CN110187314B - Radar primary information display method and system - Google Patents
Radar primary information display method and system Download PDFInfo
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- CN110187314B CN110187314B CN201910487125.4A CN201910487125A CN110187314B CN 110187314 B CN110187314 B CN 110187314B CN 201910487125 A CN201910487125 A CN 201910487125A CN 110187314 B CN110187314 B CN 110187314B
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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
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Abstract
The invention discloses a radar primary information display method and a radar primary information display system, and relates to the field of radar detection. The method comprises the following steps: generating a blank image by using the Qt graphic library, wherein the size of the blank image is the same as that of a current window of the OpenGL graphic library; acquiring primary information of a radar, and converting the primary information into a screen coordinate system to obtain primary data of the screen coordinate system; drawing a blank image according to the primary data of the screen coordinate system to obtain a primary information image; and converting the primary information image into a current window of an OpenGL graphic library, and rendering the primary information image. The invention realizes the independent rendering of information such as point tracks and the like and primary information in the same view, improves the display efficiency of the primary information, has lower system memory occupation compared with the traditional method, can also display in a layered and superposed manner, has the advantages of convenience, flexibility and expandability, and has very strong engineering value.
Description
Technical Field
The invention relates to the field of radar detection, in particular to a radar primary information display method and system.
Background
The radar primary information is an original radar signal output by the radar signal processing subsystem, and comprises distance, direction, strength and the like, namely radar original echo data. When mapping information once, a computer terminal typically uses the cross-platform graphics display library OpenGL to render an echo map in PPI view in real time.
However, the radar once information return cycle is often very fast, for PPI display, 360-degree all-around full-cycle real-time display is required, and when OpenGL is used for rendering, an echo map needs to be redrawn every time, so that the once information display efficiency is not high enough, and the system memory occupation is also high.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a radar primary information display method and a radar primary information display system.
The technical scheme for solving the technical problems is as follows:
a radar primary information display method comprises the following steps:
generating a blank image by using a Qt graphic library, wherein the size of the blank image is the same as that of a current window of an OpenGL graphic library;
acquiring primary information of a radar, and converting the primary information into a screen coordinate system to obtain primary data of the screen coordinate system;
drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image;
and converting the primary information image into a current window of the OpenGL graphic library, and rendering the primary information image.
The invention has the beneficial effects that: according to the radar primary information display method provided by the invention, the Qt graphic library and the OpenGL graphic library are converted into the same coordinate system, after primary information is drawn by using the Qt graphic library, the target point track, the target sign information and the like of the radar are rendered by using the OpenGL graphic library, so that the independent rendering of the information such as the point track and the like and the primary information in the same view is realized, the display efficiency of the primary information is improved, compared with the traditional method, the system memory occupation is lower, the layered overlapping display can be realized, and the method has the advantages of convenience, flexibility and expandability and has very high engineering value.
Another technical solution of the present invention for solving the above technical problems is as follows:
a radar primary information display system comprising:
the image generation module is used for generating a blank image by using the Qt graphic library, wherein the size of the blank image is the same as that of the current window of the OpenGL graphic library;
the coordinate conversion module is used for acquiring primary information of the radar, converting the primary information into a screen coordinate system and obtaining primary data of the screen coordinate system;
the image drawing module is used for drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image;
and the image rendering module is used for converting the primary information image into a current window of the OpenGL graphic library and rendering the primary information image.
The invention has the beneficial effects that: according to the radar primary information display system, the Qt graphic library and the OpenGL graphic library are converted into the same coordinate system, after primary information is drawn by the Qt graphic library, the target point track, the target sign information and the like of the radar are rendered by the OpenGL graphic library, so that the information such as the point track and the like and the primary information are independently rendered in the same view, the display efficiency of the primary information is improved, compared with a traditional method, the system has lower memory occupation, layered overlapping display can be realized, and the radar primary information display system has the advantages of convenience, flexibility and expandability and has very high engineering value.
Another technical solution of the present invention for solving the above technical problems is as follows:
a storage medium, wherein instructions are stored, and when the instructions are read by a computer, the instructions cause the computer to execute the radar primary information display method according to the above technical solution.
Advantages of additional aspects 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.
Drawings
FIG. 1 is a schematic flow chart of a radar primary information display method according to an embodiment of the present invention;
fig. 2 is a structural frame diagram provided in an embodiment of the radar primary information display system of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
In the field of radar detection, when primary information of a radar is drawn, not only an echo map needs to be drawn according to the primary information, but also a processed target point track, target sign information and the like need to be displayed. At present, the common method is to use an OpenGL graphics library to perform drawing, and the OpenGL graphics library can realize the display of points, lines, surfaces and characters, and is more flexible and more convenient to expand compared with the method of directly performing image rendering.
