CN111369642A - Radar radial data display drawing method and system - Google Patents
Radar radial data display drawing method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for displaying and drawing radar radial data, wherein the method for displaying and drawing the radar radial data is characterized by finding the area of the current radial data in a radar polar coordinate system which is divided into areas in advance, determining a reference axis under a Cartesian rectangular coordinate system according to different areas, calculating the position of a distance base corresponding to each pixel point in the radial data based on the radial angle corresponding to the radial data, and finally filling the color corresponding to the distance base into each pixel point.
Description
Technical Field
The invention relates to the technical field of radar monitoring, in particular to a method and a system for displaying and drawing radar radial data.
Background
Weather radar is the main tool for monitoring and early warning strong convection weather. In the prior art, the radar radial data is drawn by distance bins in a forward direct drawing mode, the positions of four vertex angles of each distance bin displayed in an isosceles trapezoid in each radial direction need to be calculated, and then the regions are filled with colors.
However, in the process of performing the rendering by using the forward direct rendering method, point conversion needs to be performed from a polar coordinate to a cartesian coordinate system, the conversion process involves a trigonometric function, after the image position of the image is calculated, when the region color is filled, the system library is used for rendering the quadrangle, and the boundary of the image needs to be calculated and searched, so that the operation complexity is complex and troublesome, and meanwhile, in the process of mapping from the polar coordinate system of the data to the cartesian coordinate system of the image, the mapping regions between the calculated distance libraries and between the radial directions have boundary overlapping portions, so that the pixel filling process of the image is repeated, and the operation waste of the image processor is finally caused.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for displaying and drawing radar radial data, so as to solve the problems in the prior art that the process of drawing radar radial data is complicated, and the operation of a graphics processor is wasted.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the invention discloses a method for displaying and drawing radar radial data in a first aspect, which comprises the following steps:
determining a region in which currently acquired radial data are located in a radar polar coordinate system of a pre-divided region, wherein the region comprises a first region, a second region, a third region and a fourth region;
if the radial data are in the first region or the third region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking a Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling each pixel point with a corresponding color;
if the radial data are in the second area or the fourth area, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors for each pixel point.
Preferably, the area division of the radar polar coordinate system in advance includes:
taking a radar central point as a pole, and establishing a polar axis based on the pole and the radar initial scanning position to obtain a radar polar coordinate system;
in the radar polar coordinate system, determining a first angle, a second angle, a third angle and a fourth angle along the radar scanning direction, and dividing the radar polar coordinate system into a first area, a second area, a third area and a fourth area along the direction from the first angle to the second angle and along the direction from the third angle to the fourth angle;
the interval range of the first area is 0-a degrees and d-360 degrees, the interval range of the second area is a-b degrees, the interval range of the third area is b-c degrees, the interval range of the fourth area is c-d degrees, and 360> d > c > b > a > 0.
Preferably, if the radial data is in the first region or the third region, in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, taking the Y axis as a reference, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data, and filling each pixel point with a corresponding color, includes:
if the radial data are in the first region and the third region, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each point of the Y axis based on a radial angle range corresponding to the radial data by taking the Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system;
obtaining the upper limit value and the lower limit value of the X-axis projection corresponding to each point of the Y-axis based on the projection upper limit tangent value and the projection lower limit tangent value of the X-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, if the radial data is in the first region or the third region, in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, based on a radial angle range corresponding to the radial data and with reference to a Y axis, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each point of the Y axis in the radial data, including:
if the radial data are in the first area, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to a pixel point in the radial data in an increasing manner along a Y axis from an origin point based on a radial angle corresponding to the radial data in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system by taking the Y axis as a reference;
and if the radial data are in the third area, in the Cartesian rectangular coordinate system, based on a Y axis and a radial angle corresponding to the radial data, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to a pixel point in the radial data in a descending manner from an origin along the Y axis.
Preferably, if the radial data is located in the second region or the fourth region, in the cartesian rectangular coordinate system, based on a radial angle corresponding to the radial data and with an X-axis as a reference, calculating a distance library position corresponding to each pixel point in the radial data, and filling each pixel point with a corresponding color, includes:
if the radial data are in the second region and the fourth region, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to each point of the X axis based on a radial angle range corresponding to the radial data by taking the X axis as a reference in the Cartesian rectangular coordinate system;
based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y axis, obtaining the upper limit value and the lower limit value of the Y axis projection corresponding to each point of the X axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, if the radial data is in the second region or the fourth region, in the cartesian orthogonal coordinate system, based on a radial angle range corresponding to the radial data and with reference to an X axis, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to each point of the X axis, includes:
if the radial data are in the second area, in the Cartesian rectangular coordinate system, taking an X axis as a reference, and based on a radial angle corresponding to the radial data, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to a pixel point in the radial data in an increasing manner along the X axis from an origin;
if the radial data are in the fourth area, in the Cartesian rectangular coordinate system, based on an X axis and a radial angle corresponding to the radial data, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to a pixel point in the radial data in a descending manner from an origin along the X axis.
