CN111369642B - 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 radar radial data display drawing method and a system, wherein the radar radial data display drawing method is used for finding out the area where the current radial data is located in a radar polar coordinate system with pre-divided areas, determining a reference axis under a Cartesian rectangular coordinate system according to different areas, calculating the distance base position of each pixel point 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 for 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 a major tool for monitoring and early warning strong convective weather. In the prior art, radar radial data is drawn by adopting a forward direct drawing mode and is drawn by distance libraries, the positions of four vertex angles are required to be calculated for each distance library displayed in an isosceles trapezoid in each radial direction, and then the color filling is carried out on the area.
However, in the process of drawing by adopting a forward direct drawing mode, the conversion of points from polar coordinates to a Cartesian coordinate system is needed, the conversion process involves a trigonometric function, when the image position of the image is calculated and region color filling is carried out, the system library is also needed to calculate and search the boundary of the image, the operation complexity is complex, and meanwhile, in the process of mapping from the polar coordinate system of data to the Cartesian coordinate system of the image, the calculated distance libraries and the mapping region between radial directions have boundary overlapping parts, so that the pixel filling processing of the image is repeated, and finally, the operation waste of a graphic processor is caused.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a system for displaying and drawing radar radial data, which are used for solving the problems that the process of drawing the radar radial data is complicated and the operation of a graphics processor is wasted in the prior art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the first aspect of the invention discloses a radar radial data display and drawing method, which comprises the following steps:
determining an area where currently acquired radial data is located in a radar polar coordinate system of a pre-divided area, wherein the area comprises a first area, a second area, a third area and a fourth area;
If the radial data are in the first area or the third 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 a Y axis as a reference in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, and filling corresponding colors for each pixel point;
and if the radial data is 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 method for dividing the radar polar coordinate system into regions in advance includes:
taking a radar center point as a pole, and establishing a polar axis based on the pole and the initial scanning position of the radar to obtain a radar polar coordinate system;
determining a first angle, a second angle, a third angle and a fourth angle along the radar scanning direction in the radar polar coordinate system, and dividing the radar polar coordinate system into a first region, a second region, a third region and a fourth region along the first angle to the second angle direction and along the third angle to the fourth angle direction;
The range of the first region is 0 to a degrees and d to 360 degrees, the range of the second region is a to b degrees, the range of the third region is b to c degrees, and the range of the fourth region is c to d degrees, and 360> d > c > b > a >0.
Preferably, if the radial data is in the first area or the third area, in a cartesian rectangular coordinate system pre-established based on the radar polar coordinate system, calculating a distance library position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data with reference to a Y axis, and filling a corresponding color for each pixel point, including:
if the radial data are in the first area and the third area, calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each point of a 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 which is established in advance based on the radar polar coordinate system;
based on the projection upper limit tangent value and the projection lower limit tangent value of the X axis, the upper limit value and the lower limit value of the projection of the X axis corresponding to each point of the Y axis are obtained, and the position of a distance library corresponding to each pixel point in the radial data is determined;
And filling corresponding colors for each pixel point based on the positions of the distance libraries corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, if the radial data is in the first area or the third area, in a cartesian 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 an upper projection tangent value and a lower projection 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, in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, based on a radial angle corresponding to the radial data, calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to a pixel point in the radial data in an incremental manner along the Y axis from an origin;
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, the projection upper limit tangent and the projection lower limit tangent of the X axis corresponding to the pixel point in the radial data are calculated from the origin along the Y axis in a descending manner based on the Y axis.
Preferably, if the radial data is in the second area or the fourth area, in the cartesian coordinate system, based on a radial angle corresponding to the radial data, calculating a distance library position corresponding to each pixel point in the radial data and filling a corresponding color for each pixel point, where the distance library position is based on an X-axis, and the method includes:
if the radial data are in the second area and the fourth area, calculating an upper projection limit clearance value and a lower projection limit clearance value of a Y axis corresponding to each point of an X axis based on a radial angle range corresponding to the radial data in the Cartesian coordinate system by taking the X axis as a reference;
based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y axis, obtaining an upper limit value and a lower limit value of the projection of the Y axis corresponding to each point of the X axis, and determining a distance library position corresponding to each pixel point in the radial data;
and filling corresponding colors for each pixel point based on the distance library position corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, if the radial data is in the second area or the fourth area, calculating an upper projection limit and a lower projection limit of the Y axis corresponding to each point of the X axis based on the radial angle range corresponding to the radial data with respect to the X axis in the cartesian rectangular coordinate system, including:
If the radial data are in the second area, in the Cartesian coordinate system, based on the radial angle corresponding to the radial data, calculating an upper projection limit clearance value and a lower projection limit clearance 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;
and if the radial data are in the fourth area, in the Cartesian coordinate system, based on the radial angle corresponding to the radial data, calculating the projection upper limit and the projection lower limit of the Y-axis corresponding to the pixel point in the radial data from an origin along the X-axis in a descending manner by taking the X-axis as a reference.
