Radar echo inversion method based on radial method

Abstract

A radar echo inversion method based on a radial method, comprising: on the basis of an echo pattern to be drawn, constructing a two-dimensional texture array Dt1 of azimuth Ai and range Di; establishing a two-dimensional storage array Dt2 of azimuth Ai and range Di; establishing a map MapE; receiving track information, performing quantization to a corresponding position in the corresponding two-dimensional texture array on the basis of azimuth and range of the track information, and generating related display data by means of the radial method on the basis of position information; storing the generated display data in the two-dimensional storage array Dt2 on the basis of a track state; receiving a real echo, fusing the real echo with values in the two-dimensional storage array Dt2, and storing the fused result into the two-dimensional texture array Dt1; and performing periodic refreshing to complete an image update operation.

Description

A Radar Echo Inversion Method Based on the Radiation Approach Technical Field

[0001] This invention belongs to the technical field of radar video signal display methods, and in particular relates to a radar echo inversion method based on the radiation method. Background Technology

[0002] Radar, as an important detection and assessment tool, is widely used in meteorology, geology, transportation, and other fields. With the increasing variety and quantity of radar systems, modern display and control terminals should be able to comprehensively process information from multi-sensor platforms and external platforms, supporting the display of comprehensive situational awareness.

[0003] Currently, the display of conventional radar video signals suffers from the following problems. First, existing integrated situational awareness systems can display radar video information from a single sensor and integrated track information, resulting in track information existing in the blind zone of a single sensor without corresponding echo information. Second, due to complex environments and strong interference, false targets may exist, requiring the use of track information from other sensors to enhance the display of echoes of real targets. Furthermore, radar equipment typically generates a large amount of data when receiving and processing radar video echo data; transmitting all of this data places high demands on network resources, necessitating the inversion of echoes from other sensors for display. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art by proposing a radar echo inversion method based on the radiation method. The method is simple to implement and does not require a large amount of hardware resources. It can optimize the display effect of the original radar video and reduce the cost of radar system development and maintenance.

[0005] To achieve the objective of this invention, a radar echo inversion method based on the radiometric method is disclosed, comprising the following steps:

[0006] Step 1: Construct a two-dimensional texture array Dt1 with orientation Ai × distance Di based on the echo pattern to be drawn. The value represents the display amplitude of the echo video at different orientations and distances.

[0007] Step 2: Create a two-dimensional storage array Dt2 with azimuth Ai × distance Di to cache the video data retrieved from the flight track and perform related processing;

[0008] Step 3: Create a chart MapE, which uses the batch number as the primary key and the linked list of video data locations corresponding to the batch number as the elements, to store the video data corresponding to each track target.

[0009] Step 4: Receive track information, quantize the azimuth distance of the track information to the corresponding position in the corresponding two-dimensional texture array, and generate relevant display data using the radial method based on the position information;

[0010] Step 5: Based on the track status, store the generated display data in a two-dimensional storage array Dt2;

[0011] Step 6: Receive the real echo and fuse it with the two-dimensional stored data into the two-dimensional texture data Dt1;

[0012] Step 7: Refresh periodically to complete the image update operation.

[0013] Further, in step 1, based on the detection range of the over-the-horizon radar, a two-dimensional texture array with an azimuth of 1024 × a distance of 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters; each column of data represents data for one azimuth, and each data contains four color values: RGBA; the A (Alpha) value is fixed at 0; if there is an echo, the initial value of A (Alpha) is 150; each echo data needs to be quantized to a value between 0 and 255 and filled into the corresponding two-dimensional texture array Dt1.

[0014] Furthermore, in step 2, a two-dimensional storage array with an orientation of 1024 × a distance of 16384 is constructed, where each orientation represents 0.25 degrees and each distance represents 30 meters.

[0015] Furthermore, in step 3, the track batch number is stored in the form of BCD code, the data location information is the quantized azimuth value × distance value + distance value, and multiple data are stored in the form of a data linked list.

[0016] Furthermore, in step 4, the trajectory information includes single-sensor trajectory information or multi-sensor integrated trajectory information; based on the azimuth distance information of the trajectory, the position is quantized into a two-dimensional texture array, and all display points are found using the radial method with this position as the midpoint.

[0017] Furthermore, the radial method is as follows: Take Nn points at the same distance (front, back, and center); take (Nn-10) points at the same distance (plus 1); take (Nn-10) points at the same distance (minus 1). Store the position information of these points in MapE.

