JPH0815406A - Video display apparatus - Google Patents

Abstract

PURPOSE:To perform arbitrary two-dimensional display by using three- dimensional information (Rng, Az and EL) obtained with a radar. CONSTITUTION:The three-dimensional information Rng, Az and EL from a radar is inputted into a sine/cosine operating circuit 1 and converted into the three-dimensional rectangular coordinates. Furthermore, the values in a memory 12, wherein the components of the matrix A in two lines and four columns are stored, are changed with a CPU 11. The operation of Q=AP is performed with a multiplier 13 with accumulator 13, and the values are converted into the three-dimensional coordinates. The coordinates are displayed on a monitor 18 through a multiplexer 5 and the like. The display of Rng-AZ and the display of Rng-EL can be performed by changing the values of the matrix A. The various kinds of two-dimensional display can be performed with the simple hardware constitution, and the control capability is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional radar video display device, and more particularly to a device for converting three-dimensional video information obtained from the radar into an arbitrary two-dimensional video display and displaying it.

[0002]

2. Description of the Related Art FIG. 9 is a block diagram of a conventional radar display device disclosed in Japanese Patent Publication No. 3-5964.

In the figure, 1 is a positive / cosine arithmetic circuit for converting the input range Rng signal data and azimuth Az signal data from polar coordinate data to rectangular coordinate data, 2
Is a read clock generator, 3 is a read clock generator 2
X-value counter for generating information on the X-value at the raster coordinate position from the clock generator 2 and Y at the raster coordinate position from the clock generator 2.
Y value counter for generating value information, 5 multiplexer, 6 memory, 7 A / D converter, 8 data bus,
9 is a D / A converter.

Next, the operation will be described.

The Az signal indicating the azimuth and the Rng signal indicating the distance are input to the positive / cosine calculation circuit 1 and converted into X and Y of the rectangular coordinate data. The X and Y data are input to the multiplexer 5 together with the X value counter 3 and the Y value counter 4 that generate raster coordinate position information, selected according to the changes at the time of reading and writing, and input to the drawing memory 6. It Further, the multiplexer 5 is also supplied with data obtained by A / D converting video data which is analog information, whereby the strength of the signal can be discriminated.

The data output from the multiplexer 5 is stored in the drawing memory 6 as described above, and the stored data is output to the data bus 8. The data from the data bus 8 is input to the D / A converter and converted from the read clock generator 2 into an analog signal by a strobe pulse. As a result, a TV (raster scan) video display is provided.

[0007]

As described above, the conventional radar display device has a two-dimensional X, which indicates only the Rng and Az directions.
Since the display is performed by the Y coordinate, there is a problem that the elevation EL signal data, which is the information regarding the height space obtained by the original three-dimensional radar, cannot be displayed.

Therefore, if there are two tracks with different altitudes, they will be displayed on the display in an overlapping manner, so that the control becomes impossible and the control capability is limited.

The present invention has been made in order to solve the above-mentioned problems, and it is not a two-dimensional fixed video display of only the Rng signal and the Az signal, but is obtained from the original three-dimensional radar. 3D video information (Rng, A
It is an object of the present invention to provide a video display device capable of performing various two-dimensional display by arbitrarily selecting z, EL).

[0010]

In order to achieve the above object, the video display device according to claim 1 converts polar coordinate data of azimuth, distance and elevation, which are three-dimensional information, into two-dimensional orthogonal coordinates. A video display device for two-dimensional display, wherein Q = AP is calculated for the three-dimensional data P of the azimuth angle, distance and elevation angle by using an operator shown by a matrix A of 2 rows and 4 columns. A two-dimensional display from a plurality of viewpoints is provided, which has a calculation means for converting into arbitrary two-dimensional data Q and a display means for displaying the two-dimensional data obtained by the calculation, and changing the components of the matrix A. It is characterized by performing.

In order to achieve the above object, a video display device according to a second aspect of the present invention is the video display device according to the first aspect, further comprising line segmentation processing for interpolating an interval based on a variation amount of the two-dimensional data Q. Means for changing the components of the matrix A by the calculating means,
It is characterized in that the display interval of the dimensional data Q is constant.

In order to achieve the above object, the video display device according to a third aspect of the present invention is the video display device according to the first or second aspect, further comprising arbitrary data among the polar coordinate data of the elevation angle. It is characterized by having a selection means for selecting.

In order to achieve the above object, the video display device according to claim 4 is the video display device according to claim 1, 2 or 3, further comprising:
A trail circuit for controlling an afterimage time of display on the display means is provided.