Preferably, the cartesian coordinate system establishment process includes:
establishing an origin of a Cartesian coordinate system by using the radar center point, and establishing an X axis of the Cartesian coordinate system by using 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 for each pixel based on the position of the distance library corresponding to each pixel, 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 application discloses a radar radial data display and drawing system, which comprises:
the acquisition module is used for determining an area where currently acquired radial data are located in a radar polar coordinate system of a pre-divided area, wherein the area comprises a first area, a second area, a third area and a fourth area;
the first calculation module is configured to calculate, 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 based on a radial angle corresponding to the radial data with reference to a Y axis, and fill a corresponding color for each pixel point if the radial data is in the first region or the third region;
and the second calculation module is used for calculating the distance library position corresponding to each pixel point in the radial data based on the 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 if the radial data are in the second area or the fourth area.
Preferably, the first computing module includes:
the first calculating unit is used for calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each Y axis based on a radial angle corresponding to the radial data in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system if the radial data are in the first area and the third area by taking the Y axis as a reference;
The first determining unit is used for 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 upper limit tangent value and the lower limit tangent value of the X-axis projection, and determining the position of the distance library corresponding to each pixel point in the radial data;
and the first filling unit is used for filling the corresponding colors for each pixel point based on the positions of the distance libraries corresponding to each pixel point, wherein each distance library corresponds to one color.
Preferably, the second calculation module includes:
the second calculating unit is used for calculating an upper projection limit clearance value and a lower projection limit clearance value of a Y axis corresponding to each point of an X axis based on a radial angle range corresponding to the radial data in the Cartesian rectangular coordinate system by taking the X axis as a reference if the radial data are in the second area and the fourth area;
the second determining unit is used for obtaining the upper limit value and the lower limit value of the projection of the Y axis 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 distance library position corresponding to each pixel point in the radial data;
and the second filling unit is used for filling the corresponding colors for each pixel point based on the distance library position corresponding to each pixel point, wherein each distance library corresponds to one color.
From the above, the invention discloses a radar radial data display and drawing method and a system. Determining the region where currently acquired radial data is 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 area or the third 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 a Y axis as a reference in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, and filling corresponding colors for each pixel point; and if the radial data is 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 is located is found in the radar polar coordinate system of the pre-divided area, the reference axis under the Cartesian coordinate system is determined according to different areas, the position of the distance library corresponding to each pixel point in the radial data is calculated based on the radial angle corresponding to the radial data, and finally the color corresponding to the distance library is filled into each pixel point.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for displaying and drawing radial data of a radar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of radar scanning according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for displaying and rendering radar radial data according to an embodiment of the present invention;
fig. 4 is a schematic diagram of radar image area division according to an embodiment of the present invention;
FIG. 5 is a flowchart of another method for displaying and rendering radar radial data according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of radial data provided in an embodiment of the present invention in a Cartesian coordinate system;
fig. 7 is a schematic diagram of a radar radial data display drawing system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of another system for displaying and rendering radar radial data according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of another system for displaying and rendering radar radial data according to an embodiment of the present application;
fig. 10 is a schematic diagram of another radar radial data display drawing system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the present disclosure, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the application provides a radar radial data display and drawing method, referring to fig. 1, which is a flow diagram of the radar radial data display and drawing method of the application, wherein the radar radial data display and drawing method 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, a velocity spectrum width, and the like. In the working process of the weather radar, the antenna can be lifted, the antenna can complete azimuth scanning operation of multiple elevation angles by using electromagnetic waves of the weather radar, namely, volume scanning, body scanning for short, and 9 different elevation angle scanning can be completed in 6 minutes in a VCP21 mode of current weather service operation.
