearance objects to obtain 3D rendering objects.

[0075] Step S52: Load the 3D rendering object into the 3D geographic scene so that the 3D geographic scene can be overlaid and displayed.

[0076] Specifically, 3D rendering objects can be added to the primitive collection (viewer.scene.primitives) of Cesium.Scene, and the Cesium engine will overlay and render them with geographical elements such as terrain and features in the 3D geographic scene.

[0077] Through the above steps S1 to S5, the embodiments of this application can automatically match the scanning mode according to the radar model information, and generate a three-dimensional detection envelope that accurately reflects the characteristics of the scanning method according to the scanning mode and beam parameters, and overlay it on the three-dimensional geographic scene, so that users can intuitively judge the radar's detection coverage, blind zone distribution and relative relationship with the target area.

[0078] Furthermore, considering that the radar detection envelope changes dynamically with beam scanning, and that the computational load of real-time calculation of envelope geometry data is large and difficult to meet the requirements of real-time rendering, this application embodiment also provides a dynamic demonstration mechanism based on key frame pre-calculation and time axis driving.

[0079] Figure 3 A flowchart illustrating a dynamic demonstration mechanism according to an embodiment of this application is shown.

[0080] like Figure 3 As shown, the dynamic demonstration mechanism according to this embodiment may include steps S6 to S8.

[0081] In this embodiment, the radar detection envelope visualization method may further include the following steps:

[0082] Step S6: Determine multiple key frame time points within a preset demonstration time period based on preset discrete time intervals.

[0083] For example, suppose the demonstration period is The preset discrete time interval is (e.g., 5 seconds), then the demonstration can be done at intervals within the demonstration period. Determine multiple keyframe time points at equal intervals ,in The discrete time interval can be adjusted according to scanning speed, computing resources, and presentation smoothness requirements.

[0084] Step S7: Create 3D rendering objects corresponding to each keyframe time point.

[0085] For each keyframe time point Repeat steps S3 to S5 above to pre-calculate and create the 3D rendering object corresponding to the keyframe time point, and then match the 3D rendering object with the corresponding keyframe time point. Associative storage. In this way, the 3D rendering objects corresponding to all keyframe time points are calculated before the demonstration begins.

[0086] Step S8: If the current time is any keyframe time point, load the 3D rendering object corresponding to any keyframe time point into the 3D geographic scene so that the radar detection envelope changes dynamically in the 3D geographic scene as the current time changes.

[0087] Specifically, playback control can be performed on a timeline based on a given time period. The timeline features playback, rewind, and speed-up functions. The current time is the time currently displayed on the timeline and can automatically advance as the timeline plays. Users can also drag the timeline to jump to any point in time. During playback, if any keyframe is triggered at the current time... Then, the 3D rendering object corresponding to the key frame time point is loaded into the 3D geographic scene, and the previous 3D rendering object is replaced or updated, so that the radar detection envelope changes dynamically in the 3D geographic scene with the current time, presenting a dynamic demonstration effect.

[0088] By combining keyframe pre-computation with time-axis-driven approach, this embodiment of the application ensures the smoothness of the dynamic demonstration of the radar envelope while avoiding the high computational burden caused by real-time calculation of envelope geometric data, thus achieving a balance between demonstration effect and computational efficiency.

[0089] To more clearly illustrate the complete workflow of the radar detection envelope visualization method provided in this application embodiment, a complete embodiment of the method is described in detail below with reference to the overall system architecture diagram.

[0090] Figure 4 The diagram schematically illustrates the overall system architecture of the radar detection envelope visualization method according to an embodiment of this application.

[0091] like Figure 4 As shown, the overall system architecture includes a radar parameter input unit, a scan mode selection unit, a scan mode parser, a trajectory calculation engine, an envelope generator, a renderer, an animation controller, and a 3D scene display unit. The outputs of the radar parameter input unit and the scan mode selection unit serve as inputs to the scan mode parser. The output of the scan mode parser serves as input to the trajectory calculation engine. The output of the trajectory calculation engine serves as input to the envelope generator. The output of the envelope generator serves as input to the renderer and the animation controller, respectively. The outputs of the renderer and the animation controller work together to power the 3D scene display unit, ultimately achieving integrated display of the radar detection envelope and the 3D geographic scene in Cesium.Scene. Based on the above overall system architecture, the complete workflow of the radar detection envelope visualization method provided in this embodiment is as follows:

[0092] The first stage is the radar parameter input and scanning mode selection stage.

