CN109709538A - Distributed radar upper computer software system and operation method based on electronic map - Google Patents
Distributed radar upper computer software system and operation method based on electronic map Download PDFInfo
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Abstract
The invention discloses a kind of distributed radar upper computer software system and operation method based on electronic map.The system includes radar information setup module, for modifying radar information；Radar information visualization model, for showing radar site and investigative range；Track data receiving module, for receiving track data；Track data coordinate transferring, for the polar coordinates of track data to be converted to the latitude and longitude coordinates of electronic map；Track data processing module, for being associated to track data；Track data display module for the track data of displaying target, and draws target trajectory；Multiple threads frame module carries out parallel processing for system to be divided into two threads.Present invention decreases the errors of target acquisition, radar and target are improved in the visualization of host computer, accuracy and real-time of the simultaneity factor software in terms of track data receiving, processing and display meet the index of Practical Project requirement, practicability with higher.
Description
Technical Field
The invention relates to the field of multi-sensor information fusion and the field of visual display, in particular to a distributed radar upper computer software system based on an electronic map and an operation method.
Background
With the rapid development of modern science and technology and the demand of modern wars, the application of information fusion technology in the field of mobile target tracking is a hotspot in the research of recent years, and the visualization of radar information and detection target information is the most important link in the visualization of modern battlefields. In the face of the high maneuverability and complexity of the target land for the flight of enemies in modern battlefields, in order to effectively attack and defend the target in real time, the information of the target must be provided by organically combining a plurality of sensors for accurate tracking. Meanwhile, layout information of the multiple sensors in the geographic position and detected target information are displayed on the upper computer in a visual mode, and the method plays a vital role in grasping the comprehensive situation of the whole battlefield.
The existing radar upper computer software system generally uses a single radar to detect, and the precision and accuracy of a detected target completely depend on the hardware configuration of the radar, so that the hardware configuration becomes the bottleneck of improving the radar detection performance. Moreover, the traditional upper computer display interface is a scanning plane with a radar as a center, and the detected target is directly displayed on the scanning plane according to the position relative to the radar, so that the position of the target in the real world cannot be visually displayed in the display mode, and the visualization degree is not high.
Disclosure of Invention
The invention aims to provide a distributed networking radar upper computer software system based on an electronic map, which meets the requirement of real-time performance while ensuring accurate track data display.
The technical solution for realizing the purpose of the invention is as follows: a distributed radar upper computer software system based on an electronic map comprises a radar information setting module, a radar information visualization module, a track data receiving module, a track data coordinate conversion module, a track data processing module, a track data display module and a multithreading processing frame module;
the radar information setting module is used for modifying the information of each radar and simultaneously carrying out local storage;
the radar information visualization module displays the position and the detection range of each radar on the electronic map according to each radar information set by the radar information setting module;
the track data receiving module is used for receiving track data of a plurality of radars and transmitting the track data to the track data coordinate conversion module;
the track data coordinate conversion module is used for converting the polar coordinates of the track data in the track data receiving module into longitude and latitude coordinates of the electronic map and transmitting the converted track data to the track data processing module;
the track data processing module is used for carrying out track association on the track data converted by the track data coordinate conversion module, fusing the associated track data and outputting the fused track data to the track data display module, and directly outputting the unassociated track data to the track data display module;
the track data display module is used for displaying the target track data processed by the track data processing module on an electronic map in real time according to longitude and latitude coordinates and drawing a track of target motion;
the multithread processing framework module is used for dividing the track data receiving module, the track data processing module and the track data display module into two threads for parallel processing, wherein the first two modules are in one thread, and the latter module is in the other thread.
