CN108226873A - A kind of radar return display methods under android system - Google Patents
A kind of radar return display methods under android system Download PDFInfo
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- CN108226873A CN108226873A CN201711462103.XA CN201711462103A CN108226873A CN 108226873 A CN108226873 A CN 108226873A CN 201711462103 A CN201711462103 A CN 201711462103A CN 108226873 A CN108226873 A CN 108226873A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/04—Display arrangements
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses the radar return display methods under a kind of android system.First, the mapping table from polar coordinates to rectangular co-ordinate and two equal-sized texture buffers are built in memory.Then, the part refreshed at a high speed update is not needed to by radar image upper position circle, away from mark circle, stem line etc. on a texture buffer.Secondly, the echo data of radar antenna is received and parsed through out, while the frame data are stored in echo buffering area, and with another texture buffer of the data update in buffering area.Finally, it is displayed on the screen by OpenGL mapping technologies and the rendering of multitexture hybrid technology.The division of teaching contents of radar asorbing paint is two display layers in android system by the present invention, and each display layer content independently refreshes, and improves rendering efficiency, while independent of specific hardware.
Description
Technical field
The present invention relates to marine navigation field, more particularly to a kind of radar video method for displaying image.
Background technology
Ship-navigation radar is used to detect each type objects such as iceberg, reef, ship, the floating ice on sea, and can be provided with
The target bearing and range information of effect so as to make all kinds of barriers of anti-collision behavior, prevent collision accident, are that ships and light boats navigation must
Standby navigation equipment.Modern boat-carrying pathfinder display system is mainly characterized in that digitized information processing, efficient information exhibition
Show, man-machine interaction mode easy to use, realization method is mostly system on chip (System on Chip, SOC) platform or with ARM
(Advanced RISC Machines) is the embedded platform of core.Radar Display and Control Terminal is as radar controller and radar system
Important bridge between system, have the drafting of radar video image, the recognition and tracking of target, ship information numerous work(such as display
Can, provide important navigation information.
There are mainly three types of existing radar return display methods：A kind of is with primary view framework under Qt development environments
The aobvious control interface of exploitation, and FrameBuffer (frame buffer) technical operation video memorys are combined to draw radar video image.It is for second
It is hard with reference to supporting using graphic user interface (GraphicalUser Interface, GUI) technological development Radar Displaying Console interface
The graphic interface of part acceleration technique completes the drafting of radar video image.The third is using Digital Signal Processing (Digital
Signal Processor, DSP) or the radar video number of arm processor parsing radar initial data and combination baseband signal plate
According to by the fusing image data processing display of the two.Preceding 2 kinds of methods have hardware additional requirement, need GPU that hardware is supported to add
Speed or Alpha hybrid rendings；3rd kind of method hardware design is complicated and is difficult to maintenance upgrade.In addition to this, the above method is developed
Display and control terminal man-machine interaction experience is poor.
Invention content
The defects of the purpose of the present invention is being to solve above-mentioned three kinds of methods, provides the radar under a kind of android system
Echo display methods has expanded the application platform of Radar Displaying Console, while has realized the efficient of radar image based on OpenGL technologies
It renders.Radar return display methods under a kind of android system of the present invention, includes the following steps：
Step 1: the mapping table T from polar coordinates to rectangular co-ordinate is built in memory.The step 1 includes two sub-steps
Suddenly：
Step 1 (one), for point (x each in screen1,y1), calculate its corresponding polar coordinates, and by this point from pole
The mapping relations of coordinate to rectangular co-ordinate are put into table L；
Step 1 (two), traversal list L deposit angle and radius as key, corresponding rectangular co-ordinate as the mapping relations of value
Enter in new tables of data T；
Step 2: create two equal-sized 2 d texture buffering area F and B.
Step 3: it is updated in F in dots by azimuth circle, away from mark circle, stem line.
Step 4: receiving and parsing through out the echo data of radar antenna, while the frame data are stored in echo buffering area.
