CN111831770A - High-speed measurement and control target view control method and device - Google Patents
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Abstract
The invention belongs to the technical field of high-speed measurement and control target view control, and particularly relates to a high-speed measurement and control target view control method and device. Firstly, acquiring target data in real time, wherein the target data comprises a target position and a target motion track, loading map data of a map activity view range corresponding to the position according to the target position, and storing the map data in a first virtual video memory; then judging whether all the targets are in the determined target view range according to the target positions, if at least one target is out of the target view range and the motion trend of the target is a trend moving towards the outside of the target view range, calculating map data corresponding to the position of the target when the first map switching condition is reached according to the motion trend, and storing the map data in a second virtual video memory; and finally, when the first map switching condition is met, loading the map data in the second virtual video memory for displaying. The invention uses space to replace time, and meets the real-time requirement of high-speed measurement and control target view control.
Description
Technical Field
The invention belongs to the technical field of high-speed measurement and control target view control, and particularly relates to a high-speed measurement and control target view control method and device.
Background
In a conventional weapon equipment target range test, flying targets such as unmanned planes, helicopters and missiles, which are tracked, measured and controlled by a ground measurement and control network, are called high-speed measurement and control targets. The system is different from a conventional moving target, the moving speed of the high-speed measurement and control target is high, the real-time data frame rate of the weapon target obtained by measurement of a ground measurement and control network is high, and the frame rate of a single test target can be as high as 20 frames/s. The high-speed measurement and control target view control means that: in the target range control display system, the target is controlled in a map active view in real time, so that the test target can obtain the best display effect in a scene.
The self-adaptive control of the high-speed measurement and control target view is the core function of a target range test command display system, and the research on the target view control algorithm at home and abroad at present can be summarized as follows: (1) most of the applications are based on different spatial index technologies (a quadtree, a BSP tree, a KDB tree, a CELL tree and the like), a single-target view control algorithm is realized, but multi-target global view control is less involved. (2) A small number of applications realize single-target and multi-target view adaptive control, but a method combining a single-level map cache and a dynamic target display technology is adopted in the realization process, the method has good effect in Beidou and GPS dynamic monitoring navigation applications, but the method is difficult to support high-speed real-time measurement and control target view control application.
The real-time control of the high-speed measurement and control target view comprises two modes: the method comprises the following steps that firstly, a focus target tracking mode is adopted, namely when a test target approaches the boundary of the geographic range of the current map active view, map data are preloaded according to the movement trend of the target, and when the movement target reaches the boundary of the active view, the target is switched to the view central position; and secondly, in the multi-target global view mode, when a plurality of tested or reference targets exist at the same time, all targets are ensured to be in the current map view and cannot be overcrowded, and the map display scale needs to be adjusted in a self-adaptive manner, so that the multi-target display control achieves the optimal effect. It should be noted that, when in the focus target tracking mode, there may be only one target in the entire displayed view, or there may be multiple targets, and the target concerned is only one of the multiple targets.
From the specific requirements of target range test command display, focus target tracking and multi-target global view are two different concepts, and the operation modes are different, but in the algorithm implementation process, the focus target tracking and multi-target global view algorithm can be subjected to fusion processing, namely, uniform map view adaptive algorithm is adopted for consistent processing. The reason for this is as follows: (1) essentially, focus target tracking is a special form of multi-target global view. When the number n of targets in the multi-target global view mode is 1, the multi-target global view is degenerated to be a focus target tracking situation. (2) Whether the focus target tracking or the multi-target global view is adopted, the core of the method is a rapid scheduling algorithm for map data, namely, the dynamic switching of the view is carried out through rapid basic map data scheduling and refreshing display.
The main idea of the general high-speed measurement and control target view adaptive control algorithm is as follows: firstly, analyzing real-time target information from a target range test measurement and control network, judging whether a current data frame is legal or not, then judging a target motion trend through a target track, determining whether a target activity view needs to be adjusted or not, finally preloading map data, and switching a current view window and refreshing a map when a target reaches a view threshold parameter. Ae (esri ArcGIS engine) is used as a test development platform, statistical analysis is performed on the algorithm, and the analysis results are shown in tables 1 and 2.
TABLE 1 Focus target tracking operation statistical table
TABLE 2 Multi-objective Global View run statistics
According to the statistical data of table 1 and table 2, two phenomena can be found: (1) under the condition of focus target tracking, the size of an initial map activity view scale is an important factor influencing the performance of the algorithm, when the initial map activity scale is larger than 1:50000, the consumption of memory and CPU resources is rapidly increased and gradually accumulated until a map can not be refreshed, and meanwhile, the interface has no response. When the initial map activity scale is less than 1:250000, the map refresh is not affected during the algorithm run. This is because the decrease of the scale enlarges the geographic range of the current map active view, and further greatly reduces the frequency of map refreshing, but the result of this is that the terrain and features of the detail cannot be observed when the target is displayed. (2) Under the condition of multi-target global view, if the number n of the test targets is larger than or equal to 3, the view self-adaptive control algorithm collapses after running for 3-4 min, and the time for the algorithm to be normally executed is shorter and shorter along with the increase of the test targets.
The root cause of these two phenomena is the map scheduling and refreshing mechanism, and the map refreshing mechanism of AE is as follows: the method comprises the steps of firstly obtaining the geographical range of a screen area, quickly obtaining geographical entity elements in the current screen range from a map database by utilizing a spatial index, converting the coordinates of the geographical entity elements into screen coordinates, then clipping geographical entity data by using a current screen window, removing geographical entities which do not need to be drawn, and directly drawing the clipped ground objects to the current screen. The map scheduling and refreshing mechanism is feasible under the condition that the real-time requirement is not very high, but for high-speed measurement and control target view self-adaptive control, the target data frame rate is high, the movement speed is high, and the view switching is very frequent, so that the scheduling and refreshing of map data become the bottleneck of an algorithm. The method cannot be suitable for the real-time requirement of view control of a high-speed measurement and control target.
Disclosure of Invention
The invention provides a method and a device for controlling a high-speed measurement and control target view, which are used for solving the problem that the target view control method in the prior art cannot meet the real-time requirement of a high-speed measurement and control target.
In order to solve the technical problem, the technical scheme of the invention comprises the following steps:
the invention provides a control method for a high-speed measurement and control target view, which comprises the following steps:
1) acquiring target data in real time, wherein the target data comprise a target position, loading map data of a map activity view range corresponding to the position according to the target position, and storing the map data in a first virtual video memory;
2) judging whether all concerned targets are in a determined target view range or not according to the target positions, if at least one concerned target is out of the target view range and the motion trend of the concerned target is a trend moving towards the outside of the target view range, calculating map data corresponding to the position of the concerned target when the concerned target reaches a first map switching condition according to the motion trend, and storing the map data in a second virtual video memory; wherein the target view range is within the map active view range; setting a distance for a distance map active view range according to a first map switching condition;
3) and when the first map switching condition is met, loading the map data in the second virtual video memory for displaying.
The beneficial effects of the above technical scheme are: the invention applies the double-cache technology to the control of the high-speed measurement and control target view, when a concerned target moves out of the target view range and the movement trend of the concerned target is the trend moving towards the outside of the target view range, the requirement of switching the map is shown, at the moment, the organization and the processing of the map data are firstly carried out and stored in the second virtual video memory, when the target moves to the position needing to switch the map, the waiting is not needed, the map data in the second virtual video memory is directly loaded, the space is exchanged for the time, and the real-time requirement of the control of the high-speed measurement and control target view is met.
Further, in order to improve the accuracy of target data processing to accurately display the position of the target on the map, the step 1) further includes a step of performing outlier rejection and/or data smoothing processing on the acquired target data.
Further, in order to accurately judge whether the target is in the current target view range, if the concerned target is one, in step 2), a spatial topology operator in the current map active view range is obtained, and the spatial topology operator is adopted to judge whether the target is in the current target view range.
Further, in order to accurately judge whether the target is in the current target view range, if the concerned target is at least three and is not on the same straight line, in step 2), the position of each target is determined, two adjacent targets are connected to construct a polygon, the circumscribed rectangle of the polygon is determined, the spatial topology operator of the circumscribed rectangle is obtained, and the spatial topology operator is adopted to judge the relation between the circumscribed rectangle and the current map active view range so as to determine whether the target is in the current target view range.
Further, in order to accurately determine the motion trend of the target, the target data further comprises a target motion track, a yaw angle of the target is determined by calculating a tangent of the target motion track, and the motion trend of the target is judged according to the yaw angle of the target.
Further, if the external rectangle is in the current target view range and the ratio of the area of the external rectangle to the current target view range is smaller than a set ratio threshold, calculating graph data corresponding to the position of the target when the target reaches the second map switching condition according to the movement trend, and storing the graph data in a second virtual video memory; and when the second map switching condition is met, loading the map data in the second virtual video memory for displaying. When the external rectangle is obviously smaller than the current target view range, the map is switched based on the double-cache technology, and the real-time requirement is met.
The invention also provides a high-speed measurement and control target view control device which comprises a memory and a processor, wherein the processor is used for executing the instructions stored in the memory to realize the high-speed measurement and control target view control method introduced above and achieve the same effect as the method.
Drawings
FIG. 1 is a diagram of a prior art double cache model architecture;
FIG. 2 is a schematic diagram of cache switching and scheduling according to the present invention;
FIG. 3 is a flow chart of a high-speed measurement and control target view control method of the invention;
fig. 4 is a structural diagram of a high-speed measurement and control target view control device of the present invention.
Detailed Description
The invention aims at the self-adaptive control problem of the target view in the target range test, improves the conventional target view control method based on the double-cache technology, and meets the real-time requirement of high-speed measurement and control of the target by exchanging space for time. The following first introduces double caching.
The essence of the display caching technology is to transfer the rendering of a large amount of data from the CPU end to the display card, so as to fully utilize the performance of the display card, reduce the processing load of the CPU, and enable the operation of a large amount of dynamic data and high-frequency refreshing to be completed instantly. The present invention divides the display cache into a map display cache M and a first virtual display cache D1And a second virtual video memory D2. The map display buffer M is not an actual storage area but an osd pointer, which functions to switch between buffers. D1、D2Is two display buffer spaces with the same display range as the active view screen, as shown in fig. 1.
Based on the double-cache technology, the high-speed measurement and control target view control method and the high-speed measurement and control target view control device can be realized. The following detailed description is made with reference to the accompanying drawings and examples.
The method comprises the following steps:
the invention discloses a control method for a high-speed measurement and control target view, which mainly comprises the following steps: taking focus target tracking as an example, assume that map memory M points to first virtual memory D1When the test target moves to the TargetExtent boundary, calculating the motion trend of the test target relative to the target view boundary by traversing the track data in the Graphics container of the test target, and if the target still moves to the boundary of the map active view range, reorganizing the map data through the ScreenDispaly interface, and putting the reorganized map data into the second virtual video memory D2(ii) a At the same time, in the first virtual video memory D1In the above, the movement of the test object is still in progress, and when the test object moves to the map active view range geoextend 0, the second virtual video memory D2When the new map data is prepared, the map memory M points to the second virtual memory D2A fast switching of the map view can be achieved (see fig. 2). For the multi-target global view, the process is similar, but when the target motion trend is judged, two boundaries, namely a target boundary targetextend and a target view minimum boundary targetextend' need to be considered. Wherein, targetextend and targetextend' are an inner boundary whose range is smaller than the virtual screen.
The following describes a control method for a high-speed measurement and control target view according to the present invention in detail with reference to fig. 3.
The method comprises the steps of firstly, acquiring a target real-time data frame from a target field test measurement and control communication network by using a UDP multicast protocol, analyzing a target current data frame, and acquiring information such as a target number, longitude and latitude coordinates, a target field coordinate, an attitude angle, data time and the like of a test target. And judging whether the real-time data frame is legal or not, and performing outlier rejection and data smoothing. The outlier point elimination is to set different oscillation thresholds for different data segments to remove random measurement errors and influence of outlier points on an algorithm; the smoothing is to smooth the real-time data frame by using an orthogonal function system least square fitting method, and the purpose of outlier rejection and data smoothing is to improve the robustness of the algorithm.
Step two, calculating a target view boundary TargetExtent, which comprises the following specific steps:
1. GeoExtent for acquiring map active view range0To obtain four corner points { G1,G2,G3,G4}＝{(b1,l1)，(b2,l2)，(b3,l3)，(b4,l4) And four corners of the screen are coordinates in a geographic coordinate system, and the four corners need to be converted into pixel coordinates in a screen coordinate system, and the pixel coordinates are set as { S }1,S2,S3,S4}＝{(x1,y1)，(x2,y2)，(x3,y3)，(x4,y4) Let the width and height of the pixels of the target view boundary TargetExtent on the screen be ws，hsAnd then:
wherein d iswAnd dhRefers to the width and height of the target map symbol (e.g., if the target is an airplane and the entire screen is displayed as an airplane, then the target map symbol is displayed as an airplane). GeoExtent, since the target symbol occupies a screen area of a certain size0Is greater than the targetextend range. In the multiple target case, dwAnd dhAnd taking the maximum value of the widths and heights of all the test target map symbols.
2. Using ws、hsAnd solving corner point coordinates { S ] of TargetExtent in a screen coordinate system from the central point of the map active view range1',S2',S3',S4'}＝{(x1',y1')，(x2',y2')，(x3',y3')，(x4',y4')}。
3. Will { S }1',S2',S3',S4'}＝{(x1',y1')，(x2',y2')，(x3',y3')，(x4',y4') into a geographic coordinate system, four corner points { T ] can be obtained1,T2,T3,T4Geographic coordinates of the electronic device, so that a range of targetextend can be calculated.
Step three, acquiring a map display cache control interface and a screen cache control interface of the ActiveMapView through interface query to initialize a first virtual video memory D1And a second virtual video memory D2Is D of1、D2Distributing storage space, pixelating all geographic entity elements of the current active map window through a map display cache control interface, and storing the pixelated geographic entity elements into D1。
And step four, judging whether the current mode is a focus target tracking mode or a multi-target global view mode. If the mode is the focus target tracking mode, processing is carried out by turning to the fifth step; if the mode is the multi-target global view mode, processing in the step eight; and if the adaptive control of the map is not started, the step one is carried out for processing.
And step five, comparing the target number in the current target data frame with the focus target number, if the current target is the focus target, traversing a test target graphic cache container (Graphics container), and acquiring and updating the position data and the track data of the target motion. Since there may be a plurality of targets in the entire screen, only one of the targets is focused in the focus target tracking mode, and the purpose of this step is to confirm that the target focused in the focus target tracking mode, which is finally presented on the screen, is indeed the target actually desired to be focused on.
And step six, acquiring a spatial topology operator (ITopyOperator interface object) of the current active view range through interface query, and judging whether the test target is in the geographical range area of the target view by using the spatial topology operator. If the target is in the TargetExtent, turning to step one; otherwise, calculating a tangent (yaw angle) of the track of the focus target so as to judge the motion trend of the test target, and if the test target continues to move beyond targetextend, turning to the seventh step.
Step seven, utilizing GeoExtent0The width, the height and the current target position of the map view are reconstructed, and step ten is carried out.
Step eight, setting the number of the weapon equipment test targets as n, traversing the test target graph cache container, and acquiring the current position information sequences { P } of all targets0,P1,P2，...，PnAnd constructing a Polygon by using the point set, and calculating an external rectangle Env' of the Polygon. Obtaining the motion trail curves of n test targets, and simultaneously calculating the yaw angle sequence of all the test targets
Step nine, acquiring a spatial topology operator of Env ', judging the relation between Env' and a target view boundary TargetExtent, circularly traversing n test targets, and judging whether virtual video memory D needs to be performed or not1And D2The specific method is as follows:
if it is
Judging the area ratio of Env' to TargetExtent, summarizing a proportion threshold value of 1/15 from multiple tests, namely when the proportion of the size of the circumscribed rectangle occupying the boundary of the target view is less than 1/15, turning to the eleventh step, and starting data preloading;
if it is
Indicating that at least one object has flown outside the current view threshold boundary and continuing to depend on the yaw angle
And judging the target motion trend, further determining whether the map data organization and the display cache switching are needed, and if the map data organization and the display cache switching are needed, turning to the step ten.
And step ten, starting a background thread, starting to organize new map data by using a map data scheduling method of an IScrenDisplay interface, and copying the new map data to D2. When the target moves to the boundary of the target view range (or is closer to the boundary of the target view range), the display cache object pointed by the mapping cache M is transformed from D1Direction D2And automatically adjusting the map scale, and finishing.
And step eleven, starting a background thread, starting to organize new map data by using a map data scheduling method of an IScrenDisplay interface, and copying the new map data to D2. After the new map data is organized and copied, the display cache object pointed by the map cache M is changed from D1Direction D2And automatically adjusting the map scale, and finishing. The size of the area finally displayed in this case may be twice the area of the circumscribed rectangle Env'.
The high-speed measurement and control target view control method is respectively applied to a focus target tracking mode and a multi-target global view mode, the AE is taken as a test development platform, the method operates under the operating system environment of an Intel Core i7CPU, a main frequency of 2.70GHz, a memory of 16GB and a Win7, and the implementation results are shown in tables 3 and 4.
TABLE 3 optimized Focus target tracking running statistics
TABLE 4 optimized Multi-objective Global View run statistics
From the data in tables 3, 4, the following conclusions can be drawn:
1) under the condition of focus target tracking, through double-cache algorithm optimization, the initial map active view scale has no obvious correlation with the algorithm performance, and the accumulated consumption phenomenon of resources is eliminated.
