CN117135334A - Combined vision system based on airborne three-dimensional image engine and vision display method - Google Patents

Combined vision system based on airborne three-dimensional image engine and vision display method Download PDF

Info

Publication number
CN117135334A
CN117135334A CN202311035617.2A CN202311035617A CN117135334A CN 117135334 A CN117135334 A CN 117135334A CN 202311035617 A CN202311035617 A CN 202311035617A CN 117135334 A CN117135334 A CN 117135334A
Authority
CN
China
Prior art keywords
terrain
display
warning
module
obstacle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311035617.2A
Other languages
Chinese (zh)
Inventor
王峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Avic Shuangxing Technology Co ltd
Original Assignee
Beijing Avic Shuangxing Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Avic Shuangxing Technology Co ltd filed Critical Beijing Avic Shuangxing Technology Co ltd
Priority to CN202311035617.2A priority Critical patent/CN117135334A/en
Publication of CN117135334A publication Critical patent/CN117135334A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/185—Electrical failure alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
    • G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
    • G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/156—Mixing image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a combined view system and a view display method based on an airborne three-dimensional image engine, wherein the system comprises the following steps: the three-dimensional ground scene generation module generates a virtual scene based on an airborne three-dimensional image engine, and updates the display of the scene according to the carrier data and the control data; the enhanced synthetic vision fusion module fuses the scene data with the real-time sensor image data and displays the fused scene data; the three-dimensional terrain display module displays the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain and using corresponding colors; the barrier display module changes the color of the contour line of the barrier according to the prompt signal or the alarm signal; the logic resolving and judging module judges the fault and the data source precision state and feeds back the judging result to the airborne display equipment for display; the terrain prompt and warning module judges and generates corresponding prompt signals or warning signals according to the warning envelope. The application solves the problem of how to provide more accurate flight information for pilots.