Step 5: with the data update B in echo buffering area.The step includes four sub-steps：
Step 5 (one) checks whether the accumulative echo differential seat angle in echo buffering area is more than or equal to given segmentation angle,
If it is not, then end step five；
Step 5 (two) obtains two frame data D being finally stored in echo buffering area1And D2, from D2Middle acquisition echo data
E and start angle θ1, from D1Middle acquisition angle at the end θ2；
Step 5 (three) is more than or equal to θ for each angle on screen1Less than θ2Point, its right angle is searched in T
Coordinate, and with data E updates in B；
Step 5 (four), from echo buffering area by D1And D2It removes.
Step 6: utilizing the mapping technology of OpenGL in Android, radar return image is rendered.The step
Include six sub-steps：
Step 6 (one), be respectively created in Android GLSurfaceView and inherit in
The self-defined View objects and Renderer objects of GLSurfaceView.Renderer, while it is dirty wash with watercolours to set render mode
Dye；
Step 6 (two) initializes viewport by function gl.glViewport (0,0, width, height).Wherein
Width is screen width, and height is screen height；
Step 6 (three), by function gl.glFrustumf (left, right, bottom, top, zNear, zFar) just
Beginningization frustum, left are -0.5 × width, and right is 0.5 × width, and bottom is -0.5 × height, and top is
0.5 × height, zNear 3, zFar 7；
Step 6 (four) sets projection mode by function gl.glMatrixMode (GL10.GL_MODELVIEW).So
Color buffer is removed afterwards and loads unit matrix；
Step 6 (five) creates two textures by function gl.glGenTextures (2, ts, 0), and respectively at association F
And B, wherein ts are the array for preserving texture object number；
Step 6 (six) opens texture blend function, and pass through by function gl.glEnable (GL10.GL_BLEND)
Function gl.glBlendFunc (GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA) sets texture blend
Mode；
Step 6 (seven) passes through function gl.glBindTexture binded textures；
Step 6 (eight), by function gl.glTexSubImage2D, with the data update texture in B and F；
Step 6 (nine) carries out picture rendering by function requestRender Request Systems.
Advantageous effect
The present invention proposes the radar return display methods under a kind of android system, is delayed by creating texture on memory
It rushes area's simulation video memory, the aobvious of radar return image is carried out using technologies such as the multiple figure layers of multitexture technical modelling of OpenGL
Show.It is had the following advantages relative to traditional radar return display methods：(1) it can be applied in android system, so as to real
Now to the primary support of touch screen, while possess better man-machine interaction experience.(2) this system will need the thunder refreshed at a high speed first
It is plotted in a texture up to echo, then will not need to the azimuth circle refreshed at a high speed, painted away from contents such as mark circle, stem lines
It makes in another texture.It can be with refresh portions texture so as to possess higher rendering efficiency.(3) intelligent terminal general at present
Video card can support OpenGL technologies, therefore independent of specific hardware.
Description of the drawings
Fig. 1 is radar system structure.
Fig. 2 is Radar Displaying Console software main interface.
Fig. 3 is the improved Data Storage Models of secondary index.
Fig. 4 is echo display frame figure.
Fig. 5 is the radar return display methods flow chart under a kind of android system.
Fig. 6 is that the radar return based on the method draws effect.
Specific embodiment
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
With reference to Figure of description 1, hardware environment is as shown in the figure, original signal is transferred to signal by radar antenna where this method
Transceiver module carries out noise suppressed, clutter processing, and echo data, clock data, stem and bearing data then are transferred to aobvious control
Terminal is shown.Running software interface residing for display and control terminal as shown in Figure 2, shows control interface by radar image viewing area, ship
Oceangoing ship information display area, menu area three parts composition.Mainly there are radar return image, security area, AIS mesh in radar image viewing area
The contents such as mark and track points.Attached drawing 6 draws effect for the radar return based on the method.