2) Under the condition of multi-target global view, the number n of the participating targets has no obvious correlation with the performance of the algorithm, and the algorithm cannot become unstable along with the increase of the targets (under the same hardware condition, the maximum number n of the participating targets can be borne by the system is more than or equal to 8).
3) Through the optimization of the double-cache technology, the initial consumption of resources is increased to a certain extent by the target view self-adaptive control algorithm, which is the result of replacing the map refreshing time by the memory resources, and the cost is completely acceptable.
4) After optimization, the robustness of the target view adaptive control algorithm is greatly enhanced, under the condition of 8 targets, the algorithm continuously runs for 240min, 2304000 track points are displayed, the PF utilization rate is increased from 282M to 301M, the speed increase is gentle, and the CPU utilization rate in the whole process is up and down floated by 20 percent.
The embodiment of the device is as follows:
the embodiment provides a high-speed measurement and control target view control device, which comprises a memory, a processor and an internal bus as shown in fig. 4, wherein the processor and the memory are communicated with each other through the internal bus.
The processor can be a microprocessor MCU, a programmable logic device FPGA and other processing devices.
The memory can be various memories for storing information by using an electric energy mode, such as RAM, ROM and the like; various memories for storing information by magnetic energy, such as a hard disk, a floppy disk, a magnetic tape, a core memory, a bubble memory, a usb disk, etc.; various types of memory that store information optically, such as CDs, DVDs, etc., are used. Of course, there are other types of memory, such as quantum memory, graphene memory, and the like.
The processor can call the logic instructions in the memory to realize a high-speed measurement and control target view control method. The method is described in detail in the method examples.
Claims (7)
1. A control method for a high-speed measurement and control target view is characterized by comprising the following steps:
1) acquiring target data in real time, wherein the target data comprise a target position, loading map data of a map activity view range corresponding to the position according to the target position, and storing the map data in a first virtual video memory;
2) judging whether all concerned targets are in a determined target view range or not according to the target positions, if at least one concerned target is out of the target view range and the motion trend of the concerned target is a trend moving towards the outside of the target view range, calculating map data corresponding to the position of the concerned target when the concerned target reaches a first map switching condition according to the motion trend, and storing the map data in a second virtual video memory; wherein the target view range is within the map active view range; setting a distance for a distance map active view range according to a first map switching condition;
3) and when the first map switching condition is met, loading the map data in the second virtual video memory for displaying.
2. The method for controlling the high-speed measurement and control target view according to claim 1, wherein the step 1) further comprises a step of performing outlier elimination and/or data smoothing on the acquired target data.
3. The view control method for the high-speed measurement and control target according to claim 1, wherein if there is one target, in step 2), a spatial topology operator in the current map active view range is obtained, and the spatial topology operator is adopted to determine whether the target is in the current target view range.
4. The view control method for the high-speed measurement and control target according to claim 1, wherein if the number of the concerned targets is at least three and none of the concerned targets is on a straight line, in step 2), the position of each target is determined, two adjacent targets are connected to construct a polygon, the circumscribed rectangle of the polygon is determined, the spatial topology operator of the circumscribed rectangle is obtained, and the spatial topology operator is adopted to judge the relationship between the circumscribed rectangle and the current map active view range so as to determine whether the target is in the current target view range.
5. The method for controlling the view of the high-speed measurement and control target according to any one of claims 1 to 4, wherein the target data further comprises a target motion track, a yaw angle of the target is determined by calculating a tangent of the target motion track, and a motion trend of the target is determined according to the yaw angle of the target.
6. The method for controlling the view of the high-speed measurement and control target according to claim 4, wherein if the circumscribed rectangle is within the range of the current target view and the ratio of the area of the circumscribed rectangle to the range of the current target view is smaller than a set ratio threshold, map data corresponding to the position of the target when the target reaches the second map switching condition is calculated according to the movement trend and stored in the second virtual video memory; and when the second map switching condition is met, loading the map data in the second virtual video memory for displaying.
7. A high-speed measurement and control target view control device is characterized by comprising a memory and a processor, wherein the processor is used for executing instructions stored in the memory to realize the high-speed measurement and control target view control method according to any one of claims 1 to 6.
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| WO2023065408A1 (en) * | 2021-10-22 | 2023-04-27 | 广东汇天航空航天科技有限公司 | Map data acquisition method and apparatus, and aircraft |
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