[0018] Furthermore, if the track status is "new", the points of that batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; if the track status is "updated", the historical points of that batch number in MapE are deleted from the two-dimensional storage array Dt2 according to the track deletion method, and the latest points of that batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method; if the track status is "deleted", the historical points of that batch number in MapE are directly deleted from the two-dimensional storage array Dt2 according to the track deletion method.

[0019] Further, the track insertion method is as follows: determine whether the point has a value in the two-dimensional storage array Dt2. If there is no value, assign the value of the point to 150; if there is a value, add 25 to the value of the point; if the value of the point is ≥250, assign the value to 250. The track deletion method is as follows: determine whether the point has a value in the two-dimensional storage array Dt2. If there is a value, subtract 25 from the value of the point; if the value of the point is <150, assign the value to 0.

[0020] Furthermore, the video echo data is transmitted to the display and control terminal via network in the form of echo data from all distance units in the same azimuth. If video echo data is available, the video fusion method involves quantizing the received video data according to the azimuth Ai and distance Di. The azimuth is quantized into a value of 0-1023, and the distance is quantized into an array with a distance unit of 30m. These values ​​correspond one-to-one with the values ​​in the two-dimensional storage array Dt2. The value is compared with the value in the two-dimensional storage array Dt2, and the maximum value is stored in the two-dimensional texture array Dt1. If there is no video echo data but there is servo azimuth information, when the servo azimuth information is received, the azimuth is quantized into a value of 0-1023, and the value in the two-dimensional storage array Dt2 corresponding to that azimuth is directly copied and stored in the two-dimensional texture array Dt1 corresponding to that azimuth.

[0021] Furthermore, if external video data is received, the display is refreshed according to the refresh frequency of the external echo; if no external video data is received, but servo position data is received, the display is refreshed according to the rotation speed of the servo; if neither external video data nor servo position data is received, the display is refreshed at a rate of 30 frames per second or 60 frames per second.

[0022] Compared with existing technologies, the significant advancements of this invention are: 1) The implementation method is simple and does not require a large amount of hardware resources, thus optimizing the display effect of the original radar video and reducing the cost of radar system development and maintenance. 2) The process is easy to implement and can be widely applied to various radar systems.

[0023] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1. Schematic diagram of a radar echo inversion method based on the radiation method. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] As shown in Figure 1, a radar echo inversion method based on the radiation method describes a radar echo inversion method based on track information, which includes the following steps:

[0028] Construct a two-dimensional texture array Dt1 with orientation (Ai) × distance (Di) based on the echo pattern to be drawn. The values ​​represent the display amplitude of the echo video at different orientations and distances.

[0029] Create a two-dimensional storage array Dt2 with orientation (Ai) × distance (Di) to cache the video data retrieved from the flight track and perform related processing.

[0030] Create a chart (MapE) to store the video data corresponding to each flight path.

[0031] Receive track information, quantize the azimuth distance of the track information to the corresponding position in the corresponding two-dimensional texture array, and generate relevant display data using a radial method based on the position information.

[0032] Based on the track status, the generated display data is stored in a two-dimensional storage array Dt2.

[0033] The system receives real echoes, quantizes the corresponding positions of azimuth (Ai) and distance (Di), and fuses them with the two-dimensional stored data into the two-dimensional texture data Dt1.

[0034] The two-dimensional texture array data is refreshed periodically to complete the image update operation.

[0035] Example

[0036] In one embodiment, the specific implementation of the present invention includes the following steps:

[0037] Step S101: Create a two-dimensional texture array Dt1.

[0038] A two-dimensional texture array Dt1 of azimuth (Ai) × distance (Di) is constructed based on the echo pattern to be drawn, where the values ​​represent the display amplitude of the echo video at different azimuths and distances. This method constructs a two-dimensional texture array of azimuth (1024) × distance (16384) based on the detection range of the over-the-horizon radar, where each azimuth represents 0.25 degrees and each distance represents 30 meters.

[0039] Each column of data represents data for one location, and each data point contains four color values: RGBA. The A (Alpha) value is fixed at 0; if an echo exists, the initial value of A (Alpha) is 150. Each echo data point is quantized to a value between 0 and 255 and filled into the corresponding two-dimensional texture array Dt1.

[0040] Step S102: Create a two-dimensional storage array Dt2.

[0041] Based on the proposed echo pattern, a two-dimensional storage array Dt2 of azimuth (Ai) × distance (Di) is constructed, where the values ​​represent the display amplitude of the echo video at different azimuths and distances. This method constructs a two-dimensional storage array of azimuth (1024) × distance (16384) based on the actual radar detection range, where each azimuth represents 0.25 degrees and each distance represents 30 meters.