Preferably, the cartesian rectangular coordinate system establishing process includes:
establishing an origin of a Cartesian rectangular coordinate system according to the radar central point, and establishing an X axis of the Cartesian rectangular coordinate system according to the radar initial scanning position based on the origin;
and establishing a Y axis of a Cartesian rectangular coordinate system based on the X axis and the origin.
Preferably, after filling the corresponding color into each pixel point based on the position of the distance library corresponding to each pixel point, the method further includes:
and filling corresponding colors for pixel points in all radial data except the radial data in the current elevation angle.
The second aspect of the present application discloses a radar radial data display drawing system, including:
the system comprises an acquisition module, a determination module and a processing module, wherein the acquisition module is used for determining the region of currently acquired radial data in a radar polar coordinate system of a pre-divided region, and the region comprises a first region, a second region, a third region and a fourth region;
a first calculating module, configured to, if the radial data is in the first region or the third region, calculate, based on a radial angle corresponding to the radial data and with a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, a distance library position corresponding to each pixel point in the radial data, and fill each pixel point with a corresponding color;
and if the radial data are in the second region or the fourth region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors into each pixel point.
Preferably, the first calculation module includes:
a first calculating unit, configured to calculate, if the radial data is in the first region and the third region, a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each Y axis based on a radial angle corresponding to the radial data with a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system;
the first determining unit is used for obtaining the upper limit tangent value and the lower limit tangent value of the X-axis projection corresponding to each point of the Y-axis based on the upper limit tangent value and the lower limit tangent value of the projection of the X-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and the first filling unit is used for filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, the second calculation module includes:
a second calculating unit, configured to calculate, in the cartesian rectangular coordinate system, based on a radial angle range corresponding to the radial data, a projection upper limit cotangent value and a projection lower limit cotangent value of the Y axis corresponding to each point of the X axis, with an X axis as a reference if the radial data is in the second region and the fourth region;
the second determining unit is used for obtaining upper and lower limit values of Y-axis projection corresponding to each point of the X-axis based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and the second filling unit is used for filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
From the above, the invention discloses a method and a system for displaying and drawing radar radial data. Determining a region in which currently acquired radial data are located in a radar polar coordinate system of a pre-divided region, wherein the region comprises a first region, a second region, a third region and a fourth region; if the radial data are in the first region or the third region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking a Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling each pixel point with a corresponding color; if the radial data are in the second area or the fourth area, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors for each pixel point. According to the method and the system for displaying and drawing the radar radial data, the area where the current radial data are located is found in a radar polar coordinate system which is divided into areas in advance, the reference axis under a Cartesian coordinate system is determined according to different areas, the position of a distance base corresponding to each pixel point in the radial data is calculated based on the radial angle corresponding to the radial data, finally, the color corresponding to the distance base is filled into each pixel point, in the process, the operation process and the operation difficulty of determining the distance base are simplified, filling is performed based on each pixel point of an image, repeated drawing is avoided, and accordingly the purpose of rapidly displaying and drawing the radial data of the weather radar is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a display drawing method for radar radial data according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a radar scan according to an embodiment of the present invention;
FIG. 3 is a flow chart of another display method for displaying radar radial data according to an embodiment of the present invention;
fig. 4 is a schematic diagram of dividing a radar image area according to an embodiment of the present invention;
FIG. 5 is a flow chart of another display method for displaying radar radial data according to an embodiment of the present invention;
FIG. 6 is a Cartesian orthogonal coordinate system illustrating radial data provided by an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a system for displaying and rendering radial data of a radar according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another radar radial data display rendering system according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of another radar radial data display rendering system according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another radar radial data display rendering system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the invention provides a method for displaying and drawing radar radial data, which is a flow schematic diagram of the method for displaying and drawing the radar radial data, and the method for displaying and drawing the radar radial data at least comprises the following steps:
step S101: radial data is acquired.