The running method based on the software system comprises the following steps:
step 1, setting coordinate information and detection information of each radar through a radar information setting module;
step 2, according to the set radar information, displaying the position and detection range of each radar on the electronic map through a radar information visualization module;
step 3, setting the address of multicast communication, then receiving the data of a track data packet through a track data receiving module, and transmitting the track data to a track data coordinate conversion module;
step 4, converting the polar coordinates of the track data obtained in the step 3 into longitude and latitude coordinates of the electronic map by using a track data coordinate conversion module, and transmitting the converted track data to a track data processing module;
step 5, performing track association on the track data obtained in the step 4 by using a track data processing module, fusing the associated track data and outputting the fused track data to a track data display module, and directly outputting the unassociated track data to the track data display module;
step 6, displaying the target track data obtained in the step 5 on an electronic map in real time according to longitude and latitude coordinates through a track data display module, and drawing a track of the target motion;
and 7, repeating the steps 2 to 6 to process the data of the next track data packet, and circularly acquiring the motion track of the target in real time until the software system stops running.
Compared with the prior art, the invention has the following remarkable advantages: 1) the invention utilizes the information fusion technology, reduces the error of target detection and improves the accuracy of target tracking; 2) according to the invention, by using an electronic map technology and combining a radar technology with a computer visualization technology, the visualization degree of radar display and target display is greatly improved, the usability of the radar is improved, and the civilization process of the radar is promoted; 3) the invention uses a multi-thread structural framework, avoids the packet loss problem of network communication and simultaneously ensures the real-time performance of track data receiving, processing and displaying.
The present invention is described in further detail below with reference to the attached drawings.
Drawings
Fig. 1 is a structural block diagram of a distributed radar upper computer software system based on an electronic map.
FIG. 2 is a block diagram of a track data processing module according to the present invention.
FIG. 3 is a block diagram of a track data display module according to the present invention.
FIG. 4 is a block diagram of a multithreading framework module according to the present invention.
Detailed Description
The invention obtains the flight path data detected by each radar through the UDP multicast communication technology, and displays the processed data on the electronic map according to the longitude and latitude information after coordinate conversion, independent sequential flight path association and convex combined flight path fusion processing. The system respectively uses two threads to process the flight path data and display the flight path data, thereby ensuring the timeliness of receiving the flight path data and the real-time performance of displaying the flight path.
With reference to fig. 1, the distributed radar upper computer software system based on the electronic map comprises a radar information setting module, a radar information visualization module, a track data receiving module, a track data coordinate conversion module, a track data processing module, a track data display module and a multithreading processing frame module. Wherein,
the radar information setting module is used for modifying the information of each radar and simultaneously carrying out local storage;
the radar information visualization module is used for displaying the position and the detection range of each radar on the electronic map according to each piece of radar information set by the radar information setting module;
the flight path data receiving module is used for receiving the flight path data of a plurality of radars and transmitting the flight path data to the flight path data coordinate conversion module;
the track data coordinate conversion module is used for converting the polar coordinates of the track data in the track data receiving module into longitude and latitude coordinates of the electronic map and transmitting the converted track data to the track data processing module;
the track data processing module is used for carrying out track association on the track data converted by the track data coordinate conversion module, fusing the associated track data and outputting the fused track data to the track data display module, and directly outputting the unassociated track data to the track data display module;
the track data display module is used for displaying the target track data processed by the track data processing module on the electronic map in real time according to the longitude and latitude coordinates and drawing the track of the target motion;
and the multithreading processing framework module is used for dividing the track data receiving module, the track data processing module and the track data display module into two threads for parallel processing, wherein the first two modules are in one thread, and the latter module is in the other thread.
Further, the radar information setting module includes:
the radar position information acquisition module is used for acquiring longitude and latitude coordinate information of a radar position on an online electronic map;
the radar detection information setting module is used for modifying the detection information of the radar; the modification comprises addition and deletion; the detection information comprises starting angle information, ending angle information and distance information;
and the radar information localization storage module is used for storing the set radar information to a local disk.
As a specific example, the radar information setting module includes:
the radar position information acquisition module is loaded on the online electronic map and calls a Baidu map API by JavaScript to acquire longitude and latitude coordinate information of a radar position;
the radar detection information setting module is used for modifying the detection information of the radar by using QTableView and Qstandby dItemModel controls of QT, such as adding, deleting and the like;
and the radar information localization storage module stores the set radar information into a local txt text through splicing of the character strings.
