CN109709538A - Distributed radar upper computer software system and operation method based on electronic map - Google Patents
Distributed radar upper computer software system and operation method based on electronic map Download PDFInfo
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- CN109709538A CN109709538A CN201811579733.XA CN201811579733A CN109709538A CN 109709538 A CN109709538 A CN 109709538A CN 201811579733 A CN201811579733 A CN 201811579733A CN 109709538 A CN109709538 A CN 109709538A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention discloses a kind of distributed radar upper computer software system and operation method based on electronic map.The system includes radar information setup module, for modifying radar information；Radar information visualization model, for showing radar site and investigative range；Track data receiving module, for receiving track data；Track data coordinate transferring, for the polar coordinates of track data to be converted to the latitude and longitude coordinates of electronic map；Track data processing module, for being associated to track data；Track data display module for the track data of displaying target, and draws target trajectory；Multiple threads frame module carries out parallel processing for system to be divided into two threads.Present invention decreases the errors of target acquisition, radar and target are improved in the visualization of host computer, accuracy and real-time of the simultaneity factor software in terms of track data receiving, processing and display meet the index of Practical Project requirement, practicability with higher.
Description
Technical field
The present invention relates to multi-sensor information fusion fields and visualization display field, especially a kind of to be based on electronic map
Distributed radar upper computer software system and operation method.
Background technique
With the demand of rapid development and the modern war of modern science and technology, in maneuvering target tracking field, application message is melted
Conjunction technology is Recent study ground hot spot, and radar information and detection target information visualization are most heavy in modern battlefield visualization
Want link.Enemy's airbound target ground high maneuverability and complexity in modern battlefield, in order to be hit effectively in real time target
And defence, it is necessary to organically combine multi-section sensor and the information of target is provided, accurately be tracked.Simultaneously by multisensor on ground
The layout information of reason position and the target information detected the visualization display on host computer, for the comprehensive situation in entire battlefield
Assurance have vital effect.
Existing radar upper computer software system is usually detected with list portion radar, the precision of detected target and
Accuracy places one's entire reliance upon the hardware configuration of radar, and which results in hardware configurations to become the bottleneck that radar data reduction is promoted.
Moreover, traditional host computer display interface is the plane of scanning motion centered on radar, and the target detected is according to opposite radar
Position be directly displayed at the plane of scanning motion, this display mode can not intuitively show that target, can in the position of real world
It is not high depending on change degree.
Summary of the invention
Technical problem to be solved by the present invention lies in providing, a kind of distributed networking radar based on electronic map is upper
Machine software systems meet the requirement of real-time while guaranteeing that track data shows accurate.
The technical solution for realizing the aim of the invention is as follows: a kind of distributed radar upper computer software based on electronic map
System, including radar information setup module, radar information visualization model, track data receiving module, track data coordinate turn
Change the mold block, track data processing module, track data display module, multiple threads frame module；
The radar information setup module, modifies for the information to each radar, while being localized storage；
The radar information visualization model, each radar information set according to radar information setup module, in electronics
Position and the investigative range of each radar are shown on map；
The track data receiving module is sent to for receiving the track data of multi-section radar, and by the track data
Track data coordinate transferring；
The track data coordinate transferring, for turning the polar coordinates of the track data in track data receiving module
The latitude and longitude coordinates of electronic map are changed to, and the track data after conversion is sent to track data processing module；
The track data processing module, for by track data coordinate transferring conversion after track data into
Row track association, and the track data in association is merged and is exported to track data display module, on not associated
Track data is directly output to track data display module；
The track data display module, the targetpath data for handling track data processing module well are according to warp
Latitude coordinate real-time display on the electronic map, and draws the track of target movement；
The multiple threads frame module is used for track data receiving module, track data processing module, track number
It is divided into two threads according to display module and carries out parallel processing, wherein the first two module is in a thread, and the latter module is another
In one thread.