In step S101, the radial data is high-precision and high-resolution basic data generated by a signal processor of the weather radar when the weather radar system is running, and includes parameters such as a reflectivity factor, an average radial velocity, and a velocity spectrum width. In the working process of the weather radar, the antenna can be lifted, and when the weather radar electromagnetic waves finish azimuth scanning operation of multiple elevation angles, namely volume scanning, body scanning for short is finished, for example, the VCP21 mode of the current weather service operation is 6 minutes to finish 9 different elevation angle scanning.
It should be noted that, when the weather radar runs elevation scanning, a radial clockwise scanning mode is adopted, and each radial data is represented in a polar coordinate mode and is identified by azimuth and distance. And the radial direction in the radial data is centered on the radar and is along the transmitting direction of the weather radar electromagnetic wave.
It should be further noted that, when the weather radar performs clockwise scanning in the radial direction, the north as the starting point, that is, the starting scanning point of the weather radar, then performs scanning in the clockwise scanning in the radial direction.
As shown in fig. 2, when mapping the radar data, the radial data may be divided into several distance bins, and each distance bin is mapped in an isosceles trapezoid. The radar scans 360 degrees in a radial direction according to the scanning direction in an elevation angle, and 360 radial data can be obtained.
In fig. 2, N denotes the north direction, S denotes the south direction, W denotes the west direction, and E denotes the east direction.
Step S102: and judging the area of the radial data in a radar polar coordinate system of a pre-divided area, if the radial data is in the first area or the third area, executing step S103, and if the radial data is in the second area or the fourth area, executing step S104.
In step S102, the regions include a first region, a second region, a third region, and a fourth region.
It should be noted that, since the radar performs 360-degree radial scanning at an elevation angle, 360 radial data can be obtained, and the 360 radial data are distributed in a radar polar coordinate system of a pre-divided region, and each radial data corresponds to one region, namely any one of the first region, the second region, the third region and the fourth region.
In the specific implementation of step S102, it may be determined, according to an angle of the current radial data in the radar polar coordinate system, which region the angle corresponds to.
For ease of understanding, this is illustrated here.
After a radar polar coordinate system is divided into regions, the range of the first region is 0-45 degrees and 315-360 degrees, the range of the second region is 45-135 degrees, the range of the third region is 135-225 degrees, and the range of the fourth region is 225-315 degrees.
If the angle of the radial data at this time is 55 degrees, the angle of the radial data at this time is within the interval range of 45 degrees to 135 degrees of the second region, and therefore, it can be determined that the region where the current radial data is located in the radar polar coordinate system of the pre-divided region is the second region.
In step S102, the radar polar coordinate system needs to be divided into regions in advance, and the specific implementation steps are as shown in fig. 3, and include the following steps:
step S301: and taking the center point of the radar as a pole, and obtaining a radar polar coordinate system based on a polar axis established by the pole and the initial scanning position of the radar.
In step S301, the radar polar coordinate system is a coordinate system obtained based on the polar coordinate system, and the radar polar coordinate system can be obtained by using the center point of the radar as the pole of the polar coordinate system and establishing the polar axis of the polar coordinate system with the radar start position.
Step S302: in the radar polar coordinate system, along the radar scanning direction, a first angle, a second angle, a third angle and a fourth angle are determined, and along the first angle to the second angle direction and along the third angle to the fourth angle direction, the radar polar coordinate system is divided into a first area, a second area, a third area and a fourth area.
In step S302, the first region has a range of 0 degrees to a degrees and d degrees to 360 degrees, the second region has a range of a degrees to b degrees, the third region has a range of b degrees to c degrees, and the fourth region has a range of c degrees to d degrees, and 360> d > c > b > a > 0.
To facilitate understanding how step S302 performs region division on the radar polar coordinate system, the following description is given by way of example.
As shown in fig. 4, the radar polar coordinate system is divided along the 45-225 degrees direction and the 135-315 degrees direction to obtain 4 regions, wherein the first region has a range of 0-45 degrees and 315-360 degrees, the second region has a range of 45-135 degrees, the third region has a range of 135-225 degrees, and the fourth region has a range of 225-315 degrees.
Step S103: and calculating the position of a distance library corresponding to each pixel point in the radial data based on the radial angle corresponding to the radial data by taking the Y axis as the reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling corresponding colors for each pixel point.
