JP2016166795A - Perspective region display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that an operator is hard to understand a blind spot in a space since a conventional radar coverage display device divides altitude into several sections, to calculate a region that is obstructed by a topographical bulge and a structure in advance, which is projected on a two-dimensional map for each altitude section, to be displayed.SOLUTION: A particle in a first semi-transparent color is made to move linearly in elevation and orientation which are decided at random from a certain position, and when collision with an obstacle is detected, the color of the particle is changed to a second semi-transparent color. By drawing particles in a three-dimensional space, a perspective region and a non-perspective region are painted differently in a space, to allow a blind spot in a radar coverage to be spatially imaged.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a line-of-sight display device that displays a line-of-sight area that can be seen from an arbitrary viewpoint and a non-line-of-sight area.

  When a radar device is placed on land to detect a target, a complex shaped blind spot is generated in the radar coverage due to terrain bumps and structures. Conventionally, a radar coverage display device has been used as a visibility region display device that displays a visibility region within a radar coverage to an operator. A conventional radar coverage display device has been used to grasp a blind spot in a radar coverage of a radar device with a two-dimensional map. FIG. 6 is a view showing a display example by a conventional radar coverage display device. As shown in FIG. 6, the conventional radar coverage display apparatus divides a line-of-sight area where a radar wave can be irradiated to a target within a radar coverage of each radar apparatus 13 at several altitudes, A range 14 is drawn on the map of the two-dimensional screen. Based on the radar range 14 displayed on the two-dimensional screen, the operator recognizes the blind spot 15 where the radar wave cannot be irradiated, and reconfigures it in the non-line-of-sight region that becomes the blind spot range of the three-dimensional image in the head. The arrangement position of the auxiliary radar device 16 is determined so as to compensate for the non-line-of-sight region. For this reason, the recognition of the non-line-of-sight region by the operator is rough, and it is difficult for the operator to relocate the auxiliary radar 16 to the optimum position in real time.

  For example, Patent Document 1 discloses a simulation system that evaluates the suitability of a radar coverage area by dividing an air defense area into small areas and displaying the radar coverage area in different colors. . However, this system is difficult to intuitively recognize the non-line-of-sight region in the radar coverage, and is not suitable for performing reallocation of the auxiliary radar in real time.

Patent No. 4,481,774

  The conventional radar coverage display device divides the altitude into several sections, pre-calculates the non-line-of-sight areas obstructed by terrain ridges and structures, and sets the non-line-of-sight areas on the 2D map for each altitude section. It was projected and displayed. Therefore, on the display, the radar coverage can be grasped only at the specified altitude zone at a time, and it is not easy for the operator to grasp the out-of-sight region of the radar coverage as a space. There was a problem.

  Further, if the non-line-of-sight region in the radar coverage can be found, the non-line-of-sight region in the radar coverage can be eliminated by arranging an additional auxiliary radar device. The conventional radar coverage display apparatus also has a problem that the operator cannot perform an operation for optimal arrangement for eliminating the non-line-of-sight area of the radar coverage in real time while moving the additional radar apparatus.

  The present invention has been made to solve the above-described problem, and assists the operator in recognizing the space outside the line-of-sight area, and makes it easier to arrange the auxiliary radar device for eliminating the area outside the line-of-sight. An object is to obtain a line-of-sight display device.

  The line-of-sight display device according to the present invention linearly diffuses the first translucent color particles into a space for all elevation angles and azimuth directions within a predetermined range from a viewpoint placed at an arbitrary position on three-dimensional coordinates. And when the collision between the particle and the obstacle is detected in the course of the diffusion process, the collision that changes the color of the particle to the second translucent color. And a display process for displaying particles diffused by the diffusion process on the screen.

  According to the present invention, the non-line-of-sight region in the radar coverage as viewed from the radar device can be easily grasped spatially. Further, since the line-of-sight area and the non-line-of-sight area in the radar coverage of the radar apparatus are displayed in three dimensions in conjunction with the movement of the position of the auxiliary radar apparatus, the auxiliary radar apparatus is configured to reduce the non-line-of-sight area of the radar coverage. Can be moved.