Further, in order to achieve the above object, the video display device according to claim 5 is the video display device according to claim 1 or 2.
Alternatively, the video display device according to claim 3 or 4, further comprising RGB display means for performing different color display for each of the two-dimensional data Q.

[0015]

In the video display device according to the present invention, the calculation means calculates the three-dimensional information obtained from the three-dimensional radar from the azimuth angle (azimuth angle AZ), the distance (range Rng), and the elevation angle (elevation angle EL). Arbitrary two-dimensional information is extracted using the matrix A of 2 rows and 4 columns. By changing the components of the matrix A, the two-dimensional information to be extracted changes, so that not only the conventional Rng-AZ display but also various two-dimensional information can be two-dimensionally displayed by the display means. This makes it possible to easily perform Rng-Az display and the like, which could not be conventionally displayed.

In the video display device according to the second aspect, in order to prevent an increase in the detection point interval that may occur when the components of the matrix A are changed, the line segmentation processing means interpolates the intervals. Normally, the detection point interval is 1/512 considering the display range.
Although it is a dot, when the viewpoint position is changed, the interval may become coarse. Therefore, by interpolating the detection point intervals based on the amount of change, the intervals can be made uniform in any two-dimensional display.

In the video display device according to the third aspect, by providing the elevation angle selecting means, only the desired elevation angle data can be selected and displayed from the elevation angle data obtained in time series, so that only the height to be noticed is displayed. The degree of freedom of control is expanded by displaying and controlling.

In the video display device according to the fourth aspect, afterimages can be displayed by further adding trail means, and the control ability can be further improved.

In the video display device according to the fifth aspect, since the color display is further performed by the RGB display means, the control can be facilitated by providing a display that is more visually recognizable such as color-coding according to height.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

Embodiment 1 FIG. 1 shows a block diagram of the configuration of this embodiment. In the figure, 1 is a positive / cosine arithmetic circuit for converting Rng signal data, Az signal data, and EL signal data obtained by a three-dimensional radar from polar coordinates to rectangular coordinates data, and 5 is 2
Multiplexer for selecting data more than input and outputting one output, 7 is an A / D converter, 11 is a CPU, 12 is a CPU 1
Matrix value memory that outputs matrix data etc. by the data map assigned to 1, 13 is a multiplier with accumulator that multiplies and adds 2 inputs, 1
4 is a clock generator capable of changing the sampling frequency value according to information from the CPU 11, 15 is a raster display clock, 16 is a raster display generator for generating raster coordinates and the like from the clock of the raster display clock 15, 6 is a memory, Reference numeral 8 is a data bus, 17 is an output register / shift register for taking out data from the data bus 8, 9 is a D / A converter, and 18 is a monitor.

Next, the operation will be described.

As shown in FIG. 1, the input data Rng signal,
The Az signal and the EL signal are converted from polar coordinates into rectangular coordinate data X, Y, Z by the positive / cosine arithmetic circuit 1. This conversion is performed by X = Rng.cosEL.sinAz Y = Rng.sinEL Z = Rng.cosEL.cosAz. The converted data is input to the multiplier 13 with accumulator together with the data output from the matrix value memory 12 through the multiplexer 5 under the control of the CPU 11, and is sequentially input and added for each data. That is, Q is the two-dimensional coordinate after calculation (after conversion), and m is stored in the matrix value memory 12.
A is a matrix of 2 rows and 4 columns having x1 to mx4 and my1 to my4 as components, and 3 before conversion which is output from the multiplexer 5.
When the dimensional coordinate is P, a matrix operation of Q = AP is performed. (Refer to Formula 1) By this matrix calculation, the viewpoint position and the like change. The two-dimensional coordinate Q output from the multiplier 13 with accumulator, that is, X, Y data is input to the multiplexer 5 together with the X, Y display address from the raster display generator 16 and corresponds to the change at the time of reading and writing. Selected and input to the drawing memory 6 to be stored. The selection control signal is output from the raster coordinate generator 16. Further, data obtained by A / D converting video data, which is analog information, is also input to the multiplexer 5, whereby the strength of the signal can be determined.

The data accumulated in the drawing memory 6 is output to the data bus 8 and is output to the output register / shift register 17
Is input to the D / A converter 9 via. The signal converted into an analog signal by this is input to the monitor 18 together with the V / H signal from the raster display generator 16, and the various 2
Dimensional video display is possible.

Here, the viewpoint position can be changed by changing each component in the 2 × 4 matrix in the following conversion formula.