[0042] Step S103: Create a chart MapE.

[0043] The MapE chart uses the batch number as the primary key and the linked list of video data locations corresponding to the batch number as elements to store the video data corresponding to each track.

[0044] Track batch numbers are stored in BCD code format, typically 4 digits.

[0045] The data location information is the quantized azimuth value × distance value + distance value, and multiple data points are stored in a linked list. For example, if there are echoes at azimuth value 99 and distance values ​​344, 345, and 346, the data locations are calculated as follows: 99 × 16384 + 344 = 1622360, 99 × 16384 + 345 = 1622361, and 99 × 16384 + 346 = 1622362, respectively. Therefore, a linked list Lis(1622360, 1622361, 1622363) is created. Similarly, the method for parsing the data location is to take the linked list values ​​(1622360, 1622361, 1622363), divide each by 16384, and obtain the quotient and remainder. Taking the first value as an example, the quotient of 1622360 divided by 16384 is 99 and the remainder is 344. Therefore, it can be deduced that the point exists in the two-dimensional storage array with an orientation of 99 and a distance of 344.

[0046] Step S104: Receive track information.

[0047] Based on the bearing and distance information of the flight path, the position in the two-dimensional texture array is calculated using the units in step S101. The bearing position is the true bearing (degrees) × 4; the distance position is the true distance (meters) / 30.

[0048] Using this location as the midpoint, all display points are found using a radial method. The radial method is as follows: Take points at the same distance, totaling Nn points in the same direction, including those in front and behind; take points at a distance increased by 1, totaling (Nn-10) points in the same direction, including those in front and behind; and take points at a distance decreased by 1, totaling (Nn-10) points in the same direction, including those in front and behind. In this method, Nn is 15, the direction range is 0-1023, and the distance range is 0-16383. Based on the direction and distance information of these points, the location information is stored in a linked list according to the storage calculation method in step S103.

[0049] Step S105: Store the data into the two-dimensional storage array Dt2.

[0050] If the track is in a newly added state, the point obtained in step S104 is stored in a two-dimensional storage array. Check if the point has a value in the two-dimensional storage array Dt2. If there is no value, assign the value of the point to 150; if there is a value, add 25 to the value of the point; if the value of the point is ≥250, assign the value to 250, and store the linked list in the chart MapE.

[0051] If the track is in a deleted state, retrieve the historical data list of that track from the chart MapE, and obtain the position information of all historical points of that track according to the data parsing method in step S103, and delete it from the chart MapE. Determine whether the point has a value in the two-dimensional storage array Dt2. If it has a value, subtract 25 from the value of the point; if the value of the point is less than 150, assign it a value of 0.

[0052] If the track is in an update state, delete the relevant points in the two-dimensional storage array and then store the newly obtained points.

[0053] Step S106: Fusion of echo video.

[0054] Video echo data is typically transmitted over a network, sent to the display and control terminal in the form of echo data from all distance units in the same direction. If video echo data is available, the video fusion method involves quantizing the received video data according to its orientation (Ai) and distance (Di). The orientation is quantized to a value between 0 and 1023, and the distance is quantized to an array with distance units of 30 meters. This ensures a one-to-one correspondence between the values ​​in our two-dimensional storage array Dt2. The value is then compared with the values ​​in Dt2, and the maximum value is stored in the two-dimensional texture array Dt1.

[0055] If there is no video echo data but there is servo orientation information, then upon receiving the servo orientation information, the orientation is quantized into a value between 0 and 1023, and the value in the corresponding two-dimensional storage array Dt2 is directly copied and stored in the corresponding two-dimensional texture array Dt1.

[0056] Step S107: Refresh the texture.

[0057] If external video data is received, the display will be refreshed according to the refresh rate of the external echo.

[0058] If there is no external video data input, but there is servo orientation data input, the display will be refreshed according to the servo's rotation speed.

[0059] If neither external video data nor servo orientation data is available, the display will be refreshed at a rate of 30 frames per second or 60 frames per second.