In the current combat system, the radar once information return period is often very fast, and for PPI display, 360-degree all-round full-period real-time display is needed, and because the OpenGL graphic library is rendered and needs to be redrawn every time, all-round full-period once information needs to be recorded, and the redrawing pressure is also very large.
The Qt graphic library provides rich interface libraries, is often used for interface development, uses the compatibility of Qt and OpenGL rendering modes, generates a primary information image through the Qt graphic library, still uses the OpenGL graphic library to realize point track, target sign and the like display on the basis of not changing the original frame, can realize that the primary information image generated historically is reserved by using image rendering, only needs to superpose new information on the original image when the primary information of a new direction is returned every time, does not need to store historical data, can provide more choices for developers, has higher rendering efficiency, and has strong engineering application value for drawing the primary information of radar.
As shown in fig. 1, a schematic flow chart is provided for an embodiment of a radar primary information display method of the present invention, and the radar primary information display method includes:
and S1, opening the Qt graphic library and the OpenGL graphic library, reading the size of the current information display window of the OpenGL graphic library, and generating a blank image by using the Qt graphic library, so that the size of the blank image is the same as that of the current window of the OpenGL graphic library.
Preferably, the background color of the blank image is consistent with the color of the current window of the OpenGL graphic library, so that a better visual display effect can be obtained, and the colors are uniform and convenient for a user to view.
It should be understood that the interface of the radar one time information should also be defined in advance, including: the radar azimuth of the current detection, the sampling interval of the echo, the echo intensity of each sampling point and the like, so as to draw an image according to the positions.
And S2, acquiring primary information of the radar, and converting the primary information into a screen coordinate system to obtain primary data of the screen coordinate system.
In general, the primary information of the radar is range and azimuth data with respect to the center of the radar, and is in a polar coordinate system.
It should be understood that, in order to realize the compatibility of the two sets of rendering modes of Qt and OpenGL, the coordinate system T of the Qt image cannot be considered in the generation of the qimap of the drawn primary information imageWXYOtherwise, the system cannot be matched with the OpenGL coordinate system TOXYPerfect superposition, the two systems must be normalized to the same coordinate system.
And S3, drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image.
It should be noted that, the qpair may be used to perform image drawing on the created blank image, which means that the blank image drawing coordinate system is a screen coordinate system, and after converting the primary information into the screen coordinate system, the obtained primary data of the screen coordinate system is the data that can be directly used by the qpair to draw, and the qpair performs line drawing of different colors at the current screen position according to the echo intensity of the point, so as to obtain the image of the primary information of the current orientation.
And S4, converting the primary information image into the current window of the OpenGL graphic library, rendering the primary information image according to information such as the point track and the target sign of the radar, and displaying the rendered primary information image in a layered overlapping manner.
It should be understood that after the primary information image is obtained, the primary information image needs to be superimposed and displayed with information such as a point track and a target sign in an OpenGL window, and the primary information image can be converted into an OpenGL graphics library, and the primary information image rendering is realized by calling an OpenGL interface.
According to the radar primary information display method provided by the embodiment, the Qt graphic library and the OpenGL graphic library are converted into the same coordinate system, after primary information is drawn by the Qt graphic library, target point tracks, target sign information and the like of the radar are rendered by the OpenGL graphic library, so that the information such as the point tracks and the like and the primary information are independently rendered in the same view, the display efficiency of the primary information is improved, the system memory occupation is lower compared with a traditional method, layered overlapping display can be realized, and the method has the advantages of convenience, flexibility and expandability and has a strong engineering value.
Optionally, in some embodiments, converting the primary information into the screen coordinate system to obtain the primary data of the screen coordinate system includes:
converting the primary information into an orthogonal projection coordinate system of an OpenGL graphic library to obtain primary data of the orthogonal projection coordinate system;
and converting the primary data of the orthogonal projection coordinate system into the primary data of the screen coordinate system to obtain the primary data of the screen coordinate system.
By converting the primary information into the orthogonal projection coordinate system of the OpenGL graphic library, the primary information and information such as other point flight paths are ensured to be in the orthogonal projection coordinate system, the coordinate system is unified, and drawn images are free from deviation.
By converting the primary data of the orthogonal projection coordinate system into the screen coordinate system, the data directly used by the QPair for drawing can be obtained, and the drawing is convenient.
It should be understood that the primary information is typically GRA (range-to-azimuth) data relative to the radar center in the geodetic coordinate system TGRANext, GRA data can be obtained from the geodetic polar coordinate system TGRAConversion to OpenGL internal orthogonal projection coordinate system TOXYObtaining OXY data, and projecting coordinate system T from orthogonalOXYConversion to screen coordinate system TWXYThen, WXY data are obtained, and coordinate conversion is completed.