[0093] The radar parameters are acquired through the radar parameter input unit. These parameters include the radar's deployment location (e.g., longitude, latitude, and altitude coordinates), beam direction (e.g., initial pointing azimuth and elevation angles), detection range (maximum detection range), and physical parameters required for radar equation calculations, such as transmit power, antenna gain, operating wavelength, target radar cross-section, and minimum detectable signal power of the receiver. Simultaneously, the scanning mode selection unit determines the corresponding scanning mode from three options—circular scan, W-scan, and Z-scan—based on the radar's model information.

[0094] The second stage is the scanning pattern parsing stage.

[0095] The radar parameters and scanning mode are input into the scanning mode resolver. The scanning mode resolver performs two functions: parameter parsing and pattern recognition. Firstly, it extracts the corresponding scanning parameters from the radar parameters based on the scanning mode. For example, for a circular scan, it extracts the initial azimuth, angular velocity, and elevation angle; for a W-shaped scan, it extracts the center azimuth, center elevation, azimuth scan amplitude, elevation scan amplitude, and frequency parameters; and for a Z-shaped scan, it extracts the initial azimuth, initial elevation, scanning speed, line scan period, and inter-line angular interval. Secondly, it identifies the scanning mode to determine the mathematical model used for subsequent trajectory calculations. The output of the scanning mode resolver includes the identified scanning mode identifier and the corresponding set of scanning parameters.

[0096] The third stage is the trajectory calculation stage.

[0097] The scan mode identifier and scan parameter set output by the scan mode parser are input into the trajectory calculation engine. The trajectory calculation engine performs two functions: mathematical modeling and trajectory sampling. In the mathematical modeling stage, the trajectory calculation engine selects the corresponding trajectory calculation formula according to the scan mode identifier. For example, circular scan corresponds to the circular scan trajectory calculation formula in step S3, W-shaped scan corresponds to the W-shaped scan trajectory calculation formula, and Z-shaped scan corresponds to the Z-shaped scan trajectory calculation formula. In the trajectory sampling stage, the trajectory calculation engine uniformly samples time t within the scan period corresponding to the scan mode according to the preset time sampling interval, and calculates the azimuth and elevation angles of the radar beam at each sampling moment according to the selected trajectory calculation formula, thereby obtaining the sequence of scan trajectory points of the radar beam in three-dimensional space.

[0098] The fourth stage is the envelope geometry generation stage.

[0099] The scan trajectory point sequence output by the trajectory calculation engine and the relevant physical parameters from the radar parameters are input into the envelope generator. The envelope generator performs two functions: geometric calculation and mesh generation. In the geometric calculation stage, the envelope generator calculates the maximum detection range in the radar beam direction corresponding to each trajectory point based on the radar equations, and extends the maximum detection range along the radar beam direction corresponding to each trajectory point, starting from the radar deployment position, to obtain the maximum beam range point sequence corresponding to the trajectory point sequence. In the mesh generation stage, the envelope generator uses the Delaunay triangulation algorithm to triangulate the maximum beam range point sequence, generating envelope geometric data composed of vertex coordinates, triangle indices, and vertex average normal vectors.

[0100] The fifth stage is the parallel processing stage of 3D rendering and animation control.

[0101] The envelope geometry data output by the envelope generator is fed into the Cesium renderer and animation controller for parallel processing.

[0102] In the Cesium renderer, two functions are executed: Primitive creation and material definition. In the material definition stage, a Cesium.Appearance object is created based on the preset envelope material, defining visual attributes such as the envelope's color, transparency, whether it is translucent, whether it is closed, and whether it is flat. In the Primitive creation stage, the envelope geometry data is encapsulated into a Cesium.Geometry object. The Cesium.Geometry object is combined with instance attributes (such as instance color) to obtain a Cesium.GeometryInstance object. Then, the Cesium.GeometryInstance object is combined with the Cesium.Appearance object to finally generate a 3D rendering object (i.e., Cesium.Primitive) that can be rendered by the 3D scene.