Description

Combined vision system based on airborne three-dimensional image engine and vision display method
Technical Field
The application relates to the technical field of computers, in particular to a combined view system based on an airborne three-dimensional image engine and a view display method.
Background
In the field of aviation flight, manned aircraft are increasingly being developed. In the flight process of the aircraft, the environment condition needs to be monitored in real time, so that the flight safety is improved. Currently, data around or in front of the aircraft may be collected, including collaborative target image data, environmental data, terrain data, building data, and the like. However, different data are scattered at different positions of the aircraft for display, and the display positions are scattered, so that the flying observation is not facilitated.
In order for pilots to provide clear and easily understood image information and reliable flight information, a view enhancement system (Enhanced Vision System, EVS), a synthetic view system (Synthetic Vision System, SVS) are presented. Among them, enhanced Vision Systems (EVS) are an on-board electronic system that utilizes image sensor technologies such as forward-looking infrared, millimeter wave radar, etc., to provide pilots with real-time images of airport runways, surrounding terrain, and obstacle features, thereby significantly improving pilot situational awareness and flight quality. The Synthetic Vision System (SVS) is based on the position and the posture of an airplane and based on a stored data base of terrains, runways and obstacles, and generates a virtual external environment vision through calculation processing, so that the scene awareness of a pilot at night and under the condition of low visibility can be enhanced. However, EVS is affected by weather, SVS is affected by database accuracy, and therefore, no more accurate flight information can be provided to pilots.
Disclosure of Invention
The application mainly aims to provide a combined view system and a view display method based on an airborne three-dimensional image engine, which solve the problems that EVS is affected by weather, SVS is affected by database precision, and more accurate flight information cannot be provided for pilots.
To achieve the above object, according to a first aspect of the present application, there is provided a combined view system based on an on-board three-dimensional image engine.
The combined vision system based on the airborne three-dimensional image engine comprises: the system comprises a three-dimensional ground scene generation module, an enhanced synthetic view fusion module, a three-dimensional terrain display module, an obstacle display module, a logic resolving and judging module and a terrain prompt and warning module, wherein the three-dimensional ground scene generation module is used for generating a virtual scene based on an airborne three-dimensional image engine and updating the display of the scene according to carrier data and control data, the carrier data comprises the real-time viewpoint position of an aircraft, the control data comprises brightness data and display mode data, and the display mode comprises a terrain mode and a ground scene mode; the enhanced synthetic view fusion module is used for fusing the scene data based on the scene with the real-time sensor image data and then displaying the fused scene data; the three-dimensional terrain display module is used for displaying the terrain by using the ground scene material when the terrain switching notification is not received; after the terrain switching notification is received, displaying the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain by using corresponding colors, wherein the terrain with different colors corresponds to the altitude difference in different ranges; the obstacle display module is used for highlighting the contour lines of the obstacles in the preset view point range, and changing the colors of the contour lines of the obstacles after receiving the prompting signals or the warning signals of the obstacles sent by the terrain prompting and warning module, wherein the prompting signals and the warning signals correspond to the contour lines with different colors; the logic resolving and judging module is used for judging faults and data source precision states of the combined vision system and feeding back judging results to the airborne display equipment for display, wherein the faults comprise judging of working states and judging whether the combined vision system needs to be withdrawn or not; the terrain prompting and warning module is used for setting a corresponding warning envelope according to the flight phase and the flight state of the aircraft and generating a corresponding prompting signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, and the expression form of the prompting signal or the warning signal comprises an audible signal and a visual signal.
Optionally, the three-dimensional ground view generating module further includes: the first sending unit is used for sending a terrain switching notification to the three-dimensional terrain display module if the display mode is switched to the terrain mode; the second sending unit is used for sending the real-time viewpoint position and the flight data of the aircraft to the terrain prompting and warning module; and the calculation unit is used for calculating the ground clearance of the aircraft according to the real-time viewpoint position and returning the ground clearance to the airborne display equipment for display.
Optionally, the enhanced synthetic view fusion module includes: the registration unit is used for registering the scene data and the real-time sensor image data based on a feature sub-matching method of the region of interest; and the fusion unit is used for fusing pixels at the same position of the scene data and the real-time sensor image data based on a color space fusion method.
Optionally, the obstacle display module includes: a first display unit for highlighting an obstacle having a height greater than a preset height with a yellow outline within a preset viewpoint range; the second display unit is used for highlighting the obstacle with the height larger than the preset height by using an amber outline after receiving the prompting signal of the obstacle sent by the terrain prompting and warning module; and the third display unit is used for highlighting the obstacle with the height larger than the preset height by using a red contour line after receiving the warning signal of the obstacle sent by the terrain prompt and warning module.
Optionally, the logic resolving and judging module includes: the fault judging unit is used for judging whether the working state of the combined view system and the combined view system need to be withdrawn or not according to the breaker state, the data connection state, the board card state and the data source state of the combined view system; the data source precision state judging unit is used for judging the data source selection, the system display state, the precision star level of the data source precision displayed on the display page and the effectiveness of the peripheral key control of the display page in the first height range and the second height range according to the inertial navigation data precision, the air pressure precision and the radio precision.
Optionally, the terrain prompting and warning module includes: the descent rate judging unit is used for judging whether the descent rate of the aircraft is greater than the preset descent rate threshold value or not; the first warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists or not according to the aviation warning envelope of the first duration when the judgment result of the descent rate judgment unit is NO, and generating a warning signal if the terrain or the obstacle exists; and the second warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists according to the second time duration when the judgment result of the descent rate judgment unit is NO and the terrain or the obstacle with the height being greater than or equal to that of the aircraft does not exist in the first time duration of the time duration warning envelope, and generating a prompt signal if the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists.
Optionally, the terrain prompting and warning module further includes: and the lowest warning height judging unit is used for determining the lowest warning height of the aircraft when the judgment result of the descent rate judging unit is yes, judging whether the height difference between the aircraft and the terrain or the obstacle in the detection range is larger than the lowest warning height, and generating a warning signal if the height difference is not larger than the lowest warning height.
To achieve the above object, according to a second aspect of the present application, there is provided a view display method based on an on-board three-dimensional image engine, the method being applied to the combined view system of any one of the first aspects, the method comprising: when the combined view system is initialized, a three-dimensional ground view generation module generates a virtual scene through the airborne three-dimensional image engine, a three-dimensional terrain display module uses ground view materials to perform terrain display, and an obstacle display module highlights an obstacle contour line in a preset view point range; after initialization, the display of the scene is adjusted according to the real-time viewpoint position, brightness data and display mode data of the aircraft, wherein the display modes comprise a terrain mode and a ground scene mode; fusing scene data based on the scene with real-time sensor image data through an enhanced synthetic view fusion module and then displaying the fused scene data; after the display mode is switched to the terrain mode, the three-dimensional terrain display module displays the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain by using corresponding colors, and the terrain with different colors corresponds to the altitude difference in different ranges; the terrain prompting and warning module sets a corresponding warning envelope according to the flight phase and the flight state of the aircraft, and generates a corresponding prompting signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, wherein the expression form of the prompting signal or the warning signal comprises an audible signal and a visual signal; and after receiving the prompting signal or the warning signal of the obstacle sent by the terrain prompting and warning module, the obstacle display module changes the color of the contour line of the obstacle, wherein the prompting signal corresponds to the contour line of different colors of the warning signal.