When the weather radar scans in the elevation angle, a radial clockwise scanning mode is adopted, and each radial data is represented in a polar coordinate mode and is marked in azimuth and distance. The radial direction in the radial data is the transmitting direction of the weather radar electromagnetic wave by taking the radar as the center.
It should be noted that, when the weather radar scans radially clockwise, the weather radar starts to scan from north, that is, the starting scanning point of the weather radar, and then scans in a radially clockwise scanning manner.
As shown in fig. 2, when the radar data is plotted, the radial data may be divided into a number of range bins, each plotted in an isosceles trapezoid. The radar scans 360 degrees radially in an elevation angle according to the scanning direction, and 360 radial data can be obtained.
In fig. 2, N denotes a direction north, S denotes a direction south, W denotes a direction west, and E denotes a direction east.
Step S102: and judging the region where the radial data is located in the radar polar coordinate system of the pre-divided region, if the radial data is located in the first region or the third region, executing step S103, and if the radial data is located in the second region or the fourth region, executing step S104.
In step S102, the areas include a first area, a second area, a third area, and a fourth area.
It should be noted that, since the radar scans 360 degrees radially 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 area, and each radial data corresponds to one area, namely any one area of the first area, the second area, the third area and the fourth area.
In the specific execution of step S102, it may be determined, firstly, by the angle of the current radial data in the radar polar coordinate system, which region the angle corresponds to.
For ease of understanding, examples are presented herein.
After the radar polar coordinate system is divided into areas, the interval range of the first area is 0-45 degrees, 315-360 degrees, the interval range of the second area is 45-135 degrees, the interval range of the third area is 135-225 degrees, and the interval range of the fourth area 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 in 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 the execution step S102, the radar polar coordinate system needs to be divided into areas in advance, and the specific execution steps thereof are as shown in fig. 3, including the steps of:
step S301: and taking the radar center point as a pole, and obtaining a radar polar coordinate system based on a polar axis established by the pole at the radar initial scanning position.
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 taking the center point of the radar as a pole of the polar coordinate system and establishing a polar axis of the polar coordinate system at the radar starting position.
Step S302: in the radar polar coordinate system, a first angle, a second angle, a third angle, and a fourth angle are determined along the radar scanning direction, and the radar polar coordinate system is divided into a first region, a second region, a third region, and a fourth region along the first angle to the second angle direction, and along the third angle to the fourth angle direction.
In step S302, the range of the first region is 0 to a degrees and d to 360 degrees, the range of the second region is a to b degrees, the range of the third region is b to c degrees, and the range of the fourth region is c to d degrees, and 360> d > c > b > a >0.
To facilitate understanding of how step S302 divides the radar polar coordinate system into regions, an example is described below.
As shown in fig. 4, the radar polar coordinate system is divided along the direction of 45 degrees to 225 degrees and along the direction of 135 degrees to 315 degrees, and 4 areas are obtained after division, wherein the interval range of the first area is 0 degrees to 45 degrees, 315 degrees to 360 degrees, the interval range of the second area is 45 degrees to 135 degrees, the interval range of the third area is 135 degrees to 225 degrees, and the interval range of the fourth area is 225 degrees to 315 degrees.
Step S103: and calculating the distance library position corresponding to each pixel point in the radial data based on the radial angle corresponding to the radial data by taking a Y axis as a reference in a Cartesian rectangular coordinate system which is 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, taking the Y axis as a reference, calculating the X axis coordinate of each pixel point corresponding to the radial data, determining which distance library each pixel point is in the radial data according to the Y axis coordinate and the X axis coordinate, and filling the corresponding color into the pixels according to the distance library value, thereby completing the drawing of the current radial data.
In a specific implementation process, the distance library position of the radial data where each pixel is located can be calculated through formula 1.
Wherein dx is the coordinate of the X axis, dy is the coordinate of the Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image in pixel/m.
Step S104: and in the Cartesian 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, taking the X axis as a reference, calculating the Y axis coordinate of each pixel point corresponding to the radial data, determining which distance library each pixel point is in the radial data according to the X axis coordinate and the Y axis coordinate, and filling the corresponding color into the pixels according to the distance library value, thereby completing the drawing of the current radial data.
In a specific implementation, the distance library location of the radial data where each pixel is located may be calculated by equation 2.
Wherein dx is the coordinate of the X axis, dy is the coordinate of the Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image in pixel/m.
It should be noted that, in the process of executing the step S103 or the step S104, the process of establishing the cartesian coordinate system is based on a pre-established cartesian polar coordinate system, and mainly includes the following steps:
firstly, establishing an origin of a Cartesian coordinate system by using the radar center point, and establishing an X axis of the Cartesian coordinate system by using the radar initial scanning position based on the origin.
Then, based on the X-axis and the origin, a Y-axis of a Cartesian coordinate system is established.
The Cartesian coordinate system is a two-number axis intersecting at an origin, namely an X axis and a Y axis, which are perpendicular to each other.
Preferably, the pixels in all radial data divided by the radial data in the current elevation angle are filled with the corresponding colors.
It should be noted that, because 360 radial data can be obtained when the weather radar scans radially at a fixed elevation angle, a weather image can be drawn by filling corresponding colors into pixels 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 pixels in all radial data except for the radial data in the current elevation angle.
The method comprises the steps of determining the area where currently acquired radial data are located in a radar polar coordinate system of a pre-divided area, wherein the area comprises a first area, a second area, a third area and a fourth area; if the radial data are in the first area or the third 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 a Y axis as a reference in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, and filling corresponding colors for each pixel point; and if the radial data is 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 is located is found in the radar polar coordinate system of the pre-divided area, the reference axis under the Cartesian coordinate system is determined according to different areas, the position of the distance library corresponding to each pixel point in the radial data is calculated based on the radial angle corresponding to the radial data, and finally the color corresponding to the distance library is filled into each pixel point.
Based on the method for displaying and drawing the radar radial data disclosed in the embodiment of the present application, the specific implementation process of step S103 shown in fig. 1, as shown in fig. 5, at least includes the following steps:
step S501: and calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each point of a 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 which is established in advance based on the radar polar coordinate system.
In step S501, the radial angle refers to the angle between the current radial data and the north direction in the radar polar coordinate system, as shown in fig. 6, and thus, may be determined by the angle of the current radial data.
When the radial angle of the current radial data, namely alpha, is determined, calculating an upper projection limit tangent value and a lower projection limit tangent value of the X axis corresponding to each point of the Y axis through alpha and beta, and obtaining an upper projection limit tangent value dy (alpha+beta) and a lower projection limit tangent value dy (alpha) of the X axis. The unit alpha is radian, the unit beta is radial angular resolution, and the unit is radian, and in the application, the beta is about 1.
In the process of executing step S501, the radial data may be located in the first area or the third area, and thus, specific calculation is required according to the specific area where the radial data is located.
And if the radial data are in the first area, in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, based on a radial angle corresponding to the radial data, calculating an upper projection tangent value and a lower projection 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 the radial angle corresponding to the radial data.
When the radial data is in the first area, based on the radial angle α of the radial data, calculating a projection lower limit tangent value dy (α) and a projection upper limit value dy (α+β) of Y equal to 1,2,3, … … N corresponding to the X axis in the current radial data.
And if the radial data is in the third area, calculating the lower projection tangent value dy (alpha+beta) and the upper projection tangent value dy (alpha) of the X axis corresponding to the pixel range point in the radial data from the origin along the Y axis in a descending manner based on the radial angle corresponding to the radial data by taking the Y axis as a reference.
When the radial data is in the third area, calculating a projection lower limit tangent value dy (α+β) and a projection upper limit tangent value dy (α) of the corresponding X-axis in the current radial data based on the radial angle α of the radial data, wherein Y is equal to-1, -2, -3 … … -N.
Step S502: and based on the projection upper limit tangent value and the projection lower limit tangent value of the X axis, obtaining the upper limit value and the lower limit value of the projection of the X axis corresponding to each point of the Y axis, and determining the position of the distance library corresponding to each pixel point in the radial data.
In step S502, since the upper projection limit tangent and the lower projection limit tangent of the pixels on the X-axis are known, the upper projection limit and the lower projection limit of the pixels on the X-axis are obtained, and the Y-coordinate and the X-coordinate of each pixel in the radial data are obtainedAnd calculating a distance library corresponding to each pixel in the current radial data.
Step S503: and filling the corresponding colors for each pixel point based on the positions of the distance library corresponding to each pixel point.
In step S503, since each distance library corresponds to one color, when the position of each pixel point in the distance library of the current radial data is calculated, the color corresponding to the distance library can be filled into the pixel point.
Based on the method for displaying and drawing the radar radial data disclosed in the embodiment of the present invention, the specific implementation process of step S104 shown in fig. 1, as shown in fig. 7, at least includes the following steps:
Step S601: and in the Cartesian coordinate system, taking the X axis as a reference, and calculating an upper projection limit cotangent value and a lower projection limit cotangent value of the Y axis corresponding to each point of the X axis based on the radial angle range corresponding to the radial data.
In step S601, the radial angle refers to an angle between the current radial data and the north direction in the radar polar coordinate system, and thus, may be determined by the angle of the current radial data.
When the radial angle of the current radial data is determined, namely alpha, calculating an upper projection limit cotangent value and a lower projection limit cotangent value of the Y axis corresponding to each point of the X axis through alpha and beta, and obtaining a lower projection limit cotangent value dx (alpha+beta) and an upper projection limit cotangent value dx (alpha) of the Y axis.
The unit alpha is radian, the unit beta is radial angular resolution, and the unit is radian, and in the application, the unit beta is about 1 degree.
In the process of executing step S601, the radial data may be located in the second area and may be located in the fourth area, so that specific calculation is required according to the specific area where the radial data is located.
And if the radial data are in the second area, in the Cartesian coordinate system, based on the radial angle corresponding to the radial data, calculating an upper projection limit and a lower projection limit of the Y-axis corresponding to the pixel point in the radial data from an origin along the X-axis in an incremental manner based on the radial angle corresponding to the radial data.
It should be noted that, when the radial data is in the second area, based on the radial angle α of the radial data and using the X axis as a reference, a projection lower limit cots (α+β) and a projection upper limit cots (α) of X equal to 1,2,3, … … N on the corresponding Y axis in the current radial data are calculated.
And if the radial data is in the fourth region, in the cartesian rectangular coordinate system, based on the radial angle corresponding to the radial data, calculating a projection lower limit cots value dx X cots (α) and a projection upper limit cots value dx X cots (α+β) of a Y axis corresponding to a pixel point in the radial data from an origin along the X axis in a decreasing manner.
When the radial data is in the fourth region, calculating a projection lower limit cots value dx X cots (α) and a projection upper limit cots value dx X cots (α+β) of the corresponding Y axis in the current radial data based on the radial angle α of the radial data and X is equal to-1, -2, -3 … … -N.
Step S602: and obtaining the upper limit value and the lower limit value of the projection of each point of the X axis corresponding to 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 distance library position corresponding to each pixel point in the radial data.
In step S602, since the projection upper limit and the projection lower limit of the pixel on each position on the X-axis on the Y-axis are known, the projection upper limit and the projection lower limit of the pixel on each position on the X-axis on the Y-axis can be obtained, so that the Y-coordinate and the X-coordinate of each pixel in the radial data can be obtained, and then according toAnd calculating a distance library corresponding to each pixel in the current radial data.
Step S603: and filling the corresponding colors for each pixel point based on the distance library position corresponding to each pixel point.
In step S603, since each distance library corresponds to one color, when the position of each pixel in the distance library of the current radial data is calculated, the color corresponding to the distance library can be filled into the pixel.
Corresponding to the method for displaying and drawing the radar radial data disclosed in the above embodiment of the present invention, the embodiment of the present invention discloses a system for displaying and drawing the radar radial data, as shown in fig. 8, the system for displaying and drawing the radar radial data includes:
an obtaining module 701, configured to determine an area where currently obtained radial data is located in a radar polar coordinate system of a pre-divided area, where the area includes a first area, a second area, a third area, and a fourth area;
The first calculating module 702 is configured to calculate, 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 based on a radial angle corresponding to the radial data with reference to a Y axis, and fill a corresponding color for each pixel point if the radial data is in the first region or the third region;
and 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 with respect to an X-axis if the radial data is in the second area or the fourth area, and fill the corresponding color for each pixel point.
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 center point as a pole and based on the pole and the initial scanning position of the radar to obtain a radar polar coordinate system;
the division module is used for determining a first angle, a second angle, a third angle and a fourth angle along the radar scanning direction in the radar polar coordinate system, 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 the third angle to the fourth angle direction, wherein the interval range of the first area is 0 degree to a degree and d degree to 360 degrees, the interval range of the second area is a degree to b degree, the interval range of the third area is b degree to c degree, and the interval range of the fourth area is c degree to d degree and 360> d > c > b > a >0.
Preferably, as shown in fig. 9, the first computing module 702 includes:
a first calculating unit 801, configured to calculate, in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each point of a Y axis based on a radial angle range corresponding to the radial data with the Y axis as a reference, if the radial data is in the first region and the third region;
a first determining unit 802, configured to obtain, based on the upper projection limit tangent and the lower projection limit tangent of the X axis, an upper limit value and a lower limit value of the projection of the X axis corresponding to each point of the Y axis, and determine a position of a distance library corresponding to each pixel point in the radial data;
and a first filling unit 803, configured to fill each pixel with a corresponding color based on a position of a distance library corresponding to each pixel, 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 area, incrementally calculate, in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, an upper projection tangent value and a lower projection tangent value of an X axis corresponding to a pixel point in the radial data along a Y axis from an origin based on a radial angle corresponding to the radial data with respect to the Y axis;
And the second calculating subunit is used for calculating the projection upper limit tangent value and the projection lower limit tangent value of the X axis corresponding to the pixel point 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 in the Cartesian rectangular coordinate system by taking the Y axis as a reference if the radial data is in the third area.
Preferably, as shown in fig. 10, the second computing module 703 includes:
a second calculating unit 901, configured to calculate, in the cartesian coordinate system, an upper projection limit and a lower projection limit of a Y axis corresponding to each point of an X axis based on a radial angle range corresponding to the radial data with respect to the X axis if the radial data is in the second region and the fourth region;
a second determining unit 902, configured to obtain an upper limit value and a lower limit value of the projection of the Y axis corresponding to each point of the X axis based on the projection upper limit and the projection lower limit cutoff value of the Y axis, and determine a distance library position corresponding to each pixel point in the radial data;
and a second filling unit 903, configured to fill each pixel with a corresponding color based on the distance bin position corresponding to the each pixel, where each distance bin corresponds to one color.
Preferably, the second computing unit 901 includes:
a third calculation subunit, configured to, if the radial data is in the second area, incrementally calculate, in the cartesian rectangular coordinate system, an upper projection limit and a lower projection limit of a Y axis corresponding to a pixel point in the radial data along the X axis from an origin based on a radial angle corresponding to the radial data with the X axis as a reference;
and the fourth calculating subunit is used for calculating the projection upper limit clearance value and the projection lower limit clearance value of the Y axis corresponding to the pixel point in the radial data in a decreasing manner along the X axis from the origin based on the radial angle corresponding to the radial data in the Cartesian rectangular coordinate system by taking the X axis as a reference if the radial data is in the fourth region.
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 by the radar center point and establishing an X axis of the Cartesian rectangular coordinate system by the radar initial scanning position based on the origin;
and the third establishing module is used for establishing a Y axis of a 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 for the pixel points in all radial data except the radial data in the current elevation angle.
It should be noted that, the specific principle and execution process of each unit and module in the radar radial data display and drawing system disclosed in the above embodiment of the present application are the same as those of the radar radial data display and drawing method disclosed in the above embodiment of the present application, and reference may be made to the corresponding parts in the radar radial data display and drawing method disclosed in the above embodiment of the present application, and no redundant description is given here.