Further, the radar information visualization module comprises:
the fan-shaped drawing module is used for drawing a corresponding fan shape on the electronic map according to the coordinate information, the distance information, the starting angle information and the ending angle information;
and the radar detection area drawing module is used for drawing a corresponding fan-shaped detection area on the electronic map according to the information set by the radar information setting module by using the timing function of the QT.
As a specific example, the radar information visualization module includes:
the sector drawing module is used for averagely dividing the radian of a sector into ten parts, calling a Baidu map API by JavaScript to calculate longitude and latitude coordinates of each division point, and then connecting each point into a line by using Polygon;
and the radar detection area drawing module calls the fan-shaped drawing module through a timing function using the QT, and draws a corresponding fan-shaped detection area on the electronic map according to information set by each radar.
Further, the track data receiving module comprises:
the local IP address acquisition module is used for acquiring the IP address of the computer where the upper computer is located;
the UDP multicast communication module is used for transmitting the multi-radar track data;
and the data analysis module is used for analyzing the binary data into corresponding track data.
As a specific example, the track data receiving module includes:
the local IP address acquisition module acquires the IP address of the computer where the upper computer is positioned by using a QNetworkInterface class;
the UDP multicast communication module uses a QUdpsocket socket to transmit the multi-radar track data;
and the data analysis module is used for analyzing the binary data into corresponding decimal track data.
Further, the track data coordinate conversion module comprises:
the radian and angle conversion module is used for converting the angle information in the polar coordinates of the track data into radian information;
and the polar coordinate-to-longitude-latitude coordinate module is used for converting the polar coordinates of the track data into longitude and latitude coordinates of the electronic map.
Further, the track data processing module comprises:
the matrix multiplication module is used for multiplying the error covariance matrix of the flight path data with the state matrix;
the matrix inversion module is used for carrying out inverse operation on the error covariance matrix and the state matrix of the track data;
the track data association module is used for carrying out track association on the track data among different radars;
the track correlation quality statistic module is used for judging whether the two correlated tracks are a fixed correlation pair or not; the fixed association pair is specifically that the number n of times of association of the two tracks is greater than or equal to a preset threshold value p.
And the track data fusion module is used for fusing the two track data of the fixed association pair to form a track.
As a specific example, the track data association adopts an independent sequential track association algorithm.
As a specific example, the track data fusion adopts a convex combination track fusion algorithm.
As a specific example, in conjunction with fig. 2, the workflow of the track data processing module is as follows:
(1) and the track data processed by the track receiving module and the track coordinate conversion module are stored in the structure array and transmitted to the track data processing module.
(2) And the track data processing module performs cycle traversal on the structure array, firstly judges whether two track data to be associated and detected are fixed association pairs, and directly performs convex combination track fusion operation if the two track data to be associated and detected are fixed association pairs, otherwise performs independent sequential track association operation.
(3) And after the two track data are subjected to independent sequential track operation, generating a statistic, comparing the statistic with a set threshold value, if the statistic value is smaller than the threshold, adding one to the track associated quality, and otherwise, subtracting the track associated quality and finishing the cycle operation.
(4) And judging whether the track association quality is greater than six for the two track data in association, and if so, marking the two track data as a fixed association pair. And then carrying out convex combination track fusion operation, and processing the next group of track data after the fusion operation is finished.
Further, the track data display module comprises:
the trace-point drawing module is used for drawing the detected target at a corresponding position of the electronic map;
and the track drawing module is used for displaying the track of the detected target movement on the electronic map.
As a specific example, the track data display module includes:
the trace-point drawing module is used for calling a Baidu map API in the Html file by JavaScript to draw the detected target at the corresponding position of the electronic map according to the position information, and different target types are displayed as different icons;
and the track drawing module calls a Baidu map API in the Html file by using JavaScript to display the track of the detected target moving on the electronic map according to the target position information at the previous moment and the current moment, and different target types are displayed in different colors.