[0026]

[Equation 1] Here, X, Y: Plane coordinate system after conversion mx1 to mx4, my1 to my4: Matrix component (-1≤mx1 to mx4 <0, -1≤my1 to my4 <
0) (0 <mx1 to mx4 ≤1, 0 <my1 to my4 ≤1) x, y, z: coordinate system before conversion mx1 to mx3 and my1 to my3: rotation and field size components mx4 and my4: viewpoint Position and direction components However, when changing each component of the matrix, be sure to perform 1-3
One of the columns is set to 0. As a result, one of x, y, and z which is a three-dimensional space system can be deleted to form a two-dimensional plane coordinate system (that is, a display system).

<Display example> (1) PPI display (Rng-Az display) The matrix of 2 rows and 4 columns in this display is

[Equation 2] become that way. FIG. 2 shows an explanatory diagram of this display. In the PPI display, since the position of the viewpoint is in the positive direction of the Y axis (when the antenna center is the origin) as shown in FIG. 2C, it is not necessary to display the Y coordinate of the three-dimensional spatial coordinate system. Therefore, all the rows in the second column are 0. Moreover, since the Y-axis positive direction is the viewpoint position, when the world coordinate system (standard coordinate system) is rotated to such a coordinate system as shown in FIGS. 2A and 2B, the matrix becomes 1 Row component 2
The row 0 is 0, the first row of the third column component is 0, and the first row of the fourth column component is 0.

(2) Rng-EL display In this display, the matrix of 2 rows and 4 columns is

(Equation 3) become that way. FIG. 3 shows an explanatory diagram of this display. In the Rng-EL display, since the position of the viewpoint is in the positive direction of the X axis (when the antenna center is the origin) as shown in FIG. 3C, it is not necessary to display the X coordinate of the three-dimensional space coordinate. . Therefore, all the rows in the first column are 0. Further, since the X-axis positive direction is the viewpoint position, when the world coordinate system is rotated to have such a coordinate system as shown in FIGS. 3A and 3B, the matrix becomes the second column, first row. The eye is 0, the second row of the third column is 0, and the second row of the fourth column is 0.

As described above, in this embodiment, the viewpoint position is changed by changing each component of the matrix of 2 rows and 4 columns, and various two-dimensional display can be performed by utilizing the three-dimensional radar information. Second Embodiment In this embodiment, a trail circuit is further provided in addition to the above-described first embodiment, and the trail coefficient is freely variable by the CPU to freely control the afterimage time.

FIG. 4 shows a block diagram of the entire configuration of this embodiment. In addition to the configuration of FIG. 1, a trail circuit indicated by reference numeral 102 and a control system indicated by reference numeral 101 are added.

In this structure, there are two types of data from the data bus 8, one of which is input to the output register / shift register 17 and the other of which is input to the trail circuit 102. The data input to the output register / shift register 17 is output to the D / A converter 9. The data signal converted into an analog signal by the D / A converter 9 is input to the monitor 18 together with the V / H synchronization signal from the raster display generator 16 and becomes a TV video signal.

Next, the flow of data input to the trail circuit 102 will be described. The trail circuit 102 is
The data from the data bus 8 is subtracted by an arbitrary trail coefficient value output from the control system 101. Subtraction is Dm = (S + Dm-1) -x (m = 1, 2, ..., N) where Dm: afterimage display value (however, D0 = 0, Dn = 0) S: current display value x: It is based on the trail coefficient. As you can see from the above equation, (S + Dm-1
) = X, the afterimage will be cleared.

The data obtained by the subtraction is written in the drawing memory 6 again. Then, the data from the drawing memory 6 is output to the data bus 8 and input to the D / A converter 9 via the output register / shift register 17. As a result, the data signal converted into the analog signal is monitored by the monitor 18 together with the V / H signal from the raster display generator 16.
Is input to and displayed as a video.

The trail coefficient in this embodiment is the CPU
11 control. For example, when the trail coefficient x is set to -1 by the control of the CPU 11, when the video amplitude has 256 gradations, 256 frames (60
Hz) In non-interlaced display, one frame is about 1
All will be erased in 6.7 ms.

When the trail coefficient is set to 0,
The data input from the data bus 8 is not reduced but is overwritten in the drawing memory 6 as it is and is displayed on the monitor (that is, the display in which the afterimage remains all the time).

Further, it is possible to increase the trail coefficient like -2 and -3 and shorten the afterimage time. When the trail coefficient is set to -256, the displayed data is displayed in one frame. It becomes a display device that can clear everything.

As described above, the trail circuit 102 in this embodiment is controlled by the CPU 11 so that the data bus 8
The afterimage time can be freely set by changing the data output from.

