CN108108246A - A kind of terrain scheduling method for airborne Synthetic vision - Google Patents
A kind of terrain scheduling method for airborne Synthetic vision Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5011—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resources being hardware resources other than CPUs, Servers and Terminals
- G06F9/5016—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resources being hardware resources other than CPUs, Servers and Terminals the resource being the memory
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/61—Scene description
Abstract
The present invention proposes a kind of terrain scheduling method suitable for airborne Synthetic vision, whether currently need dispatch landform, but the landform of scheduling needed for calculating when needing if calculating in real time first, and is pre-processed, landform after scheduling is passed into vision rendering program, completes once complete terrain scheduling process.The present invention improves the dispatching efficiency that Synthetic vision is run in resource-constrained embedded platform, improves synthesis outdoor scene system real time, while meets the requirement of airworthiness regulation and Advisory Circulars to synthetic vision system in terms of precision and security.It using this method, can not only meet the requirement of the real-time of terrain scheduling, improve the efficiency of terrain scheduling, and reduce the calculating demand of Synthetic vision terrain scheduling.It is verified by test platform, this method can effectively meet requirement of the airborne Synthetic vision to terrain scheduling, and terrain data can be with seamless switching.
Description
Technical field
The invention belongs to airborne Synthetic vision technologies, are related to a kind of terrain scheduling method suitable for airborne Synthetic vision.
Background technology
Pilot's limited sight is one of principal element of aberdeen cutlet in current world wide.In order to solve
This problem, the research institution of various countries have put into substantial amounts of man power and material for developing new Cockpit Display technology.It closes
It is exactly to come into being in this context into visual system.Synthetic vision is a kind of utilization terrain data, barrier data, machine
Field runway data generation three-dimensional what comes into a driver's, and the virtual views are merged with flying instruments information, director information, warning information
System together is to meet the large-scale civil aircraft of a new generation new group of demand in terms of low visibility takeoff and landing ability is promoted
Close one of key components of display system (SVS, EVS, HUD).
The more advanced synthetic vision system that international vendor provides at present has the Pro Line series that Collins provides, with
And the Smart View series of products that Honeywell provides, the said goods have obtained Airworthiness Certification in several different type of machines,
Wherein, dimensional topography dispatching technique is key technology therein.Domestic still no related airborne products, are on the one hand because airborne
Computing platform is resource-constrained, is on the other hand because large-scale terrain scheduling, data transmission and calculation amount are huge, common tune
Degree method is difficult to ensure that real-time, and all higher in terms of EMS memory occupation and CPU occupancy.
Real-time is primarily referred to as current aircraft and has flown out current plot, how to ensure the ground that the Synthetic vision in front is rendered
Shape can be on the basis of current terrain rendering not be influenced, and seamless loading is come in, and carries out seamless replacement.
EMS memory occupation and CPU are occupied, and refer to that airborne computing platform memory and cpu resource are limited, terrain scheduling method should be able to
Enough there is low EMS memory occupation, low CPU is occupied.
The content of the invention
Existing in the prior art to solve the problems, such as, the present invention proposes a kind of terrain scheduling side for airborne Synthetic vision
Method, it is harsh in real-time to meet dimensional topography scheduling using efficient scheduling method in rational organizational scheduling scope
It is required that while reduce CPU and EMS memory occupation.This method principle as shown in Figure 1, landform is divided into 9 groups, using nine grids as
The organizational form of terrain scheduling.According to certain computational methods, calling in and recalling for terrain scheduling is carried out.
Based on above-mentioned principle, the technical scheme is that：
A kind of terrain scheduling method suitable for airborne Synthetic vision, it is characterised in that：Comprise the following steps：
Step 1：According to the latitude Latitude of aircraft present position and longitude Longitude, determine that aircraft is current
The latitude Dem_latitude in plot and longitude Dem_longitude where position, wherein block size by utm projection the whole world
1 ° × 1 ° of longitude and latitude determines in grid digital elevation data；
If Latitude>=0, then Dem_latitude=(int) Latitude；
If Latitude<0, then Dem_latitude=(int) Latitude-1；
If Longitude>=0, then Dem_longitude=(int) Longitude；
If Longitude<0, then Dem_longitude=(int) Longitude-1；
Required plot can be indexed by (Dem_longitude, Dem_Latitude)；
Step 2：According to aircraft present position, determine that 9 palace lattice plot needed for display are：Where aircraft current location
Upper left, left, lower-left, upper right centered on plot and the plot where the aircraft current location, it is right in, bottom right, in it is upper, in
8 plot in lower orientation；
The latitude matrix in 9 plot is：
The longitude matrix in 9 plot：
Step 3：In aircraft flight, if meeting following two conditions simultaneously, judge to need to carry out display landform
Scheduling, and enter step 4；
Condition 1：Plot where aircraft current location is not the 9 palace lattice that show ground central plot in the block；
Condition 2：1 duration of condition reaches setting duration；
Step 4：According to aircraft current location, according to step 1 and the method for step 2, aircraft current location corresponding 9 is obtained
Palace lattice plot, and being compared with 9 palace lattice plot being had shown that in current memory, obtain needing dispatching out the plot of memory with
And it needs to dispatch the plot being loaded into memory；
Step 5：The terrain data for needing to dispatch the plot being loaded into memory is pre-processed：It will be in terrain data
Geographical coordinate is converted to the three-dimensional coordinate under the ECEF coordinate systems using the earth's core as reference；
Step 6：The data transfer after scheduling is given to vision rendering program by way of shared drive, is completed once complete
Terrain scheduling process.