In step S103, if the radial data is in the first area or the third area, the Y axis is used as a reference, and the X axis coordinate of each pixel point corresponding to the radial data is calculated, and which distance bin of each pixel point in the radial data is determined according to the Y axis coordinate and the X axis coordinate, and then the pixel is filled with a corresponding color according to the distance bin value, that is, the current radial data is drawn.
In a specific implementation process, the distance library position of the radial data where each pixel is located can be calculated by formula 1.
Wherein dx is the coordinate of the X axis, dy is the coordinate of the Y axis, and N represents the several distance bins; BIN represents range BIN resolution in m; OS denotes the starting scan distance in m; r represents the mapping ratio of space to image, and the unit is pixel/m.
Step S104: and in the Cartesian rectangular coordinate system, taking an X axis as a reference, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data, and filling corresponding colors for each pixel point.
In step S104, if the radial data is in the second area or the fourth area, the X axis is used as a reference, and the Y axis coordinate of each pixel point corresponding to the radial data is calculated, and which distance bin of each pixel point in the radial data is determined according to the X axis coordinate and the Y axis coordinate, and then the pixel is filled with a corresponding color according to the distance bin value, that is, the current radial data is drawn.
In a specific implementation process, the distance library position of the radial data of each pixel can be calculated by formula 2.
Wherein dx is the coordinate of the X axis, dy is the coordinate of the Y axis, and N represents the several distance bins; BIN represents range BIN resolution in m; OS denotes the starting scan distance in m; r represents the mapping ratio of space to image, and the unit is pixel/m.
It should be noted that, in the process of executing step S103 or step S104, the cartesian coordinate system is established in advance, and the establishment process of the cartesian coordinate system mainly includes the following steps:
firstly, an origin of a Cartesian rectangular coordinate system is established according to the radar central point, and an X axis of the Cartesian rectangular coordinate system is established according to the radar initial scanning position based on the origin.
Then, based on the X-axis and the origin, a Y-axis of a Cartesian rectangular coordinate system is established.
The cartesian coordinate system is two axes intersecting at the origin, namely an X-axis and a Y-axis, which are perpendicular to each other.
Preferably, the corresponding color is filled in the pixel points in all the radial data except the radial data in the current elevation angle.
It should be noted that, when the weather radar scans the weather radar at the fixed elevation angle in the radial direction, 360 radial data can be obtained, and a weather image can be drawn by filling corresponding colors into the pixel points in the 360 radial data, so that the weather image scanned by the weather radar at the current elevation angle can be drawn only by filling corresponding colors into the pixel points in all the radial data except the radial data in the current elevation angle.
The method comprises the steps of determining a region where currently acquired radial data are located in a radar polar coordinate system of a pre-divided region, wherein the region comprises a first region, a second region, a third region and a fourth region; if the radial data are in the first region or the third region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking a Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling each pixel point with a corresponding color; if the radial data are in the second area or the fourth area, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors for each pixel point. According to the radar radial data display drawing method, the area where the current radial data are located is found in a radar polar coordinate system which is divided into areas in advance, the reference axis under a Cartesian rectangular coordinate system is determined according to different areas, the position of a distance base corresponding to each pixel point in the radial data is calculated based on the radial angle corresponding to the radial data, finally, the color corresponding to the distance base is filled into each pixel point, in the process, the operation process and the operation difficulty of determining the distance base are simplified, filling is carried out based on each pixel point of an image, repeated drawing is avoided, and accordingly the purpose of rapidly displaying and drawing the radial data of the weather radar is achieved.
Based on the method for displaying and drawing radar radial data disclosed in the foregoing embodiment of the present invention, as shown in fig. 5, the specific implementation process of step S103 shown in fig. 1 at least includes the following steps:
step S501: and calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each point of the Y axis based on a radial angle range corresponding to the radial data by taking the Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system.
In step S501, the radial angle refers to an angle between the current radial data in the radar polar coordinate system and the due north direction at this time, as shown in fig. 6, and thus can be determined by the angle of the current radial data.
When the radial angle of the current radial data is determined, i.e., α, by calculating the projection upper tangent limit and the projection lower tangent limit of the X-axis corresponding to each point on the Y-axis through α and β, the X-axis projection upper tangent limit dy × tan (α + β) and the projection lower tangent limit dy × tan (α) are obtained, the unit α is radian, the unit β is the radial angle resolution, and the unit is radian, and in this application, the unit β is about 1.
In the process of executing step S501, the radial data may be in the first area or the third area, and therefore, specific calculation needs to be performed according to the specific area of the radial data.