[0103] The animation controller performs two functions: time management and state update. In the time management stage, multiple keyframe time points are determined within the preset demonstration time period based on preset discrete time intervals (e.g., once every 5 seconds), and playback control is performed on the demonstration time period. The animation controller supports control operations such as playback, rewind, and acceleration, and allows users to drag the current time to any point in time. In the state update stage, the animation controller triggers the Cesium renderer's processing flow from the third to the fifth stage for each keyframe time point, pre-calculates and creates the 3D rendering object corresponding to each keyframe time point, and sends the state update instruction of the 3D rendering object corresponding to the keyframe time point to the 3D scene display unit when the current time triggers any keyframe time point during playback on the timeline.

[0104] The sixth stage is the 3D scene display stage.

[0105] The 3D rendered objects output by the Cesium renderer and the state update commands output by the animation controller are sent to the 3D scene display unit. The 3D scene display unit integrates the display of the 3D geographic scene based on Cesium.Scene, adding the 3D rendered objects to the primitive collection (viewer.scene.primitives) of Cesium.Scene. When a state update command is received from the animation controller, the 3D scene display unit retrieves the corresponding 3D rendered object from the pre-created 3D rendered objects based on the keyframe time information carried in the command, and replaces or updates the previously displayed 3D rendered object, thus making the radar's detection envelope dynamically change in the 3D geographic scene as time progresses. Finally, the radar's detection envelope is overlaid with the terrain, features, and other geographic elements in the 3D geographic scene, presenting the user with a visualization of the radar's 3D detection envelope in a real geographic coordinate system.

[0106] Through the orderly and collaborative work of the above six stages, the radar detection envelope visualization method provided in this application embodiment achieves a complete closed-loop process from radar parameter input to dynamic display of 3D detection envelopes. Specifically, the scan mode parser decouples scan parameters from scan modes, facilitating expansion to support more scan modes; the trajectory calculation engine and envelope generator work in parallel, separating the mathematical calculation of the scan trajectory from the mesh generation of the envelope geometry, improving module reusability; the Cesium renderer and animation controller process in parallel, ensuring both efficient rendering of static envelopes and smooth demonstration of dynamic scanning effects; the 3D scene display unit, based on Cesium.Scene, achieves seamless integration of the geographic environment, giving the visualization results real geographic reference value. In large-scale radar network application scenarios, the above process can be executed independently for each radar, and through optimization methods such as batch encapsulation of geometric data and GPU instantiation rendering of the Cesium renderer, high-performance visualization of more than one hundred radar 3D detection envelopes can be achieved simultaneously.

[0107] As can be seen from the above description, the embodiments of the present invention achieve at least the following technical effects:

[0108] (1) This application automatically matches and parses the corresponding scanning mode and scanning parameters by radar model information, which can adapt to the diverse scanning methods of different types of radars. It does not require separate modeling for each type of radar, thus improving the versatility of the solution and the efficiency of engineering adaptation.

[0109] (2) This application calculates the sequence of trajectory points of the radar beam changing over time, and determines the maximum beam distance point in the direction of each trajectory point based on the beam parameters. Then, it performs triangular meshing on multiple maximum beam distance points. The resulting envelope geometric data can accurately reflect the actual detection coverage of the radar within the scanning cycle. Compared with the traditional method of approximating the radar using regular geometric bodies (such as cones and sectors), the envelope model of this application is closer to the actual detection capability of the radar.

[0110] (3) This application loads the created three-dimensional rendering object into the three-dimensional geographic scene, so that the radar detection envelope is superimposed on the geographic elements such as terrain and land features, which makes it easier for users to intuitively judge the radar's detection blind zone, coverage area and relative relationship with the target area in the real geographic coordinate system, significantly improving the auxiliary decision-making ability of situational awareness and combat simulation.