Advantageous effect
The advantage of the invention is that：
1) demand of the terrain scheduling to memory is reduced, to adapt to the computing resource of embedded platform.As shown in Figure 1, ground
Shape scheduling controlling ensure that terrain scheduling data volume is controlled within 9 pieces, can also meet airborne Synthetic vision to terrain rendering
The requirement of scope.
2) occupancy to CPU is reduced, is judged by step 3, only under the suitable conditions, is just scheduled, at present
Actual measurement, can occur once to dispatch for about 10 minutes, significantly reduce and CPU is occupied.
3) verified by real goal platform test, real-time can meet harsh airborne requirement of real-time, airborne conjunction
Into what comes into a driver's code requirement not less than 15 frames, this requires the time of a terrain scheduling should<1/15 second, the landform of this method actual measurement
Time of the switching time needed for step 7 is dispatched, is surveyed at present<1/30 second.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1：The terrain scheduling schematic diagram involved in the present invention arrived.
Fig. 2：The process chart of this method represents once complete terrain scheduling process flow.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to for explaining the present invention, and
It is not considered as limiting the invention.
The invention mainly includes by a kind of algorithm, required ground figurate number in Synthetic vision render process is calculated
According to, and seamless scheduling is carried out to landform and is switched, occupancy of the terrain scheduling to memory and CPU is reduced, so as to improve landform tune
The efficiency of degree.
The principle of the invention by landform as shown in Figure 1, be divided into 9 groups, using nine grids as the organizational form of terrain scheduling.It presses
According to certain computational methods, calling in and recalling for terrain scheduling is carried out.
Specifically include following steps：
Step 1：According to the latitude Latitude of aircraft present position and longitude Longitude, determine that aircraft is current
The latitude Dem_latitude in plot and longitude Dem_longitude where position, wherein block size by utm projection the whole world
1 ° × 1 ° of longitude and latitude determines in grid digital elevation data；
If Latitude>=0, then Dem_latitude=(int) Latitude；
If Latitude<0, then Dem_latitude=(int) Latitude-1；
If Longitude>=0, then Dem_longitude=(int) Longitude；
If Longitude<0, then Dem_longitude=(int) Longitude-1；
Required plot can be indexed by (Dem_longitude, Dem_Latitude), such as (30,120) terrain block
Entitled N30E120.
Step 2：According to aircraft present position, determine that 9 palace lattice plot needed for display are：Where aircraft current location
Upper left, left, lower-left, upper right centered on plot and the plot where the aircraft current location, it is right in, bottom right, in it is upper, in
8 plot in lower orientation；
The latitude matrix in 9 plot is：
The longitude matrix in 9 plot：
Step 3：In aircraft flight, if meeting following two conditions simultaneously, judge to need to carry out display landform
Scheduling, and enter step 4；
Condition 1：Plot where aircraft current location is not the 9 palace lattice that show ground central plot in the block；
Condition 2：1 duration of condition reaches setting duration.
Step 4：According to aircraft current location, according to step 1 and the method for step 2, aircraft current location corresponding 9 is obtained
Palace lattice plot, and being compared with 9 palace lattice plot being had shown that in current memory, obtain needing dispatching out the plot of memory with
And it needs to dispatch the plot being loaded into memory；
As shown in Fig. 1 (a), 9 plot in intermediate dark border are the landform that current visual system is rendering, it is assumed that
Currently meet step 3 to judge, and current plot in the plot 1 of aircraft display landform matrix, is then shown with aircraft where aircraft
The plot 1 of landform matrix plot where current aircraft, required plot is calculated according to step 2, calculates 9 pieces of required landform i.e.
The terrain block that black surround in Fig. 1 (b) is included is found out in 9 plot included by Fig. 2 dark borders, and not shown in Fig. 1 (a)
Terrain block in black surround, it is as required to call in terrain block, this example：For plot A, plot B, plot C, plot D, plot E.
By the plot latitude and longitude information in the latitude and longitude information in required 9 plot and current memory, it is compared, finds out
Aircraft is shown in the plot of landform matrix at present, and is not belonging to need the plot dispatched, as shown in Fig. 1 (b), for plot 3, plot
6, plot 7, plot 8, plot 9.
As shown in Figure 1：By file system loading according to required plot, the landform that is recalled needed for replacement.This example is ground
Block A- plot E replace plot 3- plot 9.
Step 5：The terrain data for needing to dispatch the plot being loaded into memory is pre-processed：It will be in terrain data
Geographical coordinate is converted to the three-dimensional coordinate under the ECEF coordinate systems using the earth's core as reference.