1 is a diagram showing a configuration of a line-of-sight display device according to Embodiment 1. FIG. It is a figure which shows the production | generation and display example of the particle | grains in a line-of-sight area | region and a line-of-sight area | region by the line-of-sight display apparatus of Embodiment 1. FIG. It is a figure which shows the production | generation and display example of the particle | grains in a line-of-sight area | region and a line-of-sight area | region by the line-of-sight display apparatus of Embodiment 1. FIG. It is a figure which shows the production | generation and display example of the particle | grains in a line-of-sight area | region and a line-of-sight area | region by the line-of-sight area display apparatus of Embodiment 2. FIG. FIG. 10 is a diagram illustrating a display example of a line-of-sight area and a non-line-of-sight area by the line-of-sight display apparatus according to the third embodiment. It is a figure which shows the example of a display of a line-of-sight area and a non-line-of-sight area by the conventional line-of-sight display apparatus.

Embodiment 1 FIG.
1A and 1B are diagrams for explaining the configuration of a line-of-sight display device according to Embodiment 1, wherein FIG. 1A shows the configuration of the line-of-sight display device, and FIG. 1B shows the flow of processing of the line-of-sight display device. . In FIG. 1A, the line-of-sight area display device 100 includes an input unit 105, a computer 106, and a screen display unit 107. The computer 106 of the line-of-sight area display device 100 receives the position of the radar device 101 and the beam direction of the radar, the beam viewing angle, the position of the auxiliary radar device 102 or the beam direction of the radar, and the beam viewing angle via the input unit 105. And a three-dimensional (3D) topographic map is input. Based on this input information, the computer 106 generates particles to be displayed by distinguishing the line-of-sight area and the non-line-of-sight area of the radar apparatus 101, and displays the generated particles on the screen display unit 107.

  In FIG. 1B, the line-of-sight display apparatus 100 receives information on the position and orientation of the radar apparatus 101 via the input unit 105 by an input operation of an external apparatus or an operator in the arrangement input process S11 of the radar apparatus 101. Entered. In addition, in the arrangement input processing S13 of the auxiliary radar device 102, the position and orientation information of the auxiliary radar device 102 is input via the input unit 105 by an input operation of an external device or an operator. A 3D topographic map is input via the input unit 105 in the 3D topographic map input process S17.

  The particle viewpoint setting processing S12 includes the input position of the radar apparatus 101 or radar beam direction and beam viewing angle information, the input position of the auxiliary radar apparatus 102 and radar beam direction, and the beam viewing angle. Based on the information, the viewpoint and diffusion direction of the particles corresponding to the radar apparatus 101 and the auxiliary radar apparatus 102 are set.

The particle diffusion processing S14 is performed in a predetermined elevation angle and azimuth direction in which the particles are randomly selected from the viewpoints corresponding to the radar apparatus 101 or the auxiliary radar apparatus 102 within the range of the radar beam direction and beam viewing angle. A process of increasing the number of particles by diffusing into the space at intervals is performed. At this time, the particles in the respective line-of-sight areas of the radar apparatus 101 and the auxiliary radar apparatus 102 are the first translucent color, and the color of the second translucent color particles in the non-line-of-sight area described later is: Use different colors.
Further, the predetermined interval for diffusing the particles is set to a different length depending on the particle size diameter of the particles. For example, the minimum interval between particles is the interval between particle size diameters. In addition, the interval is obtained by adding a certain gap to the particle size of the particles.
Further, after diffusing particles within a certain range of elevation and azimuth direction randomly selected from the viewpoint, until all elevation angles and azimuth directions within the beam viewing angle of the radar apparatus 101 or the auxiliary radar apparatus 102 are selected. , Repeatedly select elevation angle and azimuth direction to diffuse particles.