Optionally, the method further comprises: and carrying out fault judgment and data source precision state judgment on the combined vision system through a logic resolving and judging module, and feeding back a judgment result to an airborne display device for display, wherein the fault judgment comprises judgment of a working state and judgment of whether the combined vision system needs to be withdrawn or not.
Optionally, the method further comprises: the three-dimensional ground view generation module sends a terrain switching notification to the three-dimensional terrain display module after the display mode is switched to the terrain mode; and the three-dimensional ground view generating module sends the real-time viewpoint position and the flight data of the aircraft to the terrain prompting and warning module, calculates the ground clearance of the aircraft according to the real-time viewpoint position, and returns the ground clearance to the airborne display equipment for display.
Optionally, the fusing and displaying the scene data based on the scene with the real-time sensor image data includes: registering the scene data and the real-time sensor image data based on a feature sub-matching method of the region of interest; and fusing pixels at the same position of the scene data and the real-time sensor image data based on a color space fusion method.
Optionally, after receiving the prompting signal or the warning signal of the obstacle sent by the terrain prompting and warning module, changing the color of the contour line of the obstacle includes: after receiving the prompting signal of the obstacle sent by the terrain prompting and warning module, highlighting the obstacle with the height larger than the preset height by using an amber contour line; and after receiving the warning signal of the obstacle sent by the terrain prompt and warning module, highlighting the obstacle with the height larger than the preset height by using a red contour line.
Optionally, the performing fault judgment and data source precision state judgment on the combined view system includes: judging the working state of the combined view system and whether the combined view system needs to be withdrawn or not according to the breaker state, the data connection state, the board card state and the data source state of the combined view system; and respectively judging the data source selection, the system display state, the precision star level of the data source precision displayed on the display page and the effectiveness of the peripheral key control of the display page in the first height range and the second height range according to the inertial navigation data precision, the air pressure precision and the radio precision.
Optionally, the setting a corresponding warning envelope according to the flight phase and the flight state of the aircraft, and generating the corresponding prompting signal or the warning signal after the terrain or the obstacle enters the range of the warning envelope includes: judging whether the descent rate of the aircraft is larger than the preset descent rate threshold value or not; judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists or not according to the time-of-flight warning envelope of the first duration when the judgment result of the descent rate judgment unit is negative, and generating a warning signal if the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists; and when the judgment result of the descent rate judgment unit is no and the terrain or the obstacle with the height greater than or equal to the aircraft does not exist in the time-lapse alert envelope with the first duration, judging whether the terrain or the obstacle with the height greater than or equal to the aircraft exists according to the time-lapse alert envelope with the second duration, and if so, generating a prompt signal.
Optionally, the method further comprises: and when the judgment result of the descent rate judgment unit is yes, determining the lowest warning height of the aircraft, judging whether the height difference between the aircraft and the terrain or the obstacle in the detection range is larger than the lowest warning height, and if not, generating a warning signal.
In order to achieve the above object, according to a third aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing the computer to execute the on-board three-dimensional image engine-based view display method according to any one of the second aspects.
In order to achieve the above object, according to a fourth aspect of the present application, there is provided an electronic apparatus comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the on-board three-dimensional image engine-based view display method of any one of the second aspects above.
In the combined view system and the view display method based on the airborne three-dimensional image engine, the three-dimensional ground view generation module generates a virtual scene according to the airborne three-dimensional image engine, the scene data based on the scene is fused with the real-time sensor image data through the enhanced synthetic view fusion module, the quality of the image information is improved by the fusion of the scene data and the real-time sensor image data, the precision of the scene data can be improved by the real-time sensor image data, and the stored scene data can provide flight information for pilots even under the condition of poor weather conditions. In addition, a corresponding warning envelope can be set according to the flight stage and the flight state of the aircraft in the flight process of the aircraft, and a corresponding prompting signal or an alarming signal is generated after the terrain or the obstacle enters the range of the warning envelope; and after the barrier display module changes the color of the contour line of the barrier according to the prompt signal or the alarm signal, obvious and accurate barrier alarm information is provided for the pilot in time. In addition, the three-dimensional terrain display module in the embodiment of the application can display the terrain by using the pure terrain materials according to the altitude difference between the aircraft and the terrain by using the corresponding colors; the logic resolving and judging module also judges the fault judgment and the data source precision state of the combined vision system, and feeds back and displays the judgment result, so that real-time accurate flight information can be further provided for the flight of the pilot. In summary, the combined view system and the view display method in the embodiment of the application can provide more accurate flight information for pilots.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application. In the drawings:
FIG. 1 is a block diagram of a combined view system based on an on-board three-dimensional image engine, provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of interactions between modules of a combined view system based on an on-board three-dimensional image engine, according to an embodiment of the present application;
fig. 3 is a flowchart of another view display method based on an on-board three-dimensional image engine according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, system, article, or apparatus.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
According to an embodiment of the present application, there is provided a combined view system 100 based on an onboard three-dimensional image engine, as shown in fig. 1, the system includes a three-dimensional ground view generating module 11, an enhanced synthetic view fusing module 12, a three-dimensional terrain display module 13, an obstacle display module 14, a logic resolving and judging module 15, and a terrain prompting and warning module 16.
It should be noted that the combined view system of the embodiment of the present application is based on a three-dimensional graphics engine, and generates a large-scale terrain in a prescribed area under a limited transmission bandwidth of a central processing unit (Central Processing Unit, CPU) and a graphics processing unit (Graphics Processing Unit, GPU). The airborne three-dimensional image engine in the embodiment of the application is a three-dimensional image engine which is constructed based on an OpenGL ES core programmable pipeline and is suitable for embedded equipment. The image engine comprises rich functional modules, and particularly comprises a basic function module, a mathematical function module, a file system, a network library module, an engine control module, an external device control module, a graphic user interface module, a rendering module, a scene node control module and a physical effect simulation module, wherein a corresponding calling interface is provided for each functional module, so that an upper application program (such as a combined vision system in the embodiment of the application) can be conveniently called, and good bottom technical support is provided for development of the upper application program.