Operation method based on the software systems, comprising the following steps:
Step 1 passes through radar information setup module, and the coordinate information and detection information of each radar is arranged；
The radar information that step 2, basis are set, shows each thunder by radar information visualization model on the electronic map
The position reached and investigative range；
Step 3, the address that cast communication is arranged, then receive a track data packet by track data receiving module
Data, and the track data is sent to track data coordinate transferring；
The polar coordinates for the track data that step 3 obtains are converted to electronics using track data coordinate transferring by step 4
The latitude and longitude coordinates of map, and the track data after conversion is sent to track data processing module；
Step 5 carries out track association to the track data that step 4 obtains using track data processing module, in association
Track data merged and exported to track data display module, will be not associated on track data be directly output to track
Data disaply moudle；
Step 6, the targetpath data obtained step 5 by track data display module are real-time according to latitude and longitude coordinates
Display on the electronic map, and draws the track of target movement；
Step 7, repetition step 2~step 6 handle the data of next track data packet, are recycled with this and are obtained in real time
The motion profile of target is taken, until stopping the operation of the software systems.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention utilizes information fusion technology, reduces target
The error of detection improves the precision of target following；2) it by the present invention in that with electronic map technique, by Radar Technology and calculates
Machine visualization technique combines, and greatly improves radar asorbing paint and visualization that target is shown, while improving radar
Ease for use pushes radar civil nature process；3) present invention uses the structural framing of multithreading, and the packet loss for avoiding network communication is asked
Topic, while ensure that track data receiving, processing and the real-time of display.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the distributed radar upper computer software system of electronic map.
Fig. 2 is the structural block diagram of track data processing module in the present invention.
Fig. 3 is the structural block diagram of track data disaply moudle in the present invention.
Fig. 4 is the structural block diagram of multiple threads frame module in the present invention.
Specific embodiment
The present invention obtains the track data that each radar detects by UDP cast communication technology, turns by coordinate
It changes, after the association of independent Sequential Track and the processing of convex combination Track Fusion, by treated, data are shown according to its latitude and longitude information
On the electronic map.This system shows and is run respectively with two threads to track data processing and track data, to guarantee
The timeliness of track data receiving and the real-time of Target track displaying.
In conjunction with Fig. 1, the present invention is based on the distributed radar upper computer software systems of electronic map, including radar information to be arranged
Module, radar information visualization model, track data receiving module, track data coordinate transferring, track data handle mould
Block, track data display module, multiple threads frame module.Wherein,
Radar information setup module is modified for the information to each radar, while being localized storage；
Radar information visualization model, each radar information set according to radar information setup module, in electronic map
The position of upper each radar of display and investigative range；
Track data receiving module is sent to track for receiving the track data of multi-section radar, and by the track data
Data coordinates conversion module；
Track data coordinate transferring, for being converted to the polar coordinates of the track data in track data receiving module
The latitude and longitude coordinates of electronic map, and the track data after conversion is sent to track data processing module；
Track data processing module, for navigating to the track data after the conversion of track data coordinate transferring
Mark association, and the track data in association is merged and is exported to track data display module, will be not associated on track
Data are directly output to track data display module；
Track data display module, the targetpath data for handling track data processing module well are according to longitude and latitude
Coordinate real-time display on the electronic map, and draws the track of target movement；
Multiple threads frame module, for showing track data receiving module, track data processing module, track data
Show that module is divided into two threads and carries out parallel processing, wherein the first two module is in a thread, and the latter module is at another
In thread.
Further, radar information setup module includes:
Radar site data obtaining module, for obtaining the latitude and longitude coordinates letter of radar site on online electronic map
Breath；
Radar detection information setup module, modifies for the detection information to radar；The modification includes increasing, deleting
It removes；The detection information includes start angle information, termination point information and range information；
Radar information localizes preserving module, for saving the radar information set into local disk.
As a kind of specific example, radar information setup module includes:
Radar site data obtaining module loads on online electronic map, and calls Baidu map API with JavaScript
To obtain the latitude and longitude coordinates information of radar site；
Radar detection information setup module, using QTableView the and QstandardItemModel control of QT come to thunder
The detection information reached such as is increased, is deleted at the modification；
Radar information localization preserving module is saved the radar information set to local by the splicing of character string
In txt text.