[0060] Through the above steps, this invention proposes a radar echo inversion method based on the radiation method. Its implementation is simple and requires minimal hardware resources, effectively optimizing the display effect of raw radar video and reducing the development and maintenance costs of radar systems. Furthermore, the method is simple to implement and can be widely applied to various radar systems.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A radiometric-based radar echo inversion method, characterized in that, Includes the following steps: Step 1: Construct a two-dimensional texture array Dt1 with orientation Ai × distance Di based on the echo pattern to be drawn. The value represents the display amplitude of the echo video at different orientations and distances. Step 2: Create a two-dimensional storage array Dt2 with azimuth Ai × distance Di to cache the video data retrieved from the flight track and perform related processing; Step 3: Create a chart MapE, which uses the batch number as the primary key and the linked list of video data locations corresponding to the batch number as the elements, to store the video data corresponding to each track target. Step 4: Receive track information, quantize the azimuth distance of the track information to the corresponding position in the corresponding two-dimensional texture array, and generate relevant display data using the radial method based on the position information; Step 5: Based on the track status, store the generated display data in a two-dimensional storage array Dt2; Step 6: Receive the real echo and fuse it with the two-dimensional stored data into the two-dimensional texture data Dt1; Step 7: Refresh periodically to complete the image update operation.

2. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 1, based on the detection range of the over-the-horizon radar, a two-dimensional texture array with an azimuth of 1024 × a distance of 16384 is constructed, where each azimuth represents 0.25 degrees and each distance represents 30 meters; each column of data represents data for one azimuth, and each data contains four color values: RGBA; the alpha value is fixed at 0; if there is an echo, the initial alpha value is 150; each echo data needs to be quantized to a value between 0 and 255 and filled into the corresponding value of the two-dimensional texture array Dt1.

3. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 2, a two-dimensional storage array with an orientation of 1024 × a distance of 16384 is constructed, where each orientation represents 0.25 degrees and each distance represents 30 meters.

4. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 3, the track batch number is stored in the form of BCD code, the data location information is the quantized bearing value × distance value + distance value, and multiple data are stored in the form of a data linked list.

5. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 4, the track information includes single-sensor track information or multi-sensor integrated track information; based on the azimuth distance information of the track, the position is quantized into a two-dimensional texture array, and all display points are found using the radial method with the position as the midpoint.

6. A radar echo inversion method based on radiative methods according to claim 5, characterized in that, The radial method is as follows: take Nn points at the same distance, in front of and behind; take (Nn-10) points at the same distance, in front of and behind; take (Nn-10) points at the same distance, in front of and behind; take (Nn-10) points at the same distance, in front of and behind; store the position information of these points in MapE.

7. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 5, if the track status is new, the points of that batch number in MapE are stored in the two-dimensional storage array Dt2 according to the track storage method. If the track status is updated, the historical points of that batch number in MapE will be deleted from the two-dimensional storage array Dt2 according to the track deletion method, and the latest points of that batch number in MapE will be stored into the two-dimensional storage array Dt2 according to the track storage method. If the track status is deleted, then the historical points of that batch number in MapE will be directly deleted from the two-dimensional storage array Dt2 according to the track deletion method.

8. A radar echo inversion method based on radiative methods according to claim 7, characterized in that, The track insertion method is as follows: determine whether the point has a value in the two-dimensional storage array Dt2; if there is no value, assign the value of the point to 150; if there is a value, add 25 to the value of the point; if the value of the point is ≥250, assign the value to 250. The track deletion method is as follows: determine whether the point has a value in the two-dimensional storage array Dt2; if there is a value, subtract 25 from the value of the point; if the value of the point is <150, assign the value to 0.

9. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 6, the video echo data is transmitted to the display and control terminal via network in the form of echo data of all distance units in the same direction. If there is video echo data, the video fusion method is to quantize the received video data according to the orientation Ai and the distance Di. The orientation is quantized into a value of 0-1023, and the distance is quantized into an array with a distance unit of 30m. The values ​​are matched one-to-one with the values ​​in the two-dimensional storage array Dt2. The value is compared with the value in the two-dimensional storage array Dt2, and the maximum value is stored in the two-dimensional texture array Dt1. If there is no video echo data but there is servo orientation information, when the servo orientation information is received, the orientation is quantized into a value of 0-1023, and the value in the corresponding two-dimensional storage array Dt2 is directly copied and stored in the corresponding two-dimensional texture array Dt1.

10. A radar echo inversion method based on radiative methods according to claim 1, characterized in that, In step 7, if external video data is received, the display is refreshed according to the refresh frequency of the external echo; if no external video data is received, but servo position data is received, the display is refreshed according to the rotation speed of the servo; if neither external video data nor servo position data is received, the display is refreshed at a rate of 30 frames / second or 60 frames / second.

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