And if the radial data are in the first area, calculating the projection upper limit tangent value and the projection lower limit tangent value of the X axis corresponding to the pixel points in the radial data in an increasing manner along the Y axis from the origin based on the radial angle corresponding to the radial data by taking the Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system.
It should be noted that, when the radial data is in the first region, based on the Y axis, and based on the radial angle α of the radial data, a lower projection tangent dy (α) and an upper projection tangent dy (α + β) of Y equal to 1, 2, 3 … … N on the X axis corresponding to the current radial data are calculated.
And if the radial data are in the third area, calculating a projection lower limit tangent value dy & lttan & gt (α + β) and a projection upper limit tangent value dy & lttan & gt (α) of the X axis corresponding to the pixel range in the radial data in a descending manner along the Y axis from the origin based on the radial angle corresponding to the radial data.
It should be noted that, when the radial data is in the third region, based on the Y axis and based on the radial angle α of the radial data, the projection lower limit tangent dy and the projection upper limit tangent dy of the X axis corresponding to Y being equal to-1, -2, -3 … … -N in the current radial data are calculated (α + β) and (α).
Step S502: and obtaining the upper limit value and the lower limit value of the X-axis projection corresponding to each point of the Y axis based on the projection upper limit tangent value and the projection lower limit tangent value of the X axis, and determining the position of the distance library corresponding to each pixel point in the radial data.
In step S502, since the projection upper limit tangent value and the projection lower limit tangent value of the pixel at each position on the Y-axis on the X-axis are known, the projection upper limit value and the projection lower limit value of the pixel at each position on the Y-axis on the X-axis can be obtained, and thus the Y-coordinate and the X-coordinate of each pixel in the radial data can be obtained, and then the radial data can be obtained according to the projection upper limit tangent value and the projection lower limit tangent value of the pixel at each position on the Y
And calculating a corresponding distance library of each pixel in the current radial data.
Step S503: and filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point.
In step S503, each distance bin corresponds to a color, so that when the position of each pixel point in the distance bin of the current radial data is obtained through calculation, the color corresponding to the distance bin can be filled in the pixel point.
Based on the method for displaying and drawing radar radial data disclosed in the foregoing embodiment of the present invention, as shown in fig. 7, the specific implementation process of step S104 shown in fig. 1 at least includes the following steps:
step S601: and in the Cartesian rectangular coordinate system, taking an X axis as a reference, and calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to each point of the X axis based on a radial angle range corresponding to the radial data.
In step S601, the radial angle refers to an angle between the current radial data in the radar polar coordinate system and the due north direction at this time, and thus can be determined by the angle of the current radial data.
When the radial angle of the current radial data is determined, i.e., α, the upper projection limit cotangent value and the lower projection limit cotangent value of the Y axis corresponding to each point of the X axis are calculated through α and β, so that the lower projection limit cotangent value dx (α + β) and the upper projection limit cotangent value dx (α) of the Y axis can be obtained.
The unit α is radians and the unit β is radial angular resolution in radians, in this application, the β is about 1 degree.
In the process of executing step S601, the radial data may be in the second area or the fourth area, and therefore, specific calculation needs to be performed according to the specific area of the radial data.
And if the radial data are in the second area, in the Cartesian rectangular coordinate system, taking an X axis as a reference, and calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to a pixel point in the radial data in an increasing manner along the X axis from an origin based on a radial angle corresponding to the radial data.
It should be noted that, when the radial data is in the second region, based on the X axis and based on the radial angle α of the radial data, a lower projection limit cotangent value dx _ cot (α + β) and an upper projection limit cotangent value dx _ cot (α) of X equal to 1, 2, 3 … … N on the corresponding Y axis in the current radial data are calculated.
If the radial data is in the fourth region, in the cartesian orthogonal coordinate system, based on the X axis, based on the radial angle corresponding to the radial data, a projection lower limit cotangent value dx _ cot (α) and a projection upper limit cotangent value dx _ cot (α + β) of the Y axis corresponding to the pixel point in the radial data are calculated in a descending manner from the origin along the X axis.
It should be noted that, when the radial data is in the fourth region, based on the X axis and based on the radial angle α of the radial data, a lower projection limit cotangent value dx _ cot (α) and an upper projection limit cotangent value dx _ cot (α + β) of the X axis corresponding to the Y axis in the current radial data are calculated, where X is equal to-1, -2, -3 … … -N.