Preferably, the GRA data can be converted to the orthogonal projection coordinate system T by the following formulaOXYThe following:
the OXY data can be converted to the screen coordinate system T by the following equationWXYThe following:
wherein, TGRA-OXYRepresenting the terrestrial polar coordinate system TGRATo an orthogonal projection coordinate system TOXYOf the conversion matrix, TOXY-WXYRepresenting an orthogonal projection coordinate system TOXYTo the screen coordinate system TWXYThe transformation matrix of (2).
It should be noted that those skilled in the art can select the transformation matrix according to actual requirements.
Optionally, in some embodiments, before generating a blank image using the Qt graph library, the method further includes:
an interface defining primary information for a radar, comprising: the current detected radar azimuth, the sampling interval of the echo and the echo intensity of each sampling point.
It should be understood that the raw data packets passed back by the radar include many radar detection data, such as: the radar azimuth, the sampling interval, the sampling time, the sampling data quantity, the echo intensity of each sampling point and the like can acquire data required for drawing a primary information image from an original data packet according to a predefined interface after the original data packet is acquired through the predefined interface of primary information of the radar, so that the drawing efficiency and flexibility are improved.
It should be understood that the specific manner and details of the interface defining the primary information of the radar may be selected and set by those skilled in the art according to actual needs.
Optionally, in some embodiments, the drawing the blank image according to the primary data of the screen coordinate system to obtain the primary information image specifically includes:
obtaining drawing points in primary data of a screen coordinate system, wherein the drawing points are obtained by processing sampling points in primary information and converting the sampling points into the screen coordinate system;
and drawing the blank image according to the echo intensity of the drawing point to obtain a primary information image.
It should be noted that, in the drawing process, the sampling point is usually processed, for example, the current sampling point may be expanded to a certain range on the predetermined position a, for example, 1 degree, and the distance is kept unchanged, then two points (R, a-0.5) and (R, a +0.5) may be obtained, the two points are converted into a screen coordinate system to obtain two drawing points, and a qpainer is used to perform line drawing with different colors according to the echo intensity of the sampling point, so that an image of primary information of the current position may be obtained.
Optionally, in some embodiments, converting the primary information image into a current window of an OpenGL graphics library specifically includes:
and converting the primary information image into a current window of the OpenGL graphic library through a QglWidget class of the Qt graphic library, and displaying the primary information image and information such as point flight paths in an OpenGL window in an overlapping mode.
It should be noted that, the QglWidget class encapsulated in the Qt provides an interface qimap (convertttogformat), and may convert the qimap into an image qimap that can be recognized by OpenGL, and the converted qimap may call a glDrawPixels () interface to directly render in an OpenGL window and present to a user, where the qimap is a primary information image.
It is understood that some or all of the alternative embodiments described above may be included in some embodiments.
As shown in fig. 2, a structural frame diagram is provided for an embodiment of a radar primary information display system according to the present invention, the radar primary information display system includes:
the image generation module 1 is configured to generate a blank image by using a Qt graphics library, where the size of the blank image is the same as the size of a current window of an OpenGL graphics library;
the coordinate conversion module 2 is used for acquiring primary information of the radar, converting the primary information into a screen coordinate system and obtaining primary data of the screen coordinate system;
the image drawing module 3 is used for drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image;
and the image rendering module 4 is configured to convert the primary information image into a current window of the OpenGL graphics library, and render the primary information image.
The radar primary information display system provided by the embodiment converts the Qt graphic library and the OpenGL graphic library into the same coordinate system, draws primary information by using the Qt graphic library, and renders target point tracks, target sign information and the like of the radar by using the OpenGL graphic library, so that the independent rendering of the primary information and the information such as the point tracks in the same view is realized, the display efficiency of the primary information is improved, compared with the traditional method, the system has lower memory occupation, layered overlapping display can be realized, and the system has the advantages of convenience, flexibility and expandability and has very high engineering value.
Optionally, in some embodiments, the coordinate conversion module 2 is specifically configured to convert the primary information into an orthogonal projection coordinate system of the OpenGL graphics library, so as to obtain primary data of the orthogonal projection coordinate system; and converting the primary data of the orthogonal projection coordinate system into the primary data of the screen coordinate system to obtain the primary data of the screen coordinate system.
Optionally, in some embodiments, the image generation module 1 is further configured to define an interface for primary information of the radar, including: the current detected radar azimuth, the sampling interval of the echo and the echo intensity of each sampling point.
Optionally, in some embodiments, the image drawing module 3 is specifically configured to obtain a drawing point in the primary data of the screen coordinate system, where the drawing point is obtained by processing and converting a sampling point in the primary information into the screen coordinate system; and drawing the blank image according to the echo intensity of the drawing point to obtain a primary information image.
