CN108108246B - Terrain scheduling method for airborne composite view - Google Patents
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Abstract
The invention provides a terrain scheduling method suitable for an onboard synthetic view, which comprises the steps of firstly calculating whether the terrain needs to be scheduled at present or not in real time, calculating the terrain needing to be scheduled when needed, preprocessing, transmitting the scheduled terrain to a view rendering program, and completing a complete terrain scheduling process. The invention improves the scheduling efficiency of the operation of the synthetic vision on the resource-limited embedded platform, improves the real-time performance of the synthetic real-scene system, and simultaneously meets the requirements of airworthiness regulations and consultation announcements on the precision and safety of the synthetic vision system. By adopting the method, the requirement of the real-time property of the terrain scheduling can be met, the efficiency of the terrain scheduling is improved, and the calculation requirement of the synthetic view terrain scheduling is reduced. The test platform verifies that the method can effectively meet the requirements of the airborne synthetic vision on terrain scheduling, and the terrain data can be seamlessly switched.
Description
Technical Field
The invention belongs to an airborne synthetic view technology, and relates to a terrain scheduling method suitable for an airborne synthetic view.
Background
The limited visual perception of aircraft pilots is one of the major factors of serious flight accidents worldwide. To solve this problem, research institutes of various countries have invested a great deal of manpower and material resources in developing new cockpit display technologies. Synthetic vision systems are produced against this background. The synthetic view is a system which generates a three-dimensional virtual view by utilizing terrain data, obstacle data and airport runway data and fuses the virtual view with flight instrument information, guidance information and alarm information, and is one of key components of a novel combined display system (SVS, EVS and HUD) which meets the requirements of a new generation of large civil aircraft on improving the low-visibility takeoff and landing capacity.
At present, more advanced synthetic vision systems provided by foreign suppliers include Pro Line series provided by Colins and Smart View series products provided by Honeywell, the products are all airworthiness and evidence-obtaining on a plurality of different machine types, and the three-dimensional terrain scheduling technology is a key technology in the three-dimensional terrain scheduling technology. Related airborne products are not available in China, on one hand, the resources of an airborne computing platform are limited, on the other hand, large-scale terrain scheduling is adopted, the data transmission and calculation amount is huge, the real-time performance is difficult to guarantee by a common scheduling method, and the occupied memory and the occupied CPU are high.
The real-time performance mainly means that the current airplane flies out of the current land parcel, how to ensure that the terrain rendered by the front synthetic view can be loaded in a seamless mode on the basis of not influencing the rendering of the current terrain, and seamless replacement is carried out.
The memory occupation and the CPU occupation mean that the memory and the CPU resource of the airborne computing platform are limited, and the topographic scheduling method can have low memory occupation and low CPU occupation.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a terrain scheduling method for an airborne synthetic view, which adopts an effective scheduling method in a reasonable scheduling organization range to meet the strict requirement of three-dimensional terrain scheduling on real-time performance and simultaneously reduces the occupation of a CPU and a memory. The principle of the method is shown in fig. 1, namely, the landform is divided into 9 groups, and the nine-square grid is used as an organization mode of landform scheduling. And calling in and calling out the terrain scheduling according to a certain calculation method.
Based on the principle, the technical scheme of the invention is as follows:
the terrain scheduling method suitable for the airborne synthetic view is characterized by comprising the following steps of: the method comprises the following steps:
step 1: according to the Latitude Latitude and the Longitude Longitude of the current position of the airplane, determining the Latitude Dem _ Latitude and the Longitude Dem _ longtude of the plot of the current position of the airplane, wherein the size of the plot is determined by Latitude 1 degrees multiplied by 1 degree in the global grid digital elevation data projected by UTM;
if Latitude > -0, then Dem _ Latitude ═ int Latitude;
if Latitude <0, then Dem _ latituude ═ int Latitude-1;
if Longitude > -0, Dem _ Longitude ═ int) Longitude;
if Longitude <0, Dem _ Longitude ═ int) Longitude-1;
the required parcel can be indexed by (Dem _ longitude, Dem _ lautude);
step 2: according to the current position of the airplane, determining 9 grid plots required by display as follows: the method comprises the following steps that (1) a land where the current position of an airplane is located and 8 land blocks in the left upper, left middle, left lower, right upper, right middle, right lower, middle upper and middle lower directions by taking the land where the current position of the airplane is located as the center;
the latitude matrix of 9 plots is:
longitude matrix for 9 plots:
and step 3: in the flight process of the airplane, if the following two conditions are met simultaneously, judging that terrain scheduling needs to be displayed, and entering the step 4;
condition 1: the plot where the current position of the airplane is located is not the center plot in the displayed 9-grid plots;
condition 2: the duration of the condition 1 reaches a set duration;
and 4, step 4: according to the current position of the airplane, obtaining a 9-grid land parcel corresponding to the current position of the airplane according to the methods in the step 1 and the step 2, and comparing the 9-grid land parcel with the 9-grid land parcel displayed in the current memory to obtain a land parcel needing to be scheduled out of the memory and a land parcel needing to be scheduled and loaded into the memory;
and 5: preprocessing terrain data of a land parcel needing to be scheduled and loaded into a memory: converting the geographic coordinates in the terrain data into three-dimensional coordinates in an ECEF coordinate system with the geocentric as a reference;
step 6: and transmitting the scheduled data to a view rendering program in a memory sharing mode to complete a complete terrain scheduling process.