As a specific example, in conjunction with fig. 3, the track data display module works as follows:
(1) the Html file first references the offline map tile map, CSS style file, and API resources needed for the offline map. And calling an electronic map API function in a JavaScript label of the Html to write related functions of adding a target point, moving the target point, deleting the target point, drawing a track and deleting the track. And finally, loading the compiled Html file by using the WebKit control of the upper computer to display the electronic map.
(2) And after the electronic map is successfully loaded, calling a corresponding JavaScript function in the Html to display, move and delete the target point and draw and delete the track on the electronic map according to the processed track data state.
Further, the multithreaded processing framework module includes:
the sub-thread module is used for receiving and processing flight path data in real time;
and the main thread module is used for starting the sub-threads and displaying the processed track data in real time.
As a specific example, in connection with fig. 4, the multithreading framework module includes:
and the sub-thread processing module is used for deriving the QThread through the subclass and realizing a QThread:: run () function, and is used for reading and processing track data from a buffer area of network communication in real time.
And the main thread processing module starts the sub-threads to receive and process data, performs inter-thread communication through a shared variable, and displays the processed data in real time.
As a specific example, the multithreading framework module works as follows:
(1) the program is run, starting the sub-thread in the main thread through QThread:: start (). And receiving and processing the flight path data through the operation of the sub-thread, and storing the processed result into a structure array. And reading the structure array by the main thread by utilizing a communication mode of sharing a memory among threads, and displaying the result on the electronic map according to the data state.
(2) During operation, the sub-thread triggers track drawing of the main thread through an information/slot mechanism of the QT, the two threads are operated in no fixed sequence, and the system automatically allocates the CPU usage according to the resource usage of each thread.
The operation method based on the software system of the distributed radar upper computer comprises the following steps:
step 1, setting coordinate information and detection information of each radar through a radar information setting module;
step 2, according to the set radar information, displaying the position and detection range of each radar on the electronic map through a radar information visualization module;
step 3, setting the address of multicast communication, then receiving the data of a track data packet through a track data receiving module, and transmitting the track data to a track data coordinate conversion module;
step 4, converting the polar coordinates of the track data obtained in the step 3 into longitude and latitude coordinates of the electronic map by using a track data coordinate conversion module, and transmitting the converted track data to a track data processing module;
step 5, performing track association on the track data obtained in the step 4 by using a track data processing module, fusing the associated track data and outputting the fused track data to a track data display module, and directly outputting the unassociated track data to the track data display module;
step 6, displaying the target track data obtained in the step 5 on an electronic map in real time according to longitude and latitude coordinates through a track data display module, and drawing a track of the target motion;
and 7, repeating the steps 2 to 6 to process the data of the next track data packet, and circularly acquiring the motion track of the target in real time until the software system stops running.
The invention reduces the error of target detection, improves the visualization degree of the radar and the target on the host computer, simultaneously meets the indexes of actual engineering requirements on the accuracy and the real-time performance of system software in the aspects of track data receiving, processing and displaying, and has higher practicability.
Claims (10)
1. The distributed radar upper computer software system based on the electronic map is characterized by comprising a radar information setting module, a radar information visualization module, a track data receiving module, a track data coordinate conversion module, a track data processing module, a track data display module and a multithreading processing frame module;
the radar information setting module is used for modifying the information of each radar and simultaneously carrying out local storage;
the radar information visualization module displays the position and the detection range of each radar on the electronic map according to each radar information set by the radar information setting module;
the track data receiving module is used for receiving track data of a plurality of radars and transmitting the track data to the track data coordinate conversion module;
the track data coordinate conversion module is used for converting the polar coordinates of the track data in the track data receiving module into longitude and latitude coordinates of the electronic map and transmitting the converted track data to the track data processing module;
the track data processing module is used for carrying out track association on the track data converted by the track data coordinate conversion module, fusing the associated track data and outputting the fused track data to the track data display module, and directly outputting the unassociated track data to the track data display module;
the track data display module is used for displaying the target track data processed by the track data processing module on an electronic map in real time according to longitude and latitude coordinates and drawing a track of target motion;
the multithread processing framework module is used for dividing the track data receiving module, the track data processing module and the track data display module into two threads for parallel processing, wherein the first two modules are in one thread, and the latter module is in the other thread.