The method comprises the steps that an acquisition module is used for determining the area where currently acquired radial data are located in a radar polar coordinate system with pre-divided areas, wherein the area comprises a first area, a second area, a third area and a fourth area; 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; and if the radial data is 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. According to the radar radial data display drawing system, the area where the current radial data is located is found in the radar polar coordinate system with the pre-divided areas, the Cartesian rectangular coordinate system reference axis is determined according to different areas, the position of the distance library corresponding to each pixel point in the radial data is calculated based on the radial angle corresponding to the radial data, and finally the color corresponding to the distance library is filled into each pixel point.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for a system or system embodiment, since it is substantially similar to a method embodiment, the description is relatively simple, with reference to the description of the method embodiment being made in part. The systems and system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
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 elements and steps are described above generally in terms of functionality in order to clearly illustrate the 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 solution. 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 (10)
1. A radar radial data display drawing method, characterized by comprising:
determining an area where currently acquired radial data is located in a radar polar coordinate system of a pre-divided area, wherein the area comprises a first area, a second area, a third area and a fourth area; the pre-partitioning the radar polar coordinate system comprises the following steps: taking a radar center point as a pole, and establishing a polar axis based on the pole and the initial scanning position of the radar to obtain a radar polar coordinate system; in the radar polar coordinate system, a first angle, a second angle, a third angle and a fourth angle are determined along the radar scanning direction, the radar polar coordinate system is divided into a first area, a second area, a third area and a fourth area along the first angle to the second angle direction, the first area ranges from 0 degrees to a degrees, d degrees to 360 degrees, the second area ranges from a degrees to b degrees, the third area ranges from b degrees to c degrees, and the fourth area ranges from c degrees to d degrees, 360> d > c > b > a >0;
If the radial data is in the first region or the third region, in a Cartesian coordinate system established in advance based on the radar polar coordinate system, taking a Y axis as a reference, based on a radial angle and a corresponding radial angle of the radial dataCalculating the position of a distance library corresponding to each pixel point in the radial data, and filling corresponding colors for each pixel point, wherein dx is the coordinate of an X axis, dy is the coordinate of a Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image, and the unit is pixel/m;
if the radial data is in the second region or the fourth region, in the Cartesian coordinate system, taking an X axis as a reference, based on the radial angle and the corresponding radial angle of the radial dataCalculating the position of a distance library corresponding to each pixel point in the radial data, and filling corresponding colors for each pixel point, wherein dx is the coordinate of an X axis, dy is the coordinate of a Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image in pixel/m.
2. The method according to claim 1, wherein if the radial data is in the first region or the third 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 based on a Y-axis in a cartesian rectangular coordinate system established in advance based on the radar polar coordinate system, and filling a corresponding color for each pixel point, includes:
if the radial data are in the first area and the third area, calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each point of a 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 which is established in advance based on the radar polar coordinate system;
based on the projection upper limit tangent value and the projection lower limit tangent value of the X axis, the upper limit value and the lower limit value of the projection of the X axis corresponding to each point of the Y axis are obtained, and the position of a distance library corresponding to each pixel point in the radial data is determined;
and filling corresponding colors for each pixel point based on the positions of the distance libraries corresponding to each pixel point, wherein each distance library corresponds to one color.
3. The method according to claim 2, wherein if the radial data is in the first region or the third region, calculating, based on a radial angle range corresponding to the radial data and on a Y-axis basis, an upper projection tangent value and a lower projection tangent value of an X-axis corresponding to each point of the Y-axis in the radial data 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, in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system, based on a radial angle corresponding to the radial data, calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to a pixel point in the radial data in an incremental manner along the Y axis from an origin;
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, the projection upper limit tangent and the projection lower limit tangent of the X axis corresponding to the pixel point in the radial data are calculated from the origin along the Y axis in a descending manner based on the Y axis.
4. The method according to claim 1, wherein if the radial data is in the second area or the fourth area, calculating a distance bin position corresponding to each pixel point in the radial data based on a radial angle corresponding to the radial data based on an X-axis in the cartesian coordinate system, and filling the corresponding color for each pixel point, includes:
If the radial data are in the second area and the fourth area, calculating an upper projection limit clearance value and a lower projection limit clearance value of a Y axis corresponding to each point of an X axis based on a radial angle range corresponding to the radial data in the Cartesian coordinate system by taking the X axis as a reference;
based on the projection upper limit cotangent value and the projection lower limit cotangent value of the Y axis, obtaining an upper limit value and a lower limit value of the projection of the Y axis corresponding to each point of the X axis, and determining a distance library position corresponding to each pixel point in the radial data;
and filling corresponding colors for each pixel point based on the distance library position corresponding to each pixel point, wherein each distance library corresponds to one color.