Step S602: and obtaining the upper limit value and the lower limit value of each point of the X axis corresponding to the projection of the Y axis based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y axis, and determining the position of the distance library corresponding to each pixel point in the radial data.
In step S602, since the projection upper limit cotangent value and the projection lower limit cotangent value of the pixel at each position on the X axis on the Y axis are known, the projection upper limit value and the projection lower limit value of the pixel at each position on the X axis on the Y axis can be obtained, and thus the Y coordinate and the X coordinate of each pixel in the radial data can be obtained, and then the Y coordinate and the X coordinate of each pixel in the radial data can be obtained according to the projection upper limit cotangent value and the projection lower limit value
And calculating a corresponding distance library of each pixel in the current radial data.
Step S603: and filling corresponding colors into each pixel point based on the distance library position corresponding to each pixel point.
In step S603, each distance bin corresponds to one color, so that when the position of each pixel point in the distance bin of the current radial data is obtained through calculation, the pixel point can be filled with the color corresponding to the distance bin.
Corresponding to the method for displaying and drawing radar radial data disclosed in the embodiment of the present invention, the embodiment of the present invention discloses a system for displaying and drawing radar radial data, as shown in fig. 8, the system for displaying and drawing radar radial data includes:
an obtaining module 701, configured to determine a region where currently obtained radial data is located in a radar polar coordinate system of a pre-divided region, where the region includes a first region, a second region, a third region, and a fourth region;
a first calculating module 702, configured to, if the radial data is in the first region or the third region, calculate, based on a radial angle corresponding to the radial data and with a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, a distance library position corresponding to each pixel point in the radial data, and fill each pixel point with a corresponding color;
a second calculating module 703, configured to calculate, in the cartesian rectangular coordinate system, a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by using an X axis as a reference if the radial data is in the second area or the fourth area, and fill each pixel point with a corresponding color.
Preferably, the radar radial data display drawing system further includes:
the first establishing module is used for establishing a polar axis by taking a radar central point as a pole and the radar initial scanning position based on the pole to obtain a radar polar coordinate system;
the dividing module is used for determining a first angle, a second angle, a third angle and a fourth angle in the radar polar coordinate system along the radar scanning direction, dividing the radar polar coordinate system into a first area, a second area, a third area and a fourth area along the first angle to the second angle direction and along the third angle to the fourth angle direction, wherein the interval range of the first area is from 0 degree to a degree and from d degree to 360 degree, the interval range of the second area is from a degree to b degree, the interval range of the third area is from b degree to c degree, the interval range of the fourth area is from c degree to d degree, and 360> d > c > b > a > 0.
Preferably, as shown in fig. 9, the first calculation module 702 includes:
a first calculating unit 801, configured to, if the radial data is in the first region and the third region, calculate, based on a radial angle range corresponding to the radial data and based on a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each point of the Y axis;
a first determining unit 802, configured to obtain an upper limit value and a lower limit value of the projection of the X axis corresponding to each point of the Y axis based on the projection upper limit tangent value and the projection lower limit tangent value of the X axis, and determine a position of a distance library corresponding to each pixel point in the radial data;
a first filling unit 803, configured to fill, based on the position of the distance library corresponding to each pixel point, a corresponding color for each pixel point, where each distance library corresponds to one color.
Preferably, the first calculating unit 801 includes:
a first calculating subunit, configured to, if the radial data is in the first region, calculate, in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to a pixel point in the radial data in an increasing manner along the Y axis from an origin based on a radial angle corresponding to the radial data with the Y axis as a reference;
and if the radial data are in the third area, in the cartesian rectangular coordinate system, based on the radial angle corresponding to the radial data, calculating a projection upper limit tangent value and a projection lower limit tangent value of the X axis corresponding to the pixel points in the radial data in a descending manner from the origin along the Y axis.
Preferably, as shown in fig. 10, the second calculation module 703 includes:
a second calculating unit 901, configured to calculate, in the cartesian rectangular coordinate system, based on a radial angle range corresponding to the radial data, a projection upper limit cotangent value and a projection lower limit cotangent value of the Y axis corresponding to each point of the X axis, with an X axis as a reference if the radial data is in the second region and the fourth region;
a second determining unit 902, configured to obtain an upper limit and a lower limit of the Y-axis projection corresponding to each point of the X-axis based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y-axis, and determine a distance library position corresponding to each pixel point in the radial data;
a second filling unit 903, configured to fill a corresponding color into each pixel point based on a distance library position corresponding to each pixel point, where each distance library corresponds to one color.