The three-dimensional ground scene generating module 11 is configured to generate a virtual scene based on an airborne three-dimensional image engine, and update display of the scene according to carrier data and control data, where the carrier data includes a real-time viewpoint position of an aircraft, the control data includes brightness data and display mode data, and the display mode includes a terrain mode and a ground scene mode.
Specifically, the three-dimensional scene generation module 11 generates a virtual scene based on the onboard three-dimensional image engine includes: the positions of the camera and the auxiliary marker are initialized by calling an airborne three-dimensional image engine to load scene data in a visual field range, initializing various object models of terrains and ground, setting meteorological environments such as scene atmospheric illumination and the like. More specifically, the three-dimensional ground scene generating module 11 invokes an engine to load a scene file and construct a corresponding scene tree, and the engine automatically matches data such as a corresponding model (terrain, objects) and a texture map according to the scene tree, and drives the scene by using a matched scene script after the data is loaded into the scene tree. Additionally, tag modeling and update rendering of the airport is performed in the script. After the loaded scene operates normally, the three-dimensional ground scene generating module 11 continuously updates the display of the scene according to the carrier data and the control data. For example, the brightness is changed according to the brightness data, the display of the scene is adjusted according to the display mode data, and the scene in the visual field is changed according to the change of the viewpoint position.
In addition, when the display mode is switched to the terrain mode, the three-dimensional ground view generating module 11 also needs to send a terrain switching notification to the three-dimensional terrain display module 13 through the first sending unit, so that pure terrain materials are displayed. The three-dimensional ground view generating module 11 is further configured to send, through a second sending unit, the real-time viewpoint position and the flight data of the aircraft to the terrain prompting and warning module, so that the obstacle is detected according to the real-time viewpoint position and the flight data of the aircraft. The three-dimensional ground view generating module 11 is further used for calculating the ground clearance of the aircraft according to the real-time viewpoint position through the calculating unit, and returning the ground clearance to the on-board display device for display. Wherein the on-board display device is an on-board MFD display device.
In addition, the three-dimensional ground view generating module 11 performs special display on the runway of the airport, specifically: within 5km from the runway, the runway contour line, the runway length contour line extension line, the airport landing guide lights and the airport end head lamp are highlighted.
And the enhanced synthetic vision fusion module 12 is used for fusing the scene data based on the scene with the real-time sensor image data and then displaying the fused scene data. Specifically, the enhanced synthetic view fusion module comprises a registration unit, a detection unit and a processing unit, wherein the registration unit is used for registering the scene data and the real-time sensor image data based on a feature sub-matching method of the region of interest; and the fusion unit is used for fusing pixels at the same position of the scene data and the real-time sensor image data based on a color space fusion method.
Wherein the realization of registration comprises the following two steps: firstly, the physical internal parameters of a real camera (a device corresponding to a real-time sensor image) are tested, the same camera projection matrix is constructed in a virtual world (a virtual scene), and secondly, a transformation matrix of the virtual camera is defined according to positioning and attitude angle information. The virtual scene snapshot generated by the virtual camera may be registered as a new sensor source using registration techniques. The specific registration technology is a feature sub-matching method based on the region of interest. In addition, for registration with different resolutions, a mode of downsampling high resolution is used for converting the high resolution into low resolution, and the registration is performed after all sensor source images are reduced to the same resolution. And obtaining registration parameters after registration.
The fusion is realized by adopting a shader fusion technology, when the shader is fused, image data is transmitted into a display card in the form of textures, the shader samples and interpolates each image according to a preset fusion scheme and registration parameters, and the pixels at the same position of two data sources are fused by using a color space fusion method.
A three-dimensional terrain display module 13 for displaying terrain using a ground scene material when the terrain switching notification is not received; and after the terrain switching notification is received, displaying the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain by using corresponding colors, wherein the terrain with different colors corresponds to the altitude difference in different ranges. The ground scene material is a common terrain material, and is a ground scene natural effect observed in a conventional mode. Table 1 below is a table of correspondence between different colors and different ranges of height differences. Where ΔH is the altitude difference between the aircraft and the terrain.
TABLE 1
The obstacle display module 14 is configured to highlight an outline of an obstacle within a preset viewpoint range, and change a color of the outline of the obstacle after receiving a prompting signal or an alarm signal of the obstacle sent by the terrain prompting and alarm module, where the prompting signal corresponds to the alarm signal with an outline of a different color.
The preset viewpoint range may be within 5 km. When no prompting signal or warning signal of the obstacle sent by the terrain prompting and warning module is received, the obstacle display module highlights the obstacle with the height larger than the preset height by using a yellow contour line in the preset viewpoint range through the first display unit. For example, the preset height may be 30 meters above the ground, and the obstacle may include an obstacle of a power line, a power tower, or the like. After receiving the prompting signal of the obstacle sent by the terrain prompting and warning module, highlighting the obstacle with the height larger than the preset height by using an amber outline through a second display unit; after receiving the warning signal of the obstacle sent by the terrain prompt and warning module, highlighting the obstacle with the height larger than the preset height by using a red contour line through a third display unit.
The logic resolving and judging module 15 is configured to perform fault judgment and data source precision state judgment on the combined view system, and feed back the judgment result to the on-board display device for display, where the fault judgment includes judgment of a working state and judgment of whether the combined view system needs to be exited.
Specifically, the logic resolving and judging module includes: and the fault judging unit is used for judging the working state of the combined view system and whether the combined view system needs to be withdrawn or not according to the breaker state, the data connection state, the board card state and the data source state of the combined view system. The working principle of the fault judging unit is as follows: when the circuit breaker is not on, it is shown as "unpowered"; when the circuit breaker is normally turned on and the data connection is abnormal (data of the combined view system is not received in 20 periods of the MFD), the fault is displayed as failure; when the circuit breaker is normally connected and the data connection is normal and the board card has a fault, displaying the fault as a 'board card fault', and automatically exiting the combined view display at the moment, namely the combined view system is required to be exited; when the circuit breaker is normally connected, the data connection is normal, the board card is normal, and the current data source fails, the display failure is that a certain data source has no data, and the combined view display is required to be automatically exited at the moment; when the circuit breaker is normally connected, the data connection is normal, the board card is normal, and the current data source is normal, the display working state is normal, and no fault exists.
And the data source precision state judging unit is used for judging the data source selection, the system display state, the precision star level of the data source precision displayed on the display page and the effectiveness of the peripheral key control of the display page (the airborne MFD display page) in the first height range and the second height range according to the inertial navigation data precision, the air pressure precision and the radio precision respectively.