Optionally, in some embodiments, the image rendering module 4 is specifically configured to convert the primary information image into a current window of the OpenGL graphics library through a QglWidget class of the Qt graphics library.
It is understood that some or all of the alternative embodiments described above may be included in some embodiments.
It should be noted that the above embodiments are product embodiments corresponding to the previous method embodiments, and for the description of each optional implementation in the product embodiments, reference may be made to corresponding descriptions in the above method embodiments, and details are not described here again.
In another embodiment of the present invention, a storage medium is further provided, where instructions are stored, and when the instructions are read by a computer, the instructions cause the computer to execute the radar primary information display method according to any one of the above embodiments.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A radar primary information display method is characterized by comprising the following steps:
generating a blank image by using a Qt graphic library, wherein the size of the blank image is the same as that of a current window of an OpenGL graphic library;
acquiring primary information of a radar, and converting the primary information into a screen coordinate system to obtain primary data of the screen coordinate system;
drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image;
converting the primary information image into a current window of the OpenGL graphic library, and rendering the primary information image;
converting the primary information into a screen coordinate system to obtain primary data of the screen coordinate system, wherein the method specifically comprises the following steps:
converting the primary information into an orthogonal projection coordinate system of the OpenGL graphic library to obtain primary data of the orthogonal projection coordinate system;
and converting the primary data of the orthogonal projection coordinate system into a screen coordinate system to obtain the primary data of the screen coordinate system.
2. The radar primary information display method according to claim 1, before generating a blank image using the Qt graph library, further comprising:
an interface defining primary information for the radar, comprising: the current detected radar azimuth, the sampling interval of the echo and the echo intensity of each sampling point.
3. The radar primary information display method according to claim 1, wherein the drawing of the blank image according to the screen coordinate system primary data to obtain a primary information image specifically comprises:
obtaining a drawing point in primary data of the screen coordinate system, wherein the drawing point is obtained by processing a sampling point in the primary information and converting the sampling point into the screen coordinate system;
and drawing the blank image according to the echo intensity of the drawing point to obtain a primary information image.
4. The radar primary information display method according to any one of claims 1 to 3, wherein converting the primary information image into a current window of the OpenGL graphics library specifically comprises:
and converting the primary information image into a current window of the OpenGL graphic library through a QglWidget class of the Qt graphic library.
5. A radar primary information display system, comprising:
the image generation module is used for generating a blank image by using the Qt graphic library, wherein the size of the blank image is the same as that of the current window of the OpenGL graphic library;
the coordinate conversion module is used for acquiring primary information of the radar, converting the primary information into a screen coordinate system and obtaining primary data of the screen coordinate system;
the image drawing module is used for drawing the blank image according to the primary data of the screen coordinate system to obtain a primary information image;
an image rendering module, configured to convert the primary information image into a current window of the OpenGL graphics library, and render the primary information image;
the coordinate conversion module is specifically configured to convert the primary information into an orthogonal projection coordinate system of the OpenGL graphics library, so as to obtain primary data of the orthogonal projection coordinate system; and converting the primary data of the orthogonal projection coordinate system into a screen coordinate system to obtain the primary data of the screen coordinate system.
6. The radar primary information display system of claim 5, wherein the image generation module is further configured to define an interface for primary information of the radar, comprising: the current detected radar azimuth, the sampling interval of the echo and the echo intensity of each sampling point.
7. The radar primary information display system according to claim 5, wherein the image drawing module is specifically configured to obtain drawing points in the primary data of the screen coordinate system, and the drawing points are obtained by processing and converting sampling points in the primary information into the screen coordinate system; and drawing the blank image according to the echo intensity of the drawing point to obtain a primary information image.
8. A storage medium having stored therein instructions that, when read by a computer, cause the computer to execute the radar primary information display method according to any one of claims 1 to 4.
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| CN112114291A (en) * | 2019-09-05 | 2020-12-22 | 北京无线电测量研究所 | Radar primary information display method |
| CN112116522A (en) * | 2019-09-05 | 2020-12-22 | 北京无线电测量研究所 | Radar data visualization framework based on modern programmable graphics pipeline |
| CN111551930B (en) * | 2020-05-18 | 2022-03-18 | 南京众博达电子科技有限公司 | Radar image display method based on layered display |
| CN111537991B (en) * | 2020-05-20 | 2022-07-15 | 北京无线电测量研究所 | Processing method for displaying target containing azimuth information in radar view |
| CN113567932A (en) * | 2021-08-27 | 2021-10-29 | 中电科星河北斗技术(西安)有限公司 | Radar display and control device |
| CN114217894B (en) * | 2021-12-10 | 2023-09-05 | 中国人民解放军96901部队25分队 | Method for realizing radar screen display by adopting Qt |
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