Preferably, the second calculating unit 901 includes:
a third calculating subunit, configured to, if the radial data is in the second region, incrementally calculate, in the cartesian orthogonal coordinate system, a projection upper limit cotangent value and a projection lower limit cotangent value of the Y axis corresponding to a pixel point in the radial data from an origin along the X axis based on a radial angle corresponding to the radial data with respect to the X axis;
and if the radial data are in the fourth area, in the cartesian rectangular coordinate system, based on the radial angle corresponding to the radial data, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of the Y axis corresponding to the pixel points in the radial data in a descending manner from the origin along the X axis based on the radial angle corresponding to the radial data.
Preferably, the radar radial data display drawing system further includes:
the second establishing module is used for establishing an origin of a Cartesian rectangular coordinate system according to the radar central point and establishing an X axis of the Cartesian rectangular coordinate system according to the radar initial scanning position based on the origin;
and the third establishing module is used for establishing a Y axis of the Cartesian rectangular coordinate system based on the X axis and the origin.
Preferably, the radar radial data display drawing system further includes:
and the filling module is used for filling corresponding colors in pixel points in all radial data except the radial data in the current elevation angle.
It should be noted that, the specific principle and the implementation process of each unit and each module in the radar radial data display drawing system disclosed in the above embodiment of the present invention are the same as the radar radial data display drawing method disclosed in the above embodiment of the present invention, and reference may be made to corresponding parts in the radar radial data display drawing method disclosed in the above embodiment of the present invention, which are not described herein again.
The method comprises the steps that an acquisition module determines the region of currently acquired radial data in a radar polar coordinate system of a pre-divided region, wherein the region comprises a first region, a second region, a third region and a fourth region; if the radial data are in the first area or the third area, a first calculation module calculates a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking a Y axis as a reference, and fills corresponding colors for each pixel point; if the radial data are in the second area or the fourth area, a second calculation module calculates a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference, and fills corresponding colors for each pixel point. Through the above-mentioned radial data display drawing system of radar, find the region that current radial data is located in the radar polar coordinate system who divides the region in advance, and confirm cartesian rectangular coordinate system reference axis according to the region of difference, again based on the radial angle that radial data corresponds, calculate every pixel corresponds the point distance storehouse position in the radial data, fill the colour that the distance storehouse corresponds to every pixel at last, in this process, simplify the operation process and the operation degree of difficulty of confirming the distance storehouse, and fill based on every pixel of image, avoid repeated drawing, thereby reach and draw the radial data display of weather radar fast.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A radar radial data display drawing method is characterized by comprising the following steps:
determining a region in which currently acquired radial data are located in a radar polar coordinate system of a pre-divided region, wherein the region comprises a first region, a second region, a third region and a fourth region;
if the radial data are in the first region or the third region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking a Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling each pixel point with a corresponding color;
if the radial data are in the second area or the fourth area, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors for each pixel point.
2. The method of claim 1, wherein partitioning regions in advance for a radar polar coordinate system comprises:
taking a radar central point as a pole, and establishing a polar axis based on the pole and the radar initial scanning position to obtain a radar polar coordinate system;
in the radar polar coordinate system, determining a first angle, a second angle, a third angle and a fourth angle along the radar scanning direction, and dividing the radar polar coordinate system into a first area, a second area, a third area and a fourth area along the direction from the first angle to the second angle and along the direction from the third angle to the fourth angle;
the interval range of the first area is 0-a degrees and d-360 degrees, the interval range of the second area is a-b degrees, the interval range of the third area is b-c degrees, the interval range of the fourth area is c-d degrees, and 360> d > c > b > a > 0.
3. The method of claim 1, wherein if the radial data is in the first region or the third region, calculating a corresponding distance bin position of each pixel point in the radial data based on a radial angle corresponding to the radial data in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system by taking a Y axis as a reference, and filling each pixel point with a corresponding color, comprises:
if the radial data are in the first region and the third region, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each point of the Y axis based on a radial angle range corresponding to the radial data by taking the Y axis as a reference in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system;
obtaining the upper limit value and the lower limit value of the X-axis projection corresponding to each point of the Y-axis based on the projection upper limit tangent value and the projection lower limit tangent value of the X-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
4. The method according to claim 3, wherein if the radial data is in the first region or the third region, calculating a projection upper limit tangent and a projection lower limit tangent of an X-axis corresponding to each point of the Y-axis in the radial data based on a radial angle range corresponding to the radial data with respect to the Y-axis in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, includes:
if the radial data are in the first area, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to a pixel point in the radial data in an increasing manner along a Y axis from an origin point based on a radial angle corresponding to the radial data in a Cartesian rectangular coordinate system established in advance based on the radar polar coordinate system by taking the Y axis as a reference;
and if the radial data are in the third area, in the Cartesian rectangular coordinate system, based on a Y axis and a radial angle corresponding to the radial data, calculating a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to a pixel point in the radial data in a descending manner from an origin along the Y axis.
5. The method according to claim 1, wherein if the radial data is in the second region or the fourth region, calculating a distance bin position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data in the cartesian rectangular coordinate system with reference to an X-axis, and filling each pixel point with a corresponding color comprises:
if the radial data are in the second region and the fourth region, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to each point of the X axis based on a radial angle range corresponding to the radial data by taking the X axis as a reference in the Cartesian rectangular coordinate system;
based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y axis, obtaining the upper limit value and the lower limit value of the Y axis projection corresponding to each point of the X axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
6. The method of claim 5, wherein if the radial data is in the second region or the fourth region, calculating a projection upper cotangent value and a projection lower cotangent value of the Y-axis corresponding to each point of the X-axis based on a radial angle range corresponding to the radial data in the cartesian orthogonal coordinate system by using the X-axis as a reference comprises:
if the radial data are in the second area, in the Cartesian rectangular coordinate system, taking an X axis as a reference, and based on a radial angle corresponding to the radial data, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to a pixel point in the radial data in an increasing manner along the X axis from an origin;
if the radial data are in the fourth area, in the Cartesian rectangular coordinate system, based on an X axis and a radial angle corresponding to the radial data, calculating a projection upper limit cotangent value and a projection lower limit cotangent value of a Y axis corresponding to a pixel point in the radial data in a descending manner from an origin along the X axis.
7. The method according to any of claims 1-6, wherein the Cartesian orthogonal coordinate system establishing process comprises:
establishing an origin of a Cartesian rectangular coordinate system according to the radar central point, and establishing an X axis of the Cartesian rectangular coordinate system according to the radar initial scanning position based on the origin;
and establishing a Y axis of a Cartesian rectangular coordinate system based on the X axis and the origin.
8. The method according to any one of claims 3-6, further comprising, after filling each pixel point with a corresponding color based on the location of the distance bin to which the each pixel point corresponds:
and filling corresponding colors for pixel points in all radial data except the radial data in the current elevation angle.
9. A radar radial data display rendering system, comprising:
the system comprises an acquisition module, a determination module and a processing module, wherein the acquisition module is used for determining the region of currently acquired radial data in a radar polar coordinate system of a pre-divided region, and the region comprises a first region, a second region, a third region and a fourth region;
a first calculating module, configured to, if the radial data is in the first region or the third region, calculate, based on a radial angle corresponding to the radial data and with a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, a distance library position corresponding to each pixel point in the radial data, and fill each pixel point with a corresponding color;
and if the radial data are in the second region or the fourth region, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data by taking an X axis as a reference in the Cartesian rectangular coordinate system, and filling corresponding colors into each pixel point.
10. The system of claim 9, wherein the first computing module comprises:
a first calculating unit, configured to calculate, if the radial data is in the first region and the third region, a projection upper limit tangent value and a projection lower limit tangent value of an X axis corresponding to each Y axis based on a radial angle corresponding to the radial data with a Y axis as a reference in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system;
the first determining unit is used for obtaining the upper limit tangent value and the lower limit tangent value of the X-axis projection corresponding to each point of the Y-axis based on the upper limit tangent value and the lower limit tangent value of the projection of the X-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and the first filling unit is used for filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
11. The system of claim 9, wherein the second computing module comprises:
a second calculating unit, configured to calculate, in the cartesian rectangular coordinate system, based on a radial angle range corresponding to the radial data, a projection upper limit cotangent value and a projection lower limit cotangent value of the Y axis corresponding to each point of the X axis, with an X axis as a reference if the radial data is in the second region and the fourth region;
the second determining unit is used for obtaining upper and lower limit values of Y-axis projection corresponding to each point of the X-axis based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y-axis, and determining the position of a distance library corresponding to each pixel point in the radial data;
and the second filling unit is used for filling corresponding colors into each pixel point based on the position of the distance library corresponding to each pixel point, wherein each distance library corresponds to one color.
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