Advantageous effects
The invention has the advantages that:
1) the requirement of terrain scheduling on the memory is reduced so as to adapt to the computing resources of the embedded platform. As shown in fig. 1, the terrain scheduling control is within 9 blocks, which not only ensures that the data volume of the terrain scheduling is controlled, but also can meet the requirement of the airborne synthetic view on the terrain rendering range.
2) The occupation of the CPU is reduced, the dispatching is carried out only under the appropriate condition through the judgment of the step 3, and the current actual measurement results show that one-time dispatching can be carried out in about 10 minutes, so that the occupation of the CPU is obviously reduced.
3) Real target platform tests verify that the real-time performance can meet the strict requirement of airborne real-time performance, the requirement of airborne synthetic vision specification is not lower than 15 frames, the time of one-time terrain scheduling is required to be less than 1/15 seconds, the switching time of the terrain scheduling actually measured by the method is the time required by the step 7, and the actually measured time is less than 1/30 seconds at present.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1: the invention relates to a terrain scheduling schematic diagram.
FIG. 2: the processing flow chart of the method shows a complete terrain scheduling processing flow.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The invention mainly calculates the terrain data required in the process of rendering the synthetic view through an algorithm, and carries out seamless scheduling switching on the terrain, thereby reducing the occupation of the terrain scheduling on a memory and a CPU (central processing unit), and improving the efficiency of the terrain scheduling.
The principle of the invention is shown in fig. 1, namely, the terrain is divided into 9 groups, and the nine-square grid is used as an organization mode of terrain scheduling. And calling in and calling out the terrain scheduling according to a certain calculation method.
The method specifically comprises the following steps:
step 1: according to the Latitude Latitude and the Longitude Longitude of the current position of the airplane, determining the Latitude Dem _ Latitude and the Longitude Dem _ longtude of the plot of the current position of the airplane, wherein the size of the plot is determined by Latitude 1 degrees multiplied by 1 degree in the global grid digital elevation data projected by UTM;
if Latitude > -0, then Dem _ Latitude ═ int Latitude;
if Latitude <0, then Dem _ latituude ═ int Latitude-1;
if Longitude > -0, Dem _ Longitude ═ int) Longitude;
if Longitude <0, Dem _ Longitude ═ int) Longitude-1;
the desired parcel, such as the (30, 120) parcel name N30E120, can be indexed by (Dem _ longitude, Dem _ Latitude).
Step 2: according to the current position of the airplane, determining 9 grid plots required by display as follows: the method comprises the following steps that (1) a land where the current position of an airplane is located and 8 land blocks in the left upper, left middle, left lower, right upper, right middle, right lower, middle upper and middle lower directions by taking the land where the current position of the airplane is located as the center;
the latitude matrix of 9 plots is:
longitude matrix for 9 plots:
and step 3: in the flight process of the airplane, if the following two conditions are met simultaneously, judging that terrain scheduling needs to be displayed, and entering the step 4;
condition 1: the plot where the current position of the airplane is located is not the center plot in the displayed 9-grid plots;
condition 2: condition 1 duration reaches a set duration.
And 4, step 4: according to the current position of the airplane, obtaining a 9-grid land parcel corresponding to the current position of the airplane according to the methods in the step 1 and the step 2, and comparing the 9-grid land parcel with the 9-grid land parcel displayed in the current memory to obtain a land parcel needing to be scheduled out of the memory and a land parcel needing to be scheduled and loaded into the memory;
as shown in fig. 1(a), 9 land parcels in the middle black border are the terrain being rendered by the current vision system, and assuming that the current condition is determined in step 3 and the current land parcel where the airplane is located is in the land parcel 1 where the airplane displays the terrain matrix, the land parcel 1 where the airplane displays the terrain matrix is used as the land parcel where the airplane is located, the required land parcel is calculated according to step 2, the required 9 land parcels are 9 land parcels included in the black border of fig. 2, the land parcel included in the black border of fig. 1(b) is found, and the land parcel which is not in the black border of fig. 1(a) is the land parcel to be called, in this example: comprises a land A, a land B, a land C, a land D and a land E.