Step 1: the mapping table T from polar coordinates to rectangular co-ordinate is built in memory.Storage organization as shown in Figure 3,
Middle m is rectangular co-ordinate point quantity (pixel quantity of the length of side for the square area of 2048 pixels), and the structure is one-dimensional by two
Tables of data forms, and concordance list can inquire s and l by r and θ, and pass through s and l and rectangular co-ordinate collection is found in rectangular co-ordinate table,
The set is final checking result.Wherein r and θ respectively needs the polar coordinates radius and angle of point inquired, and s and l divide
It Wei not initial position and length of the target collection in rectangular co-ordinate table.The step 1 includes two sub-steps：
Step 1 (one), create one-dimensional linked list array L [keyIdx] (0≤r≤MaxRng, 0≤θ≤MaxDeg, wherein
MaxRng shows radius to be maximum, and MaxDeg is maximum quantization angle, and radar image viewing area height is 2R, and keyIdx represents pole
The one-dimensional index value of the point under coordinate), wherein keyIdx is calculated according to the following formula：
Step 1 (two) calculates one-dimensional index value valueIdx under the rectangular co-ordinate, and is stored in chained list L
In [keyIdx]；
Step 1 (three), the optimization that storage organization is done to table L.It initializes an empty concordance list I first and one empty
Rectangular co-ordinate table T, and obtain linked list array L to be optimized；
Step 1 (four) finds each polar coordinates point on screen corresponding chained list S in L, and by the size and T of S
Capacity deposit I in；
All elements in S are put into T by step 1 (five).
Step 2: create two equal-sized 2 d texture buffering area F and B.Two in self-defined Renderder objects
A texture buffer, is dimensioned to 1024 × 1024 × 4Byte, and a buffering area is another for drawing radar return video
It is a to be used for drawing the secondary informations such as AIS targets, navigation routine, and initialize display ＆ control system UI background colours.Subsequently only need to line
Reason buffering area carries out operation and Image Rendering can be completed, consistent with direct operation video memory effect.
Step 3: it is updated in F in dots by azimuth circle, away from mark circle, stem line.
Step 4: receiving and parsing through out the echo data of radar antenna, while the frame data are stored in echo buffering area.
Step 5: with the data update B in echo buffering area.The step includes four sub-steps：
Step 5 (one) checks whether the accumulative echo differential seat angle in echo buffering area is more than or equal to given segmentation angle,
If it is not, then end step five；
Step 5 (two) obtains two frame data D being finally stored in echo buffering area1And D2, from D2Middle acquisition echo data
E and start angle θ1, from D1Middle acquisition angle at the end θ2；
Step 5 (three) is more than or equal to θ for each angle on screen1Less than θ2Point, its right angle is searched in T
Coordinate, and with data E updates in B；
Step 5 (four), from echo buffering area by D1And D2It removes.
Step 6: building rendering contexts and the mapping technology of OpenGL being utilized in Android, render radar and return
Wave image.Attached drawing 4 elaborates the application of the structure and mapping technology of rendering contexts, which includes nine sub-steps：
Step 6 (one), be respectively created in Android GLSurfaceView and inherit in
The self-defined View objects of GLSurfaceView.Renderer and Renderer (renderer) object, are called simultaneously
SetRenderMode function setups render mode is GLSurfaceView.RENDERMODE_WHEN_DIRTY；
Step 6 (two) initializes viewport by function gl.glViewport (0,0,1080,1080)；
Step 6 (three), by function gl.glFrustumf (left, right, bottom, top, zNear, zFar) just
Beginningization frustum.Left is -540, right 540, and bottom is -540, top 540, zNear 3, zFar 7；
Step 6 (four) sets projection mode by function gl.glMatrixMode (GL10.GL_MODELVIEW), so
Color buffer is removed afterwards and loads unit matrix；
Step 6 (five) is numbered by function gl.glGenTextures (2, ts, 0) two textures of generation, and respectively at
F and B are associated with, wherein ts is the array for preserving texture object number；
Step 6 (six) opens texture blend function, and pass through by function gl.glEnable (GL10.GL_BLEND)
Function gl.glBlendFunc (GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA) sets texture blend
Mode；
Step 6 (seven) passes through function gl.glBindTexture binded textures；
Step 6 (eight), by function gl.glTexSubImage2D, with the data update texture in B and F；
Step 6 (nine) carries out picture rendering by function requestRender Request Systems.