2. The distributed radar upper computer software system based on the electronic map as claimed in claim 1, wherein the track association is performed on the track data converted by the track data coordinate conversion module, specifically: carrying out track association on the track data converted by the track data coordinate conversion module by using an independent sequential track association algorithm;
the fusion of the associated track data specifically comprises: and fusing the track data on the association by using a convex combination track fusion algorithm.
3. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the track data receiving module comprises:
the local IP address acquisition module is used for acquiring the IP address of the computer where the upper computer is located;
the UDP multicast communication module is used for transmitting the multi-radar track data;
and the data analysis module is used for analyzing the binary data into corresponding track data.
4. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the track data coordinate conversion module comprises:
the radian and angle conversion module is used for converting the angle information in the polar coordinates of the track data into radian information;
and the polar coordinate-to-longitude-latitude coordinate module is used for converting the polar coordinates of the track data into longitude and latitude coordinates of the electronic map.
5. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the track data processing module comprises:
the matrix multiplication module is used for multiplying the error covariance matrix of the flight path data with the state matrix;
the matrix inversion module is used for carrying out inverse operation on the error covariance matrix and the state matrix of the track data;
the track data association module is used for carrying out track association on the track data among different radars;
the track correlation quality statistic module is used for judging whether the two correlated tracks are a fixed correlation pair or not; the fixed association pair is specifically that the number n of times of association of the two tracks is greater than or equal to a preset threshold value p;
and the track data fusion module is used for fusing the two track data of the fixed association pair to form a track.
6. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the radar information setting module comprises:
the radar position information acquisition module is used for acquiring longitude and latitude coordinate information of a radar position on an online electronic map;
the radar detection information setting module is used for modifying the detection information of the radar; the modification comprises addition and deletion; the detection information comprises starting angle information, ending angle information and distance information;
and the radar information localization storage module is used for storing the set radar information to a local disk.
7. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the radar information visualization module comprises:
the fan-shaped drawing module is used for drawing a corresponding fan shape on the electronic map according to the coordinate information, the distance information, the starting angle information and the ending angle information;
and the radar detection area drawing module is used for drawing a corresponding fan-shaped detection area on the electronic map according to the information set by the radar information setting module by using the timing function of the QT.
8. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the track data display module comprises:
the trace-point drawing module is used for drawing the detected target at a corresponding position of the electronic map;
and the track drawing module is used for displaying the track of the detected target movement on the electronic map.
9. The electronic map-based distributed radar upper computer software system according to claim 1, wherein the multithread processing framework module comprises:
the sub-thread module is used for receiving and processing flight path data in real time;
and the main thread module is used for starting the sub-threads and displaying the processed track data in real time.
10. The operation method of the distributed radar upper computer software system based on claim 1 is characterized by comprising the following steps:
step 1, setting coordinate information and detection information of each radar through a radar information setting module;
step 2, according to the set radar information, displaying the position and detection range of each radar on the electronic map through a radar information visualization module;
step 3, setting the address of multicast communication, then receiving the data of a track data packet through a track data receiving module, and transmitting the track data to a track data coordinate conversion module;
step 4, converting the polar coordinates of the track data obtained in the step 3 into longitude and latitude coordinates of the electronic map by using a track data coordinate conversion module, and transmitting the converted track data to a track data processing module;
step 5, performing track association on the track data obtained in the step 4 by using a track data processing module, fusing the associated track data and outputting the fused track data to a track data display module, and directly outputting the unassociated track data to the track data display module;
step 6, displaying the target track data obtained in the step 5 on an electronic map in real time according to longitude and latitude coordinates through a track data display module, and drawing a track of the target motion;
and 7, repeating the steps 2 to 6 to process the data of the next track data packet, and circularly acquiring the motion track of the target in real time until the software system stops running.
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