Comparing the longitude and latitude information of the required 9 plots with the longitude and latitude information of the plots in the current memory, and finding out the plots which do not belong to the plots needing to be scheduled in the plot of the current aircraft display terrain matrix, as shown in fig. 1(b), the plots are 3, 6, 7, 8 and 9.
As shown in fig. 1: and loading the required land blocks according to the required land blocks through a file system, and replacing the required called terrain. This example is plot a-plot E instead of plot 3-plot 9.
And 5: preprocessing terrain data of a land parcel needing to be scheduled and loaded into a memory: and converting the geographic coordinates in the terrain data into three-dimensional coordinates in an ECEF coordinate system by taking the center of the earth as a reference.
O＝(μl h)TAs the position information of a certain point in a certain plot, the coordinate calculation method in the ECEF coordinate system is as follows:
where μ denotes latitude, l denotes longitude, h denotes altitude, a is 6378137, and b is 6356755
The data preprocessing is processed in the terrain scheduling process, so that the visual rendering task is not influenced; the data pre-processing is intended to pre-process raw terrain data into data suitable for terrain rendering.
Step 6: and transmitting the scheduled data to a view rendering program in a memory sharing mode to complete a complete terrain scheduling process.
The invention provides a terrain scheduling method suitable for an onboard synthetic view, aiming at improving the scheduling efficiency of the synthetic view in the operation of an embedded platform with limited resources, improving the real-time performance of a synthetic real-scene system and meeting the requirements of airworthiness regulations and consultation announcements on the precision and safety of the synthetic view system. The airborne synthetic view carries out three-dimensional rendering on flight tracks, trend vectors and surrounding environment through topographic data, airplane position, course and attitude information and the like, improves situational awareness and situational awareness of pilots, improves flight safety and can reduce workload of the pilots. Generally, the airborne embedded platform has limited computing resources, and because the global terrain data volume is huge, it is impossible to load all terrain data to the airborne computer, so how to meet the requirement of the resource-limited embedded platform can seamlessly schedule the terrain in real time, and it is difficult to occupy less resources. By adopting the method, the requirement of the real-time property of the terrain scheduling can be met, the efficiency of the terrain scheduling is improved, and the calculation requirement of the synthetic view terrain scheduling is reduced. The test platform verifies that the method can effectively meet the requirements of the airborne synthetic vision on terrain scheduling, and the terrain data can be seamlessly switched.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (1)
1. A terrain scheduling method suitable for an airborne composite view is characterized by comprising the following steps: the method comprises the following steps:
step 1: according to the Latitude Latitude and the Longitude Longitude of the current position of the airplane, determining the Latitude Dem _ Latitude and the Longitude Dem _ longtude of the plot of the current position of the airplane, wherein the size of the plot is determined by Latitude 1 degrees multiplied by 1 degree in the global grid digital elevation data projected by UTM;
if Latitude > -0, then Dem _ Latitude ═ int Latitude;
if Latitude <0, then Dem _ latituude ═ int Latitude-1;
if Longitude > -0, Dem _ Longitude ═ int) Longitude;
if Longitude <0, Dem _ Longitude ═ int) Longitude-1;
the required land parcel can be indexed by (Dem _ longitude, Dem _ latitude);
step 2: according to the current position of the airplane, determining 9 grid plots required by display as follows: the method comprises the following steps that (1) a land where the current position of an airplane is located and 8 land blocks in the left upper, left middle, left lower, right upper, right middle, right lower, middle upper and middle lower directions by taking the land where the current position of the airplane is located as the center;
the latitude matrix of 9 plots is:
longitude matrix for 9 plots:
and step 3: in the flight process of the airplane, if the following two conditions are met simultaneously, judging that terrain scheduling needs to be displayed, and entering the step 4;
condition 1: the plot where the current position of the airplane is located is not the center plot in the displayed 9-grid plots;
condition 2: the duration of the condition 1 reaches a set duration;
and 4, step 4: according to the current position of the airplane, obtaining a 9-grid land parcel corresponding to the current position of the airplane according to the methods in the step 1 and the step 2, and comparing the 9-grid land parcel with the 9-grid land parcel displayed in the current memory to obtain a land parcel needing to be scheduled out of the memory and a land parcel needing to be scheduled and loaded into the memory;
and 5: preprocessing terrain data of a land parcel needing to be scheduled and loaded into a memory: converting the geographic coordinates in the terrain data into three-dimensional coordinates in an ECEF coordinate system with the geocentric as a reference;
step 6: and transmitting the scheduled data to a view rendering program in a memory sharing mode to complete a complete terrain scheduling process.
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| CN111435358B (en) * | 2019-01-12 | 2023-09-12 | 上海航空电器有限公司 | Design method for reducing terrain display jamming in forward-looking predictive warning |
| CN111210515A (en) * | 2019-12-30 | 2020-05-29 | 成都赫尔墨斯科技股份有限公司 | Airborne synthetic vision system based on terrain real-time rendering |
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