Further, radar information visualization model includes:
Fan-shaped drafting module is used for according to coordinate information, range information, start angle information and termination point information in electricity
It is drawn on sub- map corresponding fan-shaped；
Radar detection area drafting module, by using the timing function of QT, according to the setting of radar information setup module
Information draws corresponding fan-shaped search coverage on the electronic map.
As a kind of specific example, radar information visualization model includes:
Fan-shaped drafting module, is divided into ten parts for fan-shaped radian, calls Baidu map API to count with JavaScript
The latitude and longitude coordinates of each cut-point are calculated, each point is then linked to be line using Polygon；
Radar detection area drafting module calls fan-shaped drafting module, according to each radar by using the timing function of QT
The information of setting draws out corresponding fan-shaped search coverage on the electronic map.
Further, track data receiving module includes:
Local IP address obtains module, the IP address for computer where obtaining host computer；
UDP cast communication module is transmitted for more radar track data；
Binary data is resolved to corresponding track data by data resolution module.
As a kind of specific example, track data receiving module includes:
Local IP address obtains module, the IP of computer where host computer is obtained with QNetworkInterface class
Location；
UDP cast communication module carries out more radar track data transmission using QUdpSocket socket；
Binary data is resolved to corresponding decimal system track data by data resolution module.
Further, track data coordinate transferring includes:
Radian and angular transition module, for the angle information in track data polar coordinates to be converted to radian information；
Polar coordinates turn latitude and longitude coordinates module, and the longitude and latitude for the polar coordinates of track data to be converted to electronic map is sat
Mark.
Further, track data processing module includes:
Matrix multiple module, for the error co-variance matrix of track data to be multiplied with state matrix；
Matrix inversion module, for track data error co-variance matrix and state matrix carry out inverse operation；
Track data relating module, for carrying out track association to the track data different radars；
Trace association quality statistical module, for judging whether two associated tracks are fixed correlation pair；It is described solid
Fixed association is more than or equal to preset threshold p to the frequency n of specially two track associations.
Track data Fusion Module forms a track for merging two track datas of fixed correlation pair.
As a kind of specific example, track data association uses independent Sequential Track association algorithm.
As a kind of specific example, track data fusion uses convex combination Track Fusion.
As a kind of specific example, in conjunction with Fig. 2, the workflow of track data processing module is as follows:
(1) track data after the completion of Track Receiving module and track coordinate transferring are handled is stored in structural body number
In group, and it is transferred in track data processing module.
(2) track data processing module loops through Array for structural body, first determines whether the two of the detection of being associated with
Whether a track data is fixed correlation pair, if it is directly carries out the operation of convex combination Track Fusion, on the contrary then carry out independence
Sequential Track is operation associated.
After (3) two track datas carry out independent Sequential Track operations, a statistic can be generated, compare the statistic and
The sizes values for setting thresholding, trace association quality adds one if statistics magnitude is less than thresholding, and otherwise trace association quality subtracts one
And terminate this circulate operation.
(4) for two track datas in association, judge whether trace association quality is greater than six, marked if it is greater than six
It is denoted as fixed correlation pair.Then the operation of convex combination Track Fusion is carried out, carries out next group of track data after mixing operation
Processing.
Further, track data display module includes:
Point mark drafting module, for the target detected to be plotted in the corresponding position of electronic map；
Track drafting module is shown on the electronic map for that will detect the mobile track of target.
As a kind of specific example, track data display module includes:
Point mark drafting module calls Baidu map API will according to location information in Html file using JavaScript
The target detected is plotted in the corresponding position of electronic map, and different target types is shown as different icons；
Track drafting module, in Html file call Baidu map API according to previous moment using JavaScript and
Current target location information will detect the mobile track of target and show on the electronic map, and different target type is shown
For different colors.