In the particle diffusion process S14, a collision determination process S15 is performed every time a particle is diffused into the space at a predetermined interval. In the collision determination processing S15, the particles hit an obstacle in the process of diffusing on an arbitrary straight line from the viewpoint, and the subsequent points on the straight line become the non-line-of-sight region. Further, when the particles diffused from the viewpoint of the radar apparatus 101 and the particles diffused from the viewpoint of the auxiliary radar apparatus 102 overlap, the area where the overlapping positions are collected is within the line-of-sight area.
Note that the geometric information of the position and shape of the obstacle is generated in advance based on the 3D topographic map input in the input process S17 of the 3D topographic map.

  In the collision determination process S15, when it is determined that the region is not the line-of-sight region, the color of the particle is different from that in the line-of-sight region. Further, by making the particle color translucent, the operator can easily recognize the shapes of the line-of-sight area and the non-line-of-sight area.

After the collision determination process S15, the process returns to the diffusion process S14 again to continue the diffusion process.
When the particles reach a predetermined survival distance, the diffusion process S14 is terminated, and the process proceeds to a particle display process S16. In the display process S16, a display process for displaying each diffused particle on the screen is performed.

Next, an example of generation and display of particles in the line-of-sight area and the non-line-of-sight area will be described. FIG. 2 is a diagram showing an example of generation and display of particles in the line-of-sight area and the non-line-of-sight area by the line-of-sight display apparatus according to the first embodiment.
In FIG. 2, first, a screen of each component point is displayed on the display unit 107 based on the coordinates of each component point constituting a 3D topographic map including an obstacle using a three-dimensional coordinate system expressing the position of the particle by coordinates. Display.
Next, in the viewpoint setting process S12 of the particle, the radar apparatus 101 is virtually placed at a position 1 in the three-dimensional coordinate system, and the viewpoint is placed at the position 1.

  Here, when looking around 360 ° from the viewpoint placed at position 1, if there is an obstacle 2 in front, it is impossible to see beyond. This visible range is defined as a line-of-sight area 3, and the non-visible area is defined as a non-line-of-sight area 4.

  Subsequently, for example, a blue translucent particle 5 which is a first translucent color is generated from the position 1, and the elevation angle and direction are randomly determined within the beam direction of the radar apparatus 101 or the auxiliary radar apparatus 102 and the viewing angle of the beam. And the generated particles are diffused in the space in the elevation and azimuth directions. The generated particles are individually managed by assigning an identification number.

  It is assumed that the particle 5 moves linearly from the position 1 at a constant speed. The particles 5 move by increasing the number of individuals while leaving particles at each point on the locus of constant velocity linear motion. At this time, in the collision determination processing S15, the position coordinates of the particle 5 that is moving at a constant linear velocity from the viewpoint of the position 1 are compared with the position coordinates of the preset 3D topographic map. Collision detection indicating whether or not the shape of the obstacle 2 is interfering is performed. When the particle 5 interferes with the obstacle 2, the particle color is changed to, for example, a red translucent color which is the second translucent color to form the particle 6, and the linear motion of the particle 6 is continued as it is. However, when the particle 5 or the particle 6 reaches the survival distance 7, the particles on the subsequent straight lines are extinguished.

  Once the collision is detected, the color of the particle 6 is not changed from translucent red. The collision detection processing algorithm between the particle 5 and the obstacle 2 uses an existing method such as Distance Field collision determination processing.

  The particle drawing calculation can be performed at high speed by using a parallel computing unit such as a GPU (Graphics Processing Unit) for the computer 106. That is, since the particles 5 and 6 are instantaneously diffused from the position 1 in an arbitrary elevation angle and azimuth direction, the operator who views the screen display unit 107 has the shape of the line-of-sight region formed in the screen by the plurality of particles 5. The shape of the non-line-of-sight region formed in the screen by the plurality of particles 6 can be recognized at the same time.