[0111] Based on the methods disclosed in the above embodiments, this application also provides a radar detection envelope visualization device, which will be described below in conjunction with... Figure 5 The device is described in detail.

[0112] Figure 5 A block diagram of a radar detection envelope visualization device according to an embodiment of this application is shown schematically.

[0113] like Figure 5 As shown, the radar detection envelope visualization device 500 according to this embodiment includes a data acquisition module 510, a scanning mode parsing module 520, a trajectory calculation module 530, an envelope generation module 540, and a rendering module 550.

[0114] The data acquisition module 510 is used to acquire radar parameters, including radar model and beam parameters.

[0115] The scanning mode parsing module 520 is used to determine the scanning mode of the radar according to the radar model and obtain the scanning parameters corresponding to the scanning mode.

[0116] The trajectory calculation module 530 is used to calculate the sequence of trajectory points of the radar beam changing over time in the scanning mode, based on the scanning mode and scanning parameters.

[0117] The envelope generation module 540 is used to calculate the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence based on beam parameters, and to perform triangular meshing on multiple maximum beam distance points to obtain envelope geometric data.

[0118] The rendering module 550 is used to create a 3D rendering object based on the envelope geometry data and the preset envelope material, and load the 3D rendering object into the 3D geographic scene so that the radar's detection envelope is superimposed on the 3D geographic scene.

[0119] It should be noted that the embodiments of the device section are similar to those of the method section, and the technical effects achieved are also similar. For specific details, please refer to the above-mentioned method embodiment section, which will not be repeated here.

[0120] According to embodiments of this application, any multiple of the data acquisition module 510, scan pattern parsing module 520, trajectory calculation module 530, envelope generation module 540, and rendering module 550 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least some of the functions of one or more of these modules can be combined with at least some of the functions of other modules and implemented in one module. According to embodiments of this application, at least one of the data acquisition module 510, scan pattern parsing module 520, trajectory calculation module 530, envelope generation module 540, and rendering module 550 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the data acquisition module 510, the scanning pattern parsing module 520, the trajectory calculation module 530, the envelope generation module 540, and the rendering module 550 can be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0122] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0123] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Without departing from the scope of this application, those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this application.

Claims

1. A method for visualizing radar detection envelopes, characterized in that, include: Obtain radar model information and beam parameters; The scanning mode of the radar is determined based on the model information, and the scanning parameters corresponding to the scanning mode are obtained; Based on the scanning mode and the scanning parameters, calculate the sequence of trajectory points of the radar beam changing over time under the scanning mode; Based on the beam parameters, the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence is calculated, and the multiple maximum beam distance points corresponding to the trajectory point sequence are processed by triangulation to obtain envelope geometric data. A 3D rendering object is created based on the envelope geometry data and the preset envelope material, and the 3D rendering object is loaded into the 3D geographic scene so that the detection envelope corresponding to the radar is superimposed on the 3D geographic scene.

2. The method according to claim 1, characterized in that, The scanning mode includes any one of circular scanning, W-shaped scanning, and Z-shaped scanning; obtaining the scanning parameters corresponding to the scanning mode includes: When the scanning mode is circular scanning, the scanning parameters are determined to be the starting azimuth angle, angular velocity, and pitch angle; When the scanning mode is W-type scanning, the scanning parameters include center azimuth angle, center elevation angle, azimuth scanning amplitude, elevation scanning amplitude, and frequency parameters; When the scanning mode is Z-scan, the scanning parameters include the starting azimuth angle, the starting elevation angle, the scanning speed, the line scanning cycle, and the line angle interval. The trajectory point sequence includes the azimuth and elevation angles corresponding to each trajectory point.

3. The method according to claim 2, characterized in that, The step of calculating the time-varying trajectory point sequence of the radar beam under the scanning mode, based on the scanning mode and the scanning parameters, includes: When the scanning mode is circular scanning, the azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formula: In the formula, For time, for The azimuth angle of the beam at that moment. for The elevation angle of the beam at that moment. The starting azimuth angle, Angular velocity, is the pitch angle constant.

4. The method according to claim 2, characterized in that, The step of calculating the sequence of trajectory points of the radar beam changing over time under the scanning mode, based on the scanning mode and the scanning parameters, further includes: When the scanning mode is W-type scanning, the azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formula: In the formula, For time, for The azimuth angle of the beam at that moment. for The elevation angle of the beam at that moment. The central azimuth angle, Pitch angle centered on This refers to the azimuth scan amplitude. This refers to the pitch scan amplitude. , This is a frequency parameter.

5. The method according to claim 2, characterized in that, The step of calculating the sequence of trajectory points of the radar beam changing over time under the scanning mode, based on the scanning mode and the scanning parameters, further includes: When the scanning mode is Z-type scanning, in the first... During line scanning, the azimuth and elevation angles corresponding to each trajectory point in the trajectory point sequence are calculated according to the following formula: In the formula, For row number, For time, for The azimuth angle of the beam at that moment. for The elevation angle of the beam at that moment. The starting azimuth angle, The initial pitch angle, For scanning speed, For row scan cycles, The angular spacing between rows.

6. The method according to claim 1, characterized in that, The beam parameters include the radar's deployment location; based on the beam parameters, the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence is calculated, and multiple maximum beam distance points are triangulated to obtain envelope geometric data, including: Calculate the maximum detection range in the direction of the radar beam corresponding to each trajectory point in the trajectory point sequence, and extend the maximum detection range along the direction of the radar beam corresponding to each trajectory point, starting from the deployment position of the radar, to obtain the maximum beam distance point corresponding to each trajectory point. The maximum beam distance point between adjacent trajectory points is used to obtain a triangular patch mesh, which includes multiple vertices and multiple triangles containing indices; Calculate the average normal vector of each vertex, and combine the maximum beam distance point, the index of each triangle, and the average normal vector to form envelope geometry data.

7. The method according to claim 6, characterized in that, The maximum detection range in the radar beam direction corresponding to each trajectory point in the trajectory point sequence is calculated using the following formula: In the formula, The first point in the trajectory point sequence The maximum detection range along the radar beam direction of each trajectory point The transmit power of the radar. Let be the antenna gain of the radar. The wavelength of the radar beam is... The target's radar cross-section. The minimum detectable signal power of the radar receiver.

8. The method according to claim 1, characterized in that, The step of creating a 3D rendering object based on the envelope geometry data and a preset envelope material, and loading the 3D rendering object into a 3D geographic scene so that the detection envelope corresponding to the radar is superimposed on the 3D geographic scene, includes: The envelope geometry data is combined with the preset envelope material through the geometric primitive interface to obtain the three-dimensional rendering object; The 3D rendering object is loaded into the 3D geographic scene so that the 3D geographic scene is overlaid and displayed.

9. The method according to claim 1, characterized in that, The method further includes: Based on preset discrete time intervals, multiple key frame time points are determined within a preset demonstration time period; Create 3D rendering objects corresponding to each of the keyframe time points; When the current time is any keyframe time point, the 3D rendering object corresponding to any keyframe time point is loaded into the 3D geographic scene so that the detection envelope corresponding to the radar is dynamically demonstrated in the 3D geographic scene as the current time changes.

10. A radar detection envelope visualization device, characterized in that, include: The data acquisition module is used to acquire radar parameters of the radar, including radar model and beam parameters; The scanning mode parsing module is used to determine the scanning mode of the radar according to the radar model and obtain the scanning parameters corresponding to the scanning mode; The trajectory calculation module is used to calculate the sequence of trajectory points of the radar beam changing over time under the scanning mode, based on the scanning mode and the scanning parameters. The envelope generation module is used to calculate the maximum beam distance point in the radar beam direction corresponding to each trajectory point in the trajectory point sequence based on the beam parameters, and to perform triangular meshing on multiple maximum beam distance points to obtain envelope geometric data. The rendering module is used to create a three-dimensional rendering object based on the envelope geometry data and the preset envelope material, and load the three-dimensional rendering object into the three-dimensional geographic scene so that the detection envelope corresponding to the radar is superimposed on the three-dimensional geographic scene.

Images