Embodiment 3 In this embodiment, in addition to the configuration of FIG. 4, a line segmentation processing circuit 100 is further provided to change the intervals of video detection points caused by changes in matrix values (consecutive detection point intervals are set in consideration of the display range. The interval is / 512 dots (half the scanning number 1024), but the value of the z component is also taken into consideration, so that the interval is widened depending on the viewpoint position. 5 and 6 are configuration block diagrams of this embodiment. The X and Y data from the multiplier 13 with accumulator and the video data from the A / D converter 7 are, as shown in FIG.
Is input to These input data are input to the latch circuit 112 as shown in FIG. Latch circuit 1
The X and Y data excluding the video data output from 12 is input to the difference circuit 113 together with the current data, and the amount of change is calculated. The X and Y data are also input to the accumulator 117. The calculated change amount data is
It is input to the absolute value circuit 114, the vector sequencer circuit 119, and the multiplier (multiplier) 116. Both the X and Y data input to the absolute value circuit 114 are input to the multiplexer 5.

The X, Y data input to the vector sequencer circuit 119 is converted into the X, Y data input to the multiplexer 5.
Of the Y data, it is processed as control data for selecting either one of the data having a large change amount. This control signal data outputs from the multiplexer 5.
ΔX | or | ΔY | data is the divider (divider) 115
It is input to and becomes reciprocal numerical data. The | ΔX | or | ΔY | data is also input to the vector sequencer circuit 119. The reciprocal numerical value data is input to the multiplier 116 together with the change amount data output from the difference circuit 113, and is multiplied to obtain a large change amount ΔX or ΔY.
Calculate small change data depending on (ΔX / | ΔX
|, ΔY / | ΔX | or ΔX / | ΔY |, ΔY / | Δ
Y |). This minute change amount data is stored in the accumulator 1 together with the previous data X and Y output from the latch circuit 112.
17 is input. The data input to the accumulator 117 is added as follows by the output from the vector sequencer circuit 119 that uses the data of | ΔX | or | ΔY | output from the multiplexer 5 as accumulator control signal data.

X = X1 + ΔX / (| ΔX | or | ΔY |) Y = Y1 + ΔY / (| ΔX | or | ΔY |) where X1 and Y1 are the previous data, and the number of additions is the change amount. Depending on | ΔX | or | ΔY | which is large (for X value data, addition is performed up to the range of X1 ≤ X ≤ X2, and for Y value data, addition is performed up to the range of Y1 ≤ Y ≤ Y2) .

On the other hand, the video data output from the latch circuit 112 of FIG. 6 is input to the comparator circuit 118 together with the video current data, and the signal data of the previous data or the current data, which is stronger, is input to the vector sequencer circuit 119. The input video signal data is processed as control signal data of the latch circuit 112 which inputs the video signal, and is input to the latch circuit 112. As a result, the video signal data output from the latch circuit 112 becomes the strongest signal data at the present time.

By performing such processing in the line segmentation processing circuit 100, the intervals between video detection points can be made continuous.

In this embodiment, the case where the trail circuit is used is illustrated as in the second embodiment, but it goes without saying that the line segmentation processing can be performed without using the trail circuit.

Embodiment 4 In this embodiment, in addition to the configuration of FIG. 5, an EL angle selection control circuit 10001 is further provided to arbitrarily display video of all radar beams emitted for each EL angle. Indicates.

FIG. 7 shows a block diagram of the configuration of this embodiment. The EL angle signal data is input to the EL angle selection control circuit (EL select) 200. Of the input data, only arbitrary data is selected by the control signal from the CPU 11 and output from the EL angle selection control circuit 200. The arbitrary data selected by the control of the CPU 11 may be one or plural. The EL angle data output from the EL angle selection control circuit 200 is positive / negative.
From the cosine calculation circuit 1 to polar coordinate data X,
After being converted into Y and Z, the same processing as in the above-described embodiment is performed thereafter.

As described above, by enabling video display of an arbitrary EL angle, it is possible to know at what position of the elevation angle the video information to be noticed and to display video only in the direction of the height range to be watched. Therefore, the control ability is improved.

In the present embodiment, the case where the trail circuit and the line segmentation processing circuit are used has been illustrated, but it goes without saying that only the EL angle selection may be performed without using these circuits.

Fifth Embodiment In this embodiment, an RGB display circuit is further provided in addition to the above-mentioned embodiment, and color classification is performed by color display for each EL angle.

FIG. 8 shows a block diagram of the configuration of this embodiment. The EL angle selection circuit 20 is controlled by the CPU 11.
The arbitrary EL angle data output from 0 is input to the positive / cosine calculation circuit 1 and the time adjustment latch circuit 3
00 is input. The processing after the positive / cosine calculation circuit 1 is the same as that of the above-mentioned embodiment, and therefore its explanation is omitted.