Specifically, the working principle of the data source precision state judging unit is as follows: when the inertial navigation precision is abnormal or invalid, whether the combined vision system needs to exit or not needs to automatically exit, peripheral key characters in the airborne MFD display page become grey, and the data source precision (the data source precision of the display page) of the MFD page is zero. When the inertial navigation precision is normal, the height of the carrier (the height of the viewpoint position) is in a first height range (which can be less than 1500 m), if the radio precision and the air pressure precision are both normal, the display state of the system display state is normal (the combined view display is not exited), the characters of the peripheral keys are normal colors, and the data source precision of the MFD page is two stars; if the radio precision is normal, the air pressure precision is abnormal or invalid, the display state of the system is normal, the characters of the peripheral keys of the view are in normal colors, and the data source precision of the MFD page is two stars; if the radio precision is abnormal or invalid, the air pressure precision is normal, the display state of the system is normal, the characters of the peripheral keys are in normal colors, and the data source precision of the MFD page is one star; when the radio precision is abnormal or invalid, and the air pressure precision is abnormal or invalid, the combined view display needs to be automatically exited, the surrounding key characters become gray, and the data source precision of the MFD page is zero. When the inertial navigation precision is normal and the height of the carrier is in a second height range (more than 1500 m), if the radio precision and the air pressure precision are normal, the display state of the system is normal, the characters of the peripheral keys are normal colors, and the data source precision of the MFD page is one star; if the radio precision is normal, and the air pressure precision is abnormal or fails, the combined view display needs to be automatically exited, the surrounding key characters become grey, and the data source precision of the MFD page is zero; if the radio precision is abnormal or invalid, the air pressure precision is normal, the display state of the system is normal, the characters of the peripheral keys are in normal colors, and the data source precision of the MFD page is one star; if the radio precision is abnormal or invalid, and the air pressure precision is abnormal or invalid, the combined view display needs to be automatically exited, the peripheral key characters become gray, and the data source precision of the MFD page is zero.
The terrain prompting and warning module 16 is configured to set a corresponding warning envelope according to a flight phase and a flight state of the aircraft, and generate a corresponding prompting signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, where the expression form of the prompting signal or the warning signal includes an acoustic signal and a visual signal.
Specifically, the topography is prompted and warning module includes: the descent rate judging unit is used for judging whether the descent rate of the aircraft is greater than the preset descent rate threshold value or not; the first warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists or not according to the aviation warning envelope of the first duration when the judgment result of the descent rate judgment unit is NO, and generating a warning signal if the terrain or the obstacle exists; and the second warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists according to the second time duration when the judgment result of the descent rate judgment unit is NO and the terrain or the obstacle with the height being greater than or equal to that of the aircraft does not exist in the first time duration of the time duration warning envelope, and generating a prompt signal if the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists.
The working principle of the terrain prompting and warning module is described by taking a preset descent rate threshold value of 300fmp, a first-duration time-of-flight warning envelope of 10s and a first-duration time-of-flight warning envelope of 20s as examples: when the descent rate of the aircraft is less than or equal to 300fmp, judging whether a terrain or an obstacle with the height being greater than or equal to the aircraft exists or not according to a 10s dead time warning envelope by a first warning envelope judging unit, and if so, generating a visual warning signal (red information) and an audible warning signal; when the descent rate of the aircraft is less than or equal to 300fmp and no terrain or obstacle with the height greater than or equal to the aircraft exists in the 10s time alert envelope, judging whether the terrain or obstacle with the height greater than or equal to the aircraft exists in the 20s time alert envelope or not according to the 20s time alert envelope by a second alert envelope judging unit, and if so, generating a visual prompt signal (amber information) and an audible prompt signal; if no terrain or obstacle with the height greater than or equal to that of the aircraft exists in the 20s time-of-flight warning envelope, warning is not needed, and no prompting signal or warning signal is generated.
Further, the terrain prompting and warning module further comprises: and the lowest warning height judging unit is used for determining the lowest warning height of the aircraft when the judgment result of the descending rate judging unit is yes, namely when the descending rate of the aircraft is larger than a preset descending rate threshold value, judging whether the height difference between the aircraft and the terrain or the obstacle in the detection range is larger than the lowest warning height, and generating a warning signal if the height difference is not larger than the lowest warning height. The alert signals include visual alert signals (red signals) and audible alert signals. If the current flight environment is greater than the minimum warning height, the current flight environment is safe, and warning is not needed.
Wherein the formula for determining the minimum warning altitude of the aircraft is as follows:
H 1 ＝1×V z ；
AH min ＝30.48+H 1 +H 2 ；
wherein Vz is the descent rate of the aircraft, and g is 9.8m/s 2 ，H 1 Losing altitude, H, for driving hysteresis 1s 2 To level the loss height of the loader at 0.25g, AH min For the lowest alarm height, the unit of Vz is m/s, H 1 、H 2 、AH min The unit is m.
The detection range can be 1.2 sea miles of the aircraft and the forward direction thereof, and about 0.6 sea miles; or 60s forward at the current forward speed, and 30s in the left-right direction.
It should also be noted that the aircraft in the embodiments of the present application include various types of helicopters. Scene display, terrain display, obstacle display, airport display and the like in a combined vision system based on an onboard three-dimensional image engine all need corresponding databases to provide data support. The specific databases comprise a scene library, an airport library, a topography library and an obstacle library, wherein the databases are stored in a solid state disk, and a calling instruction can be responded through a hard disk interface (SATA interface) when the combined vision system needs to be called.
From the above description, it can be seen that in the combined view system based on the airborne three-dimensional image engine according to the embodiment of the application, the three-dimensional ground view generating module generates a virtual scene according to the airborne three-dimensional image engine, and the enhanced synthetic view fusing module fuses scene data based on the scene with real-time sensor image data, so that the quality of image information is improved, the real-time sensor image data can improve the precision of the scene data, and the stored scene data can provide flight information for pilots even under the condition of poor weather conditions. In addition, a corresponding warning envelope can be set according to the flight stage and the flight state of the aircraft in the flight process of the aircraft, and a corresponding prompting signal or an alarming signal is generated after the terrain or the obstacle enters the range of the warning envelope; and after the barrier display module changes the color of the contour line of the barrier according to the prompt signal or the alarm signal, obvious and accurate barrier alarm information is provided for the pilot in time. In addition, the three-dimensional terrain display module in the embodiment of the application can display the terrain by using the pure terrain materials according to the altitude difference between the aircraft and the terrain by using the corresponding colors; the logic resolving and judging module also judges the fault judgment and the data source precision state of the combined vision system, and feeds back and displays the judgment result, so that real-time accurate flight information can be further provided for the flight of the pilot. In summary, the combined vision system in the embodiment of the application can provide more accurate flight information for pilots.
Further, as shown in fig. 2, the interaction relationship between the modules in the combined view system based on the on-board three-dimensional image engine is shown. In fig. 2, the three-dimensional ground view generating module is used as a center, and has an interaction relationship with the enhanced synthetic view fusing module, the three-dimensional terrain display module, the obstacle display module, the logic resolving and judging module and the terrain prompting and warning module, wherein the three-dimensional ground view generating module can acquire flight information such as longitude and latitude, attitude angle, navigational speed and the like and control signals (acquired by an onboard MFD) through the logic resolving and judging module, and returns a synthesized display picture and flight height to the logic resolving and judging module for display through the onboard MFD. The three-dimensional ground view generating module can also respectively send the coordinates of the aircraft to the three-dimensional terrain display module, the obstacle display module and the terrain prompt and warning module, and in addition, the three-dimensional ground view generating module also sends a terrain switching notification to the three-dimensional terrain display module and respectively sends warning distances (including distance data such as a preset viewpoint range, a preset height, a warning envelope range and the like for judging whether a prompt signal or a warning signal needs to be generated) to the obstacle display module and the terrain prompt and warning module. The three-dimensional terrain display module and the obstacle display module send updated display to the three-dimensional ground scene generation module after display update, so that scene and terrain display update is realized. The terrain prompting and warning module respectively sends the generated prompting signals and warning signals to the obstacle display module, the three-dimensional terrain display module and the logic calculation and judgment module, so that the obstacle display module updates the display outline of the obstacle according to the prompting signals and the warning signals, the three-dimensional terrain display module updates the terrain display color, and the logic calculation and judgment module displays the prompting signals and the warning signals through the airborne MFD. The logic resolving and judging module also sends the flight information such as longitude and latitude, attitude angle, navigational speed and the like to the enhanced synthetic view fusion module, and the enhanced synthetic view fusion module returns the synthetic display picture to the logic resolving and judging module.