5. The method of claim 4, wherein if the radial data is in the second region or the fourth region, calculating an upper projection limit and a lower projection limit for a Y axis corresponding to each point of the X axis based on a radial angle range corresponding to the radial data with respect to the X axis in the cartesian coordinate system, comprises:
if the radial data are in the second area, in the Cartesian coordinate system, based on the radial angle corresponding to the radial data, calculating an upper projection limit clearance value and a lower projection limit clearance 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;
And if the radial data are in the fourth area, in the Cartesian coordinate system, based on the radial angle corresponding to the radial data, calculating the projection upper limit and the projection lower limit of the Y-axis corresponding to the pixel point in the radial data from an origin along the X-axis in a descending manner by taking the X-axis as a reference.
6. The method according to any one of claims 1-5, wherein the cartesian coordinate system establishment procedure comprises:
establishing an origin of a Cartesian coordinate system by using the radar center point, and establishing an X axis of the Cartesian coordinate system by using 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.
7. The method of any one of claims 2-5, further comprising, after filling each pixel with a corresponding color based on the location of the distance library corresponding to the pixel:
and filling corresponding colors for pixel points in all radial data except the radial data in the current elevation angle.
8. A radar radial data display rendering system, comprising:
the acquisition module is used for determining an area where currently acquired radial data are located in a radar polar coordinate system of a pre-divided area, wherein the area comprises a first area, a second area, a third area and a fourth area; the pre-partitioning the radar polar coordinate system comprises the following steps: taking a radar center point as a pole, and establishing a polar axis based on the pole and the initial scanning position of the radar to obtain a radar polar coordinate system; in the radar polar coordinate system, a first angle, a second angle, a third angle and a fourth angle are determined along the radar scanning direction, the radar polar coordinate system is divided into a first area, a second area, a third area and a fourth area along the first angle to the second angle direction, the first area ranges from 0 degrees to a degrees, d degrees to 360 degrees, the second area ranges from a degrees to b degrees, the third area ranges from b degrees to c degrees, and the fourth area ranges from c degrees to d degrees, 360> d > c > b > a >0;
A first calculation module configured to, if the radial data is in the first region or the third region, set up in advance in a cartesian coordinate system based on the radar polar coordinate system, based on a radial angle and a radial angle corresponding to the radial data with reference to a Y-axisCalculating the position of a distance library corresponding to each pixel point in the radial data, and filling corresponding colors for each pixel point, wherein dx is the coordinate of an X axis, dy is the coordinate of a Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image, and the unit is pixel/m;
a second calculation module, configured to, if the radial data is in the second region or the fourth region, base on an X-axis in the cartesian coordinate system, on a radial angle and a radial angle corresponding to the radial dataCalculating the position of a distance library corresponding to each pixel point in the radial data, and filling corresponding colors for each pixel point, wherein dx is the coordinate of an X axis, dy is the coordinate of a Y axis, and N represents the distance library; BIN represents the range BIN resolution in m; OS represents the initial scan distance in m; r represents the mapping ratio of space to image in pixel/m.
9. The system of claim 8, wherein the first computing module comprises:
the first calculating unit is used for calculating an upper projection tangent value and a lower projection tangent value of an X axis corresponding to each Y axis based on a radial angle corresponding to the radial data in a Cartesian rectangular coordinate system which is established in advance based on the radar polar coordinate system if the radial data are in the first area and the third area by taking the Y axis as a reference;
the first determining unit is used for 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 upper limit tangent value and the lower limit tangent value of the X-axis projection, and determining the position of the distance library corresponding to each pixel point in the radial data;
and the first filling unit is used for filling the corresponding colors for each pixel point based on the positions of the distance libraries corresponding to each pixel point, wherein each distance library corresponds to one color.
10. The system of claim 8, wherein the second computing module comprises:
the second calculating unit is used for calculating an upper projection limit clearance value and a lower projection limit clearance value of a Y axis corresponding to each point of an X axis based on a radial angle range corresponding to the radial data in the Cartesian rectangular coordinate system by taking the X axis as a reference if the radial data are in the second area and the fourth area;
The second determining unit is used for obtaining the upper limit value and the lower limit value of the projection of the Y axis 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 distance library position corresponding to each pixel point in the radial data;
and the second filling unit is used for filling the corresponding colors for each pixel point based on the distance library position corresponding to each pixel point, wherein each distance library corresponds to one color.
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| CN108562903A (en) * | 2017-12-25 | 2018-09-21 | 天津大学 | Strong convection system dynamic field structure recognition methods based on Doppler radar |
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