  For example, in FIG. 2, the line-of-sight region has a translucent blue color by diffusing particles from position 1 to any elevation angle and azimuth direction within the beam direction and beam viewing angle of the radar device 101 or the auxiliary radar device 102. Since the non-line-of-sight area is a translucent red area, the line-of-sight area and the non-line-of-sight area can be spatially separated.

  In addition, since the particle position calculation is performed by obtaining the three-dimensional position coordinates, changing the direction of the coordinate axis of the three-dimensional coordinate system and changing the bird's-eye view makes it possible to check the status of the non-line-of-sight area in detail at an arbitrary angle. can do.

  When the position 1 of the radar apparatus 101 or the auxiliary radar apparatus 102 is moved, the arrangement input process S11 of the radar apparatus 101, the arrangement input process S13 of the auxiliary radar apparatus 102, and the input process S17 of the 3D topographic map are continuously performed. As a result, particle calculation is performed in real time. For this reason, it is possible to immediately confirm how the shape of the non-line-of-sight region 4 will change depending on the undulations of surrounding mountains and valleys.

  Further, since the color of the particles is made translucent, it can be immediately confirmed that the red region 4 of the non-line-of-sight region is in the blue dome. Since the semitransparent particles add color when light passes through, the color becomes deeper as the thickness increases. It is displayed on the screen as if you were looking at a translucent jelly.

  Next, a display example when the auxiliary radar apparatus 102 is arranged so that the line-of-sight area overlaps the non-line-of-sight area of the radar apparatus 101 will be described. FIG. 3 is a diagram illustrating an example of generation and display of particles in a line-of-sight area and a non-line-of-sight area by the line-of-sight display apparatus according to the first embodiment. In FIG. 3, the area visible from the position 1b is displayed on the screen in the same manner as in FIG.

  In the particle display process S16, the computer 106 determines that both particles are dispersed if the particle diffused with the position 1 as the viewpoint collides with the particle diffused with the position 1b as the viewpoint and one of the particles has a blue color. The process of changing the color of to blue is performed. That is, when the positions of the diffused particles from the two viewpoints are almost overlapped, “the process of changing the red particles to a color with higher transparency than the low visibility and leaving the blue particles is performed.

  In this manner, for example, even if the position 1 is the non-line-of-sight area from the position 1 where the radar apparatus 101 is disposed, the position 1b is the line-of-sight area from the position 1b where the auxiliary radar apparatus 102 is disposed. Both radar coverage areas can be integrated and treated as a line-of-sight area. That is, it is possible to easily grasp whether there is a non-line-of-sight region 4b from an arbitrary position by checking whether there is a red region.

  If the position 1 of the viewpoint is replaced with the installation position of the radar apparatus 101 and the particle survival distance 7 is set to the maximum distance (radar capture maximum distance) at which the target can be captured by the radar apparatus, the radar coverage display apparatus is obtained. Can do.

  The line-of-sight display device according to Embodiment 1 linearly spaces first semitransparent color particles for all elevation angles and azimuth directions within a predetermined range from a viewpoint placed at an arbitrary position on three-dimensional coordinates. If the collision between the particle and the obstacle is detected during the diffusion process, the collision determination is performed to change the color of the particle to the second translucent color. And a display process for displaying particles diffused by the diffusion process on the screen.

  In addition, from the first viewpoint placed at an arbitrary position on the three-dimensional coordinates, the first translucent colored particles are linearly diffused into the space at predetermined intervals for all elevation angles and azimuth directions within the predetermined range. From the first diffusion process for annihilating particles that have reached a predetermined survival distance and the second viewpoint placed at an arbitrary position on the three-dimensional coordinate, the first diffusion process is performed for all elevation angles and azimuth directions within a predetermined range. Particles in the process of the first diffusion process or the second diffusion process in which the semi-transparent color particles are linearly diffused in the space and the particles that have reached the predetermined survival distance disappear. When a collision with an object is detected, the color of the particle is changed to the second translucent color, and the first diffused particle and the diffused particle in the second diffusion process overlap each other in the first region. A collision determination process of changing the translucent colored particles having a second translucent color leaving particles having a transparent color, and a display process of displaying the particles were spread by the spreading processing on the screen may comprise a.

  As a result, the non-line-of-sight region in the radar coverage as viewed from the radar device can be easily grasped spatially. Further, since the line-of-sight area and the non-line-of-sight area in the radar coverage of the radar apparatus are displayed in three dimensions in conjunction with the movement of the position of the auxiliary radar apparatus, the auxiliary radar apparatus is configured to reduce the non-line-of-sight area of the radar coverage. Can be moved.

Embodiment 2. FIG.
As shown in the first embodiment, when rendering a line-of-sight area and a non-line-of-sight area using particles, it is necessary to generate more particles in order to improve the distant line-of-sight accuracy. However, when the total number of particles to be generated increases, it becomes a factor that hinders real-time performance in the line-of-sight display device.

  In addition, the line-of-sight range of a radar device installed on the ground has a feature that the probability that an obstacle exists is low when the elevation angle is high. Therefore, the particle size of the particles is changed according to whether or not there is a collision with an obstacle. FIG. 4 is a diagram illustrating an example of generation and display of particles in the line-of-sight area and the non-line-of-sight area by the line-of-sight display apparatus according to the second embodiment.

  In FIG. 4, when a collision with an obstacle does not occur during the lifetime of the particle at a predetermined elevation angle and azimuth direction, the surrounding particles are monitored to confirm that there is no particle having the collision. Check. At this time, an identification number (ID) is assigned for each predetermined elevation angle and azimuth and managed by the ID.

  As a result of the confirmation, the appearance frequency of particles around the periphery is decreased, and the particle size of the particles is increased to be a particle 8 shown in FIG. On the contrary, the particle appearance frequency is increased around the particle where the collision with the obstacle occurs, and the particle size diameter of the particle is reduced, so that the particle 8 shown in FIG. 4 is obtained. By doing so, the three-dimensional shape of the line-of-sight region can be expressed in detail while suppressing the total number of particles.

  In the line-of-sight display apparatus according to the second embodiment, in the first embodiment, the diffusion process is performed by first diffusing particles linearly diffused in space from the viewpoint until reaching a predetermined survival distance for a specific elevation angle and azimuth direction. In the case of 1 translucent color, the particle size of the particles is increased and the predetermined interval for the diffusion of the particles is increased, and from the same point of view, until reaching a predetermined survival distance for another specific elevation angle and azimuth direction When the particles diffused in the space are the second translucent color, the particle size of the particles is reduced and the predetermined interval at which the particles are diffused is reduced. Thereby, the increase in the total number of particles to be generated can be suppressed, and the real-time property in the line-of-sight area display device can be maintained.

  Further, if the plurality of positions 1b are replaced with the installation positions of the auxiliary radar device 102, it can be applied to a preliminary simulation of coverage assistance by a mobile radar. In other words, the line-of-sight area is an area that can be observed by the radar apparatus from the other party, so that the line-of-sight area can be applied to an evaluation apparatus for pre-evaluating the position 1 that is difficult to be detected by an external enemy. Can do.

Embodiment 3 FIG.
FIG. 5 is a diagram illustrating a display example of the line-of-sight area and the non-line-of-sight area by the line-of-sight display apparatus according to the third embodiment. In FIG. 5, as described in the first embodiment, after the line-of-sight area at the viewpoint position 1 is drawn, the information on the position and color of the particles constituting the line-of-sight area is recorded.

  Next, the position 1 of the viewpoint is shifted along the movement track 10, and the information of the particles constituting the line-of-sight region is recorded as described in the first embodiment. Here, duplicated particles delete either information to reduce the required memory. In this way, by shifting the viewpoint position 1 one after another, it is possible to display the line-of-sight area 11 in which the changes in the line-of-sight area are merged.

  Although it is possible to display an image in a three-dimensional space as in the first embodiment, for example, by preparing an altitude slider 12 and moving the slider 12 up and down, a line-of-sight region in a specific altitude range is clipped. Can be displayed on the two-dimensional map in real time.

  Further, the searchable range 11 can be displayed three-dimensionally by determining the route 10 of the helicopter or the fighter plane according to the third embodiment and integrating and displaying the range in which the radar beam of the radar apparatus 101 reaches.

  Furthermore, a two-dimensional projection display of a searchable range of a specific altitude range is also possible using the altitude slider 12 of the third embodiment.

  The line-of-sight display apparatus according to the third embodiment draws a line-of-sight area from a certain viewpoint in the first embodiment, performs a recording process for recording particles in the drawn line-of-sight area, and sets the certain viewpoint to a predetermined wake. The recording process is sequentially performed and the particles are merged every time the recording process is performed. Thereby, the display projected on the two-dimensional map in real time can be performed.

  1 viewpoint position, 1b additional viewpoint position, 2 mountain obstacles, 3 line-of-sight areas, 4 non-line-of-sight areas, 4b non-line-of-sight areas from multiple viewpoint positions, 5 particles in line-of-sight areas, 5b particles in non-line-of-sight areas Particles that have become a line-of-sight area due to collision with particles in the line-of-sight area from other viewpoint positions, 6 particles that are outside the line-of-sight area, 7 particle survival distance, 8 particles in an area where the elevation angle is high and there are almost no obstacles, 9 Particles with low elevation angle and many obstacles, 10 routes, 11 integrated radar searchable range, 12 altitude slider, 13 radar, 14 radar coverage, 15 radar blind coverage, 16 auxiliary radar.

Claims (4)

From the viewpoint placed at an arbitrary position on the three-dimensional coordinates, the first translucent color particles are linearly diffused in the space for all the elevation angles and azimuth directions within the predetermined range, and the predetermined survival distance is reached. A diffusion process to make particles disappear,
When collision between the particle and the obstacle is detected in the process of the diffusion process, a collision determination process for changing the color of the particle to a second translucent color;
Display processing for displaying particles diffused by the diffusion processing on the screen;
A line-of-sight display device comprising: From the first viewpoint placed at an arbitrary position on the three-dimensional coordinates, the first translucent color particles are linearly diffused into the space at predetermined intervals for all the elevation angles and azimuth directions within the predetermined range. A first diffusion process for annihilating particles that have reached the survival distance of
From the second viewpoint placed at an arbitrary position on the three-dimensional coordinates, the first translucent color particles are linearly diffused in space for all elevation angles and azimuth directions within a predetermined range, and a predetermined survival distance is obtained. A second diffusion process for annihilating particles that have reached
When collision between particles and an obstacle is detected in the first diffusion process or the second diffusion process, the color of the particles is changed to a second translucent color, and the particles diffused by the first diffusion process A collision determination process for changing the translucent color of the particles having the second translucent color while leaving the particles having the first translucent color in an area where the particles diffused by the second diffusion process overlap;
Display processing for displaying particles diffused by the diffusion processing on the screen;
A line-of-sight display device comprising: The above diffusion process increases the particle size of the particles when the particles that have diffused linearly into the space from the viewpoint in a certain elevation angle and azimuth direction until reaching a predetermined survival distance are in the first translucent color. Increase the predetermined interval of particle diffusion,
From the same point of view, if the particles that have diffused linearly into the space until reaching the predetermined survival distance for another specific elevation angle and azimuth direction are the second translucent color, the particle size is reduced and the particles Narrow the predetermined interval of spreading,
The line-of-sight display device according to claim 1. Draw a line-of-sight area from a certain viewpoint, and perform the recording process that records the particles in the line-of-sight area.
Move the certain viewpoint along a predetermined wake and perform the recording process sequentially,
Merge the particles every time you record,
The line-of-sight display device according to claim 1.

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