According to an embodiment of the present application, there is further provided a view display method 200 based on an airborne three-dimensional image engine applied to the system of fig. 1-2, as shown in fig. 3, the method includes: s201, a three-dimensional ground scene generation module generates a virtual scene through an airborne three-dimensional image engine when a combined view system is initialized, a three-dimensional terrain display module uses ground scene materials to perform terrain display, and an obstacle display module highlights an obstacle contour line within a preset view point range; s202, after initialization, adjusting the display of a scene according to the real-time viewpoint position, brightness data and display mode data of the aircraft, wherein the display modes comprise a terrain mode and a ground scene mode; s203, fusing scene data based on the scene with real-time sensor image data through an enhanced synthetic view fusion module and then displaying the fused scene data; s204, after the display mode is switched to the terrain mode, displaying the terrain by using the pure terrain material according to the altitude difference between the aircraft and the terrain by using the corresponding colors, wherein the terrain with different colors corresponds to the altitude difference in different ranges; s205, setting a corresponding warning envelope according to the flight phase and the flight state of the aircraft by a terrain prompt and warning module, and generating a corresponding prompt signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, wherein the expression form of the prompt signal or the warning signal comprises an audible signal and a visual signal; s206, after receiving the prompting signal or the warning signal of the obstacle sent by the terrain prompting and warning module, the obstacle display module changes the color of the contour line of the obstacle, and the prompting signal corresponds to the contour line of different colors of the warning signal.
Further, the method further comprises: and carrying out fault judgment and data source precision state judgment on the combined vision system through a logic resolving and judging module, and feeding back a judgment result to an airborne display device for display, wherein the fault judgment comprises judgment of a working state and judgment of whether the combined vision system needs to be withdrawn or not.
Further, the method further comprises: the three-dimensional ground view generation module sends a terrain switching notification to the three-dimensional terrain display module after the display mode is switched to the terrain mode; and the three-dimensional ground view generating module sends the real-time viewpoint position and the flight data of the aircraft to the terrain prompting and warning module, calculates the ground clearance of the aircraft according to the real-time viewpoint position, and returns the ground clearance to the airborne display equipment for display.
Further, the fusing and displaying the scene data based on the scene and the real-time sensor image data includes: registering the scene data and the real-time sensor image data based on a feature sub-matching method of the region of interest; and fusing pixels at the same position of the scene data and the real-time sensor image data based on a color space fusion method.
Further, after receiving the prompting signal or the warning signal of the obstacle sent by the terrain prompting and warning module, changing the color of the contour line of the obstacle includes: after receiving the prompting signal of the obstacle sent by the terrain prompting and warning module, highlighting the obstacle with the height larger than the preset height by using an amber contour line; and after receiving the warning signal of the obstacle sent by the terrain prompt and warning module, highlighting the obstacle with the height larger than the preset height by using a red contour line.
Further, the performing fault judgment and data source precision state judgment on the combined view system includes: judging the working state of the combined view system and whether the combined view system needs to be withdrawn or not according to the breaker state, the data connection state, the board card state and the data source state of the combined view system; and respectively judging the data source selection, the system display state, the precision star level of the data source precision displayed on the display page and the effectiveness of the peripheral key control of the display page in the first height range and the second height range according to the inertial navigation data precision, the air pressure precision and the radio precision.
Further, the setting the corresponding warning envelope according to the flight phase and the flight state of the aircraft, and generating the corresponding prompting signal or the warning signal after the terrain or the obstacle enters the range of the warning envelope comprises: judging whether the descent rate of the aircraft is larger than the preset descent rate threshold value or not; judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists or not according to the time-of-flight warning envelope of the first duration when the judgment result of the descent rate judgment unit is negative, and generating a warning signal if the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists; and when the judgment result of the descent rate judgment unit is no and the terrain or the obstacle with the height greater than or equal to the aircraft does not exist in the time-lapse alert envelope with the first duration, judging whether the terrain or the obstacle with the height greater than or equal to the aircraft exists according to the time-lapse alert envelope with the second duration, and if so, generating a prompt signal.
Further, the method further comprises: and when the judgment result of the descent rate judgment unit is yes, determining the lowest warning height of the aircraft, judging whether the height difference between the aircraft and the terrain or the obstacle in the detection range is larger than the lowest warning height, and if not, generating a warning signal.
In particular, the specific process of implementing the functions of each module and unit in the embodiment of the present application may be referred to the related description in the system embodiment, which is not repeated herein.
From the above description, it can be seen that, in the vision display method based on the airborne three-dimensional image engine according to the embodiment of the application, the three-dimensional ground scene generating module generates a virtual scene according to the airborne three-dimensional image engine, and the scene data based on the scene is fused with the real-time sensor image data by the enhanced synthetic vision fusion module, so that the quality of the image information is improved, the accuracy of the scene data can be improved by the real-time sensor image data, and the stored scene data can provide flight information for the pilot even under the condition of poor weather condition. In addition, a corresponding warning envelope can be set according to the flight stage and the flight state of the aircraft in the flight process of the aircraft, and a corresponding prompting signal or an alarming signal is generated after the terrain or the obstacle enters the range of the warning envelope; and after the barrier display module changes the color of the contour line of the barrier according to the prompt signal or the alarm signal, obvious and accurate barrier alarm information is provided for the pilot in time. In addition, the three-dimensional terrain display module in the embodiment of the application can display the terrain by using the pure terrain materials according to the altitude difference between the aircraft and the terrain by using the corresponding colors; the logic resolving and judging module also judges the fault judgment and the data source precision state of the combined vision system, and feeds back and displays the judgment result, so that real-time accurate flight information can be further provided for the flight of the pilot. In summary, the visual display method in the embodiment of the application can provide more accurate flight information for pilots.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
According to an embodiment of the present application, there is further provided a computer readable storage medium, where the computer readable storage medium stores computer instructions for causing the computer to execute the method for displaying a view based on an on-board three-dimensional image engine in the above system embodiment.
According to an embodiment of the present application, there is also provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the on-board three-dimensional image engine-based view display method in the above system embodiment.