As a kind of specific example, in conjunction with Fig. 3, track data display module working method is as follows:
(1) Html file quotes offline map tile figure, CSS style file required for offline map and API money first
Source.Then electronic map api function is called inside the JavaScript label of Html to write addition target point, mobile target
Point, delete target point, track drafting and the correlation function for deleting track.Finally, being write with the WebKit control load of host computer
Good Html file, to show electronic map.
(2) it after electronic map loads successfully, according to treated track data state, calls corresponding inside Html
JavaScript function come show, move on the electronic map, delete target point and draw with delete track.
Further, multiple threads frame module includes:
Sub thread module, for real-time reception and processing track data；
Main thread module, for opening sub thread, and real-time display treated track data.
As a kind of specific example, in conjunction with Fig. 4, multiple threads frame module includes:
Sub thread processing module derives from QThread by subclass, and realizes QThread::run () function again, is used for
Track data is read from the buffer area of network communication in real time and is handled.
Main thread processing module opens sub thread and carries out data receiver and processing, and it is logical to carry out cross-thread by shared variable
Letter, to treated, data carry out real-time display.
As a kind of specific example, the working method of multiple threads frame module is as follows:
(1) program is run, passes through QThread::start () Lai Kaiqi sub thread in main thread.Pass through the fortune of sub thread
To receive and process track data, result that treated is saved in inside an Array for structural body row.It is shared using between thread
The communication mode of memory, main thread read the Array for structural body, and according to data mode come the results are shown on electronic map.
(2) during operation, the track that sub thread triggers main thread by information/mechanism slot of QT is drawn, two lines
The sequence that the operation of journey is not fixed, system can each thread resource usage amount automatically according to come distribute CPU use.
Operation method based on distributed radar upper computer software system, comprising the following steps:
Step 1 passes through radar information setup module, and the coordinate information and detection information of each radar is arranged；
The radar information that step 2, basis are set, shows each thunder by radar information visualization model on the electronic map
The position reached and investigative range；
Step 3, the address that cast communication is arranged, then receive a track data packet by track data receiving module
Data, and the track data is sent to track data coordinate transferring；
The polar coordinates for the track data that step 3 obtains are converted to electronics using track data coordinate transferring by step 4
The latitude and longitude coordinates of map, and the track data after conversion is sent to track data processing module；
Step 5 carries out track association to the track data that step 4 obtains using track data processing module, in association
Track data merged and exported to track data display module, will be not associated on track data be directly output to track
Data disaply moudle；
Step 6, the targetpath data obtained step 5 by track data display module are real-time according to latitude and longitude coordinates
Display on the electronic map, and draws the track of target movement；
Step 7, repetition step 2~step 6 handle the data of next track data packet, are recycled with this and are obtained in real time
The motion profile of target is taken, until stopping the operation of the software systems.
Present invention decreases the errors of target acquisition, improve radar and target in the visualization of host computer, simultaneously
Accuracy and real-time of the system software in terms of track data receiving, processing and display meet the finger of Practical Project requirement
Mark, practicability with higher.
Claims (10)
1. the distributed radar upper computer software system based on electronic map, which is characterized in that including radar information setup module,
Radar information visualization model, track data receiving module, track data coordinate transferring, track data processing module, boat
Mark data disaply moudle, multiple threads frame module；
The radar information setup module, modifies for the information to each radar, while being localized storage；
The radar information visualization model, each radar information set according to radar information setup module, in electronic map
The position of upper each radar of display and investigative range；
The track data receiving module is sent to track for receiving the track data of multi-section radar, and by the track data
Data coordinates conversion module；
The track data coordinate transferring, for being converted to the polar coordinates of the track data in track data receiving module
The latitude and longitude coordinates of electronic map, and the track data after conversion is sent to track data processing module；
The track data processing module, for navigating to the track data after the conversion of track data coordinate transferring
Mark association, and the track data in association is merged and is exported to track data display module, will be not associated on track
Data are directly output to track data display module；
The track data display module, the targetpath data for handling track data processing module well are according to longitude and latitude
Coordinate real-time display on the electronic map, and draws the track of target movement；
The multiple threads frame module, for showing track data receiving module, track data processing module, track data
Show that module is divided into two threads and carries out parallel processing, wherein the first two module is in a thread, and the latter module is at another
In thread.
2. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Track association is carried out to the track data after the conversion of track data coordinate transferring, specifically: utilize independent sequential boat
Mark association algorithm carries out track association to the track data after the conversion of track data coordinate transferring；
The track data by association merges specifically: using convex combination Track Fusion to the track in association
Data are merged.
3. the distributed radar upper computer software system according to claim 1 based on electronic map, which is characterized in that institute
Stating track data receiving module includes:
Local IP address obtains module, the IP address for computer where obtaining host computer；
UDP cast communication module is transmitted for more radar track data；
Binary data is resolved to corresponding track data by data resolution module.
4. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Track data coordinate transferring includes:
Radian and angular transition module, for the angle information in track data polar coordinates to be converted to radian information；
Polar coordinates turn latitude and longitude coordinates module, for the polar coordinates of track data to be converted to the latitude and longitude coordinates of electronic map.
5. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Track data processing module includes:
Matrix multiple module, for the error co-variance matrix of track data to be multiplied with state matrix；
Matrix inversion module, for track data error co-variance matrix and state matrix carry out inverse operation；
Track data relating module, for carrying out track association to the track data different radars；
Trace association quality statistical module, for judging whether two associated tracks are fixed correlation pair；The fixed pass
Join and preset threshold p is more than or equal to the frequency n of specially two track associations；
Track data Fusion Module forms a track for merging two track datas of fixed correlation pair.
6. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Radar information setup module includes:
Radar site data obtaining module, for obtaining the latitude and longitude coordinates information of radar site on online electronic map；
Radar detection information setup module, modifies for the detection information to radar；The modification includes increasing, deleting；
The detection information includes start angle information, termination point information and range information；
Radar information localizes preserving module, for saving the radar information set into local disk.
7. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Radar information visualization model includes:
Fan-shaped drafting module is used for according to coordinate information, range information, start angle information and termination point information electronically
It is drawn on figure corresponding fan-shaped；
Radar detection area drafting module, by using the timing function of QT, the information being arranged according to radar information setup module
Corresponding fan-shaped search coverage is drawn on the electronic map.
8. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Track data display module includes:
Point mark drafting module, for the target detected to be plotted in the corresponding position of electronic map；
Track drafting module is shown on the electronic map for that will detect the mobile track of target.
9. the distributed radar upper computer software system based on electronic map according to claim 1, which is characterized in that described
Multiple threads frame module includes:
Sub thread module, for real-time reception and processing track data；
Main thread module, for opening sub thread, and real-time display treated track data.
10. the operation method based on distributed radar upper computer software system described in claim 1, which is characterized in that including with
Lower step:
Step 1 passes through radar information setup module, and the coordinate information and detection information of each radar is arranged；
The radar information that step 2, basis are set, shows each radar by radar information visualization model on the electronic map
Position and investigative range；
Step 3, the address that cast communication is arranged, then receive the number of a track data packet by track data receiving module
According to, and the track data is sent to track data coordinate transferring；
The polar coordinates for the track data that step 3 obtains are converted to electronic map using track data coordinate transferring by step 4
Latitude and longitude coordinates, and the track data after conversion is sent to track data processing module；
Step 5 carries out track association to the track data that step 4 obtains using track data processing module, to the boat in association
Mark data are merged and are exported to track data display module, will be not associated on track data be directly output to track data
Display module；
Step 6, the targetpath data for being obtained step 5 by track data display module are according to latitude and longitude coordinates real-time display
On the electronic map, and the track that target moves is drawn；
Step 7, repetition step 2~step 6 handle the data of next track data packet, are recycled with this and obtain mesh in real time
Target motion profile, until stopping the operation of the software systems.
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