O=(μ l h)TAs the location information of certain point in a certain plot, the Coordinate calculation method under ECEF coordinate systems
It is as follows：
Wherein, μ represents latitude, and l represents longitude, and h represents height, a=6378137, b=6356755
Data prediction is handled during terrain scheduling, so as to not influence vision rendering task；Data prediction purpose
It is the data by initial land form data prediction for suitable terrain rendering.
Step 6：The data transfer after scheduling is given to vision rendering program by way of shared drive, is completed once complete
Terrain scheduling process.
A kind of terrain scheduling method suitable for airborne Synthetic vision proposed by the present invention, it is therefore intended that improve Synthetic vision
In the dispatching efficiency that resource-constrained embedded platform is run, synthesis outdoor scene system real time is improved, while meets airworthiness regulation
And requirement of the Advisory Circulars to synthetic vision system in terms of precision and security.Airborne Synthetic vision is flown by terrain data
Seat in the plane is put, course and attitude information etc., and to flight track, trend vector sum ambient enviroment carries out three-dimensional rendering, improves pilot
Context-aware and situational awareness so as to improve flight safety, and can mitigate the workload of pilot.It is in general, airborne embedding
It is limited to enter formula platform computing resource, since global terrain data amount is huge, it is impossible to which all terrain datas are loaded onto airborne meter
Calculation machine, therefore how to meet in resource-constrained embedded platform, it being capable of seamless scheduling landform, and occupy less resource in real time
It is relatively difficult.It using this method, can not only meet the requirement of the real-time of terrain scheduling, improve the effect of terrain scheduling
Rate, and reduce the calculating demand of Synthetic vision terrain scheduling.It is verified by test platform, this method can effectively meet
Requirement of the airborne Synthetic vision to terrain scheduling, terrain data can be with seamless switchings.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art are not departing from the principle of the present invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.
Claims (1)
- A kind of 1. terrain scheduling method suitable for airborne Synthetic vision, it is characterised in that：Comprise the following steps：Step 1：According to the latitude Latitude of aircraft present position and longitude Longitude, aircraft current location is determined The latitude Dem_latitude in place plot and longitude Dem_longitude, wherein block size by utm projection global grid 1 ° × 1 ° of longitude and latitude determines in digital elevation data；If Latitude>=0, then Dem_latitude=(int) Latitude；If Latitude<0, then Dem_latitude=(int) Latitude-1；If Longitude>=0, then Dem_longitude=(int) Longitude；If Longitude<0, then Dem_longitude=(int) Longitude-1；Required plot can be indexed by (Dem_longitude, Dem_Latitude)；Step 2：According to aircraft present position, determine that 9 palace lattice plot needed for display are：Aircraft current location location Upper left, left, lower-left, upper right centered on block and the plot where the aircraft current location, it is right in, bottom right, in it is upper, under 8 plot in orientation；The latitude matrix in 9 plot is：<mrow> <mi>D</mi> <mi>E</mi> <mi>M</mi> <mo>_</mo> <mi>r</mi> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mi>i</mi> <mi>t</mi> <mi>u</mi> <mi>d</mi> <mi>e</mi> <mo>=</mo> <mi>D</mi> <mi>E</mi> <mi>M</mi> <mo>_</mo> <mi>l</mi> <mi>a</mi> <mi>t</mi> <mi>i</mi> <mi>t</mi> <mi>u</mi> <mi>d</mi> <mi>e</mi> <mo>*</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>The longitude matrix in 9 plot：<mrow> <mi>D</mi> <mi>E</mi> <mi>M</mi> <mo>_</mo> <mi>r</mi> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mi>i</mi> <mi>t</mi> <mi>u</mi> <mi>d</mi> <mi>e</mi> <mo>=</mo> <mi>D</mi> <mi>E</mi> <mi>M</mi> <mo>_</mo> <mi>l</mi> <mi>o</mi> <mi>n</mi> <mi>g</mi> <mi>i</mi> <mi>t</mi> <mi>u</mi> <mi>d</mi> <mi>e</mi> <mo>*</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>Step 3：In aircraft flight, if meeting following two conditions simultaneously, judge to need to carry out display terrain scheduling, And enter step 4；Condition 1：Plot where aircraft current location is not the 9 palace lattice that show ground central plot in the block；Condition 2：1 duration of condition reaches setting duration；Step 4：According to aircraft current location, according to step 1 and the method for step 2, the corresponding 9 palace lattice in aircraft current location are obtained Plot, and be compared, obtain needing the plot for dispatching out memory and need with 9 palace lattice plot being had shown that in current memory Dispatch the plot being loaded into memory；Step 5：The terrain data for needing to dispatch the plot being loaded into memory is pre-processed：By the geography in terrain data Coordinate is converted to the three-dimensional coordinate under the ECEF coordinate systems using the earth's core as reference；Step 6：The data transfer after scheduling is given to vision rendering program by way of shared drive, is completed once completely Shape scheduling process.
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