Claims (3)
1. the radar return display methods under a kind of android system, which is characterized in that comprise the steps of：
Step 1: the mapping table T from polar coordinates to rectangular co-ordinate is built in memory；
Step 2: create two equal-sized 2 d texture buffering area F and B；
Step 3: it is updated in F in dots by azimuth circle, away from mark circle, stem line；
Step 4: receiving and parsing through out the echo data of radar antenna, while the frame data are stored in echo buffering area；
Step 5: with the data update B in echo buffering area, which includes four sub-steps：
Step 5 (one) checks whether the accumulative echo differential seat angle in echo buffering area is more than or equal to given segmentation angle, if
It is not, then end step five；
Step 5 (two) obtains two frame data D being finally stored in echo buffering area1And D2, from D2It is middle acquisition echo data E and
Start angle θ1, from D1Middle acquisition angle at the end θ2；
Step 5 (three) is more than or equal to θ for each angle on screen1Less than θ2Point, its rectangular co-ordinate is searched in T,
And with data E updates in B；
Step 5 (four), from echo buffering area by D1And D2It removes；
Step 6: utilizing the mapping technology of OpenGL in Android, radar return image is rendered.
2. the radar return display methods under a kind of android system according to claim 1, which is characterized in that described
Step 1 includes the following steps：
Step 1 (one), for point (x each in screen1,y1), calculate its corresponding polar coordinates, and by this point from polar coordinates
Mapping relations to rectangular co-ordinate are put into table L；
Angle and radius are stored in newly by step 1 (two), traversal list L as key, corresponding rectangular co-ordinate as the mapping relations of value
Tables of data T in.
3. the radar return display methods under a kind of android system according to claim 1 or 2, which is characterized in that institute
Step 6 is stated to include the following steps：
GLSurfaceView is respectively created in Android and inherits in GLSurfaceView.Renderer for step 6 (one)
Self-defined View objects and Renderer objects, while set render mode be dirty rendering；
Step 6 (two) initializes viewport by function gl.glViewport (0,0, width, height).Wherein width is
Screen width, height are screen height；
Step 6 (three) is initialized by function gl.glFrustumf (left, right, bottom, top, zNear, zFar)
Frustum, left are -0.5 × width, and right is 0.5 × width, and bottom is -0.5 × height, top for 0.5 ×
Height, zNear 3, zFar 7；
Step 6 (four) sets projection mode by function gl.glMatrixMode (GL10.GL_MODELVIEW).Then it is clear
Except color buffer and load unit matrix；
Step 6 (five), by function gl.glGenTextures (2, ts, 0) create two textures, and respectively at association F and B,
Wherein ts is the array for preserving texture object number；
Step 6 (six) opens texture blend function, and pass through function by function gl.glEnable (GL10.GL_BLEND)
Gl.glBlendFunc (GL10.GL_SRC_ALPHA, GL10.GL_ONE_MINUS_SRC_ALPHA) sets texture blend side
Formula；
Step 6 (seven) passes through function gl.glBindTexture binded textures；
Step 6 (eight), by function gl.glTexSubImage2D, with the data update texture in B and F；
Step 6 (nine) carries out picture rendering by function requestRender Request Systems.
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Cited By (3)
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| CN111551930A (en) * | 2020-05-18 | 2020-08-18 | 南京众博达电子科技有限公司 | Radar image display method based on layered display |
| CN114281455A (en) * | 2021-12-21 | 2022-04-05 | 深圳市智慧海洋科技有限公司 | Underwater positioning display method and device, monitoring equipment and system |
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| CN114281455A (en) * | 2021-12-21 | 2022-04-05 | 深圳市智慧海洋科技有限公司 | Underwater positioning display method and device, monitoring equipment and system |
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