It will be apparent to those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device for execution by the computing devices, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A combined view system based on an on-board three-dimensional image engine, the system comprising: a three-dimensional ground view generation module, an enhanced synthetic view fusion module, a three-dimensional terrain display module, an obstacle display module, a logic resolving and judging module, a terrain prompting and warning module,
the three-dimensional ground scene generation module is used for generating a virtual scene based on an airborne three-dimensional image engine, and updating the display of the scene according to carrier data and control data, wherein the carrier data comprises the real-time viewpoint position of an aircraft, the control data comprises brightness data and display mode data, and the display mode comprises a terrain mode and a ground scene mode;
the enhanced synthetic view fusion module is used for fusing the scene data based on the scene with the real-time sensor image data and then displaying the fused scene data;
The three-dimensional terrain display module is used for displaying the terrain by using the ground scene material when the terrain switching notification is not received; after the terrain switching notification is received, displaying the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain by using corresponding colors, wherein the terrain with different colors corresponds to the altitude difference in different ranges;
the obstacle display module is used for highlighting the contour lines of the obstacles in the preset view point range, and changing the colors of the contour lines of the obstacles after receiving the prompting signals or the warning signals of the obstacles sent by the terrain prompting and warning module, wherein the prompting signals and the warning signals correspond to the contour lines with different colors;
the logic resolving and judging module is used for judging faults and data source precision states of the combined vision system and feeding back judging results to the airborne display equipment for display, wherein the faults comprise judging of working states and judging whether the combined vision system needs to be withdrawn or not;
the terrain prompting and warning module is used for setting a corresponding warning envelope according to the flight phase and the flight state of the aircraft and generating a corresponding prompting signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, and the expression form of the prompting signal or the warning signal comprises an audible signal and a visual signal.
2. The combined view system based on an on-board three-dimensional image engine of claim 1, wherein the three-dimensional ground view generation module further comprises:
the first sending unit is used for sending a terrain switching notification to the three-dimensional terrain display module if the display mode is switched to the terrain mode;
the second sending unit is used for sending the real-time viewpoint position and the flight data of the aircraft to the terrain prompting and warning module;
and the calculation unit is used for calculating the ground clearance of the aircraft according to the real-time viewpoint position and returning the ground clearance to the airborne display equipment for display.
3. The combined view system based on an on-board three-dimensional image engine of claim 1, wherein the enhanced synthetic view fusion module comprises:
the registration unit is used for registering the scene data and the real-time sensor image data based on a feature sub-matching method of the region of interest;
and the fusion unit is used for fusing pixels at the same position of the scene data and the real-time sensor image data based on a color space fusion method.
4. The combined view system based on an on-board three-dimensional image engine of claim 1, wherein the obstacle display module comprises:
A first display unit for highlighting an obstacle having a height greater than a preset height with a yellow outline within a preset viewpoint range;
the second display unit is used for highlighting the obstacle with the height larger than the preset height by using an amber outline after receiving the prompting signal of the obstacle sent by the terrain prompting and warning module;
and the third display unit is used for highlighting the obstacle with the height larger than the preset height by using a red contour line after receiving the warning signal of the obstacle sent by the terrain prompt and warning module.
5. The combined view system based on an on-board three-dimensional image engine of claim 1, wherein the logic resolving and judging module comprises:
the fault judging unit is used for judging whether the working state of the combined view system and the combined view system need to be withdrawn or not according to the breaker state, the data connection state, the board card state and the data source state of the combined view system;
the data source precision state judging unit is used for judging the data source selection, the system display state, the precision star level of the data source precision displayed on the display page and the effectiveness of the peripheral key control of the display page in the first height range and the second height range according to the inertial navigation data precision, the air pressure precision and the radio precision.
6. The combined vision system based on an on-board three-dimensional image engine of claim 1, wherein the terrain cue and alert module comprises:
the descent rate judging unit is used for judging whether the descent rate of the aircraft is greater than the preset descent rate threshold value or not;
the first warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists or not according to the aviation warning envelope of the first duration when the judgment result of the descent rate judgment unit is NO, and generating a warning signal if the terrain or the obstacle exists;
and the second warning envelope judgment unit is used for judging whether the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists according to the second time duration when the judgment result of the descent rate judgment unit is NO and the terrain or the obstacle with the height being greater than or equal to that of the aircraft does not exist in the first time duration of the time duration warning envelope, and generating a prompt signal if the terrain or the obstacle with the height being greater than or equal to that of the aircraft exists.
7. The combined vision system based on an on-board three-dimensional image engine of claim 6, wherein the terrain cue and alert module further comprises:
and the lowest warning height judging unit is used for determining the lowest warning height of the aircraft when the judgment result of the descent rate judging unit is yes, judging whether the height difference between the aircraft and the terrain or the obstacle in the detection range is larger than the lowest warning height, and generating a warning signal if the height difference is not larger than the lowest warning height.
8. A method for displaying views based on an on-board three-dimensional image engine, wherein the method is applied to the combined view system according to any one of claims 1 to 7, and the method comprises:
when the combined view system is initialized, a three-dimensional ground view generation module generates a virtual scene through the airborne three-dimensional image engine, a three-dimensional terrain display module uses ground view materials to perform terrain display, and an obstacle display module highlights an obstacle contour line in a preset view point range;
after initialization, the display of the scene is adjusted according to the real-time viewpoint position, brightness data and display mode data of the aircraft, wherein the display modes comprise a terrain mode and a ground scene mode;
fusing scene data based on the scene with real-time sensor image data through an enhanced synthetic view fusion module and then displaying the fused scene data;
after the display mode is switched to the terrain mode, the three-dimensional terrain display module displays the terrain by using pure terrain materials according to the altitude difference between the aircraft and the terrain by using corresponding colors, and the terrain with different colors corresponds to the altitude difference in different ranges;
the terrain prompting and warning module sets a corresponding warning envelope according to the flight phase and the flight state of the aircraft, and generates a corresponding prompting signal or warning signal after the terrain or the obstacle enters the range of the warning envelope, wherein the expression form of the prompting signal or the warning signal comprises an audible signal and a visual signal;
And after receiving the prompting signal or the warning signal of the obstacle sent by the terrain prompting and warning module, the obstacle display module changes the color of the contour line of the obstacle, wherein the prompting signal corresponds to the contour line of different colors of the warning signal.
9. A computer-readable storage medium storing computer instructions for causing the computer to perform the on-board three-dimensional image engine-based view display method of claim 8.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the on-board three-dimensional image engine-based view display method of claim 8.
CN202311035617.2A 2023-08-17 2023-08-17 Combined vision system based on airborne three-dimensional image engine and vision display method Pending CN117135334A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311035617.2A CN117135334A (en) 2023-08-17 2023-08-17 Combined vision system based on airborne three-dimensional image engine and vision display method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311035617.2A CN117135334A (en) 2023-08-17 2023-08-17 Combined vision system based on airborne three-dimensional image engine and vision display method