The EL angle data input to the time adjustment latch circuit 300 is latched by the time adjustment clock generated by the clock generator 14 and has the same timing as the data output from the second stage multiplexer 5. The latched data serves as a trigger signal for the EL angle change latch circuit 301 and latches the data output from the second stage multiplexer 5 at the EL angle change point.
The latched data is input to the flag generation circuit 302, and when the data changes, the flag data is generated as an output (the number of flag data depends on the number of EL angle data). The flag data is input to the RGB display circuit 303, and the color color data assigned to the flag is written in the memory 6. The RGB display circuit 3 is stored in the memory 6.
In addition to the color display data from 03, the data input from the second stage multiplexer 5 to the time alignment latch circuit 300 and latched at the same timing as the color display data is also written. The data thus written in the memory 6 is processed in the same manner as in the above-described embodiment, and the video display is displayed in different colors for each EL angle.

As a result, the height information can be obtained only by identifying the color on the screen, so that the control can be performed more easily.

[0052]

As described above, in the video display device according to any one of claims 1 to 5, various two-dimensional display can be performed from three-dimensional information, and the radar control capability and the like with a simple structure. Can be improved.

Further, in the video display device according to the second aspect, the detection point intervals can be made uniform even when various two-dimensional displays are performed, so that the two-dimensional display can be smoothly performed from different viewpoints. Further, in the video display device according to claim 3, since arbitrary elevation angle data can be selected and displayed,
The degree of freedom in control is increased, for example, only a desired height can be controlled.

Further, in the video display device according to the fourth aspect, since the afterimage time of the screen can be controlled, there is an effect that the control capability is improved such that the movement situation can be easily grasped from the track.

Further, in the video display device according to the fifth aspect, since it is possible to color-code each detection point, there is an effect that the control ability is improved by changing the display color for each height.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a PPI display according to the same embodiment.

FIG. 3 is an explanatory diagram of Rng-EL display according to the embodiment.

FIG. 4 is a configuration block diagram of a second embodiment of the present invention.

FIG. 5 is a configuration block diagram of a third embodiment of the present invention.

FIG. 6 is a detailed configuration block diagram of the embodiment.

FIG. 7 is a configuration block diagram of a fourth embodiment of the present invention.

FIG. 8 is a configuration block diagram of a fifth embodiment of the present invention.

FIG. 9 is a configuration block diagram of a conventional device.

[Explanation of symbols]

1 positive / cosine arithmetic circuit, 2 read clock generator, 3
X counter, 4 Y counter, 5 multiplexer,
6 memory, 7 A / D converter, 8 data bus, 9
D / A converter, 11 CPU, 12 matrix value memory, 13 multiplier (multiplier with accumulator), 14 clock generator, 15 raster display clock, 16 raster display generator, 100 line differentiation processing circuit, 101 control circuit, 102 trail circuit, 112 latch circuit, 113 difference circuit, 114 absolute value circuit, 115 divider, 116 multiplier, 11
7 accumulator, 118 comparator, 119 vector sequencer, 200 EL angle selection control circuit, 30
0 time adjustment latch circuit, 301 EL angle change latch circuit, 302 flag generation circuit, 303 RGB display circuit.

Claims (5)

[Claims] 1. A video display device for converting polar coordinate data of azimuth, distance and elevation, which is three-dimensional information, into two-dimensional Cartesian coordinates for two-dimensional display, wherein the three-dimensional data of azimuth, distance and elevation. 2 for P
Operation means for converting into arbitrary two-dimensional data Q by performing an operation Q = AP using an operator represented by a matrix A of 4 rows, and display means for displaying the two-dimensional data obtained by the operation. When,
And a two-dimensional display from a plurality of viewpoints by changing the components of the matrix A. 2. The video display device according to claim 1, further comprising line segmentation processing means for interpolating an interval based on a change amount of the two-dimensional data Q, wherein the computing means changes the components of the matrix A. The video display device is characterized in that the display interval of the two-dimensional data Q on the display means is made constant even in the case of the above. 3. The video display device according to claim 1 or 2, further comprising a selection means for selecting arbitrary data from the elevation polar coordinate data. 4. Claim 1 or claim 2 or claim 3.
The video display device as described above, further comprising a trail circuit for controlling an afterimage time of display on the display means. 5. Claim 1 or claim 2 or claim 3.
5. The video display device according to claim 4, further comprising RGB display means for displaying different colors for each of the two-dimensional data Q.