Publications (1)

Publication Number Publication Date
CN117135334A true CN117135334A (en) 2023-11-28

Family

ID=88853861

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311035617.2A Pending CN117135334A (en) 2023-08-17 2023-08-17 Combined vision system based on airborne three-dimensional image engine and vision display method

Country Status (1)

Country Link
CN (1) CN117135334A (en)

Similar Documents

Publication Publication Date Title
US8493412B2 (en) Methods and systems for displaying sensor-based images of an external environment
US5995903A (en) Method and system for assisting navigation using rendered terrain imagery
US9347793B2 (en) Synthetic vision systems and methods for displaying detached objects
CN104443407B (en) The system and method that airport feature is shown on the moving map display of dynamic airport
EP2355071B1 (en) Methods for rendering taxiway and runway signage in a synthetic display of an airport field
US9347792B2 (en) Systems and methods for displaying images with multi-resolution integration
US7486291B2 (en) Systems and methods using enhanced vision to provide out-the-window displays for a device
CN107010239B (en) Cockpit display system and method for generating a cockpit display
US8457889B2 (en) Waypoint display system and method
US8892357B2 (en) Ground navigational display, system and method displaying buildings in three-dimensions
US9389097B2 (en) Aircraft display systems and methods for enhanced display of flight path information
US8188890B2 (en) Systems and methods for enhancing obstacles and terrain profile awareness
CN104063214A (en) Methods And Systems For Colorizing An Enhanced Image During Alert
JP2008217775A (en) Obstacle avoidance situation display generator
US10963133B2 (en) Enhanced awareness of obstacle proximity
WO2007002917A9 (en) Perspective view conformal traffic targets display
US20170030735A1 (en) Onboard aircraft systems and methods to identify moving landing platforms
US8185301B1 (en) Aircraft traffic awareness system and methods
CN106741985A (en) A kind of synthetic vision system barrier alarm implementation method
US20130300587A1 (en) System and method for displaying runway approach texture objects
US10304242B1 (en) Transparent display terrain representation systems and methods
US20200355518A1 (en) Systems and methods for managing vision system display
US11112249B1 (en) Systems and methods for four-dimensional routing around concave polygon avoidances
CN111210515A (en) Airborne synthetic vision system based on terrain real-time rendering
US20130261854A1 (en) System and method for displaying remaining runway distance during a landing-and-hold-short procedure

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination