CN109709538A - Distributed radar host computer software system and operation method based on electronic map - Google Patents
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Abstract
本发明公开了一种基于电子地图的分布式雷达上位机软件系统及运行方法。该系统包括雷达信息设置模块，用于修改雷达信息；雷达信息可视化模块，用于显示雷达位置以及探测范围；航迹数据接收模块，用于接收航迹数据；航迹数据坐标转换模块，用于将航迹数据的极坐标转换为电子地图的经纬度坐标；航迹数据处理模块，用于对航迹数据进行关联；航迹数据显示模块，用于显示目标的航迹数据，并绘制目标运动轨迹；多线程处理框架模块，用于将系统分为两个线程进行并行处理。本发明减小了目标探测的误差，提高了雷达和目标在上位机的可视化程度，同时系统软件在航迹数据接收、处理以及显示方面的准确性和实时性满足实际工程要求的指标，具有较高的实用性。
The invention discloses a distributed radar upper computer software system and an operation method based on an electronic map. The system includes a radar information setting module for modifying radar information; a radar information visualization module for displaying radar position and detection range; a track data receiving module for receiving track data; a track data coordinate conversion module for Convert the polar coordinates of the track data to the latitude and longitude coordinates of the electronic map; the track data processing module is used to associate the track data; the track data display module is used to display the track data of the target and draw the target movement track ; Multithreading framework module, used to divide the system into two threads for parallel processing. The invention reduces the error of target detection, improves the visualization degree of the radar and the target in the host computer, and at the same time, the accuracy and real-time performance of the system software in the reception, processing and display of the track data meet the indexes of actual engineering requirements, and has a relatively high performance. High availability.
Description
技术领域technical field
本发明涉及多传感器信息融合领域和可视化显示领域，特别是一种基于电子地图的分布式雷达上位机软件系统及运行方法。The invention relates to the fields of multi-sensor information fusion and visual display, in particular to a distributed radar host computer software system and an operation method based on an electronic map.
背景技术Background technique
随着现代科技的飞速发展以及现代战争的需求，在机动目标跟踪领域应用信息融合技术是近年来研究地热点，雷达信息和探测目标信息可视化是现代战场可视化中的最重要环节。面对现代战场中敌方飞行目标地高机动性和复杂性，为了对目标实时有效地打击和防御，必须有机结合多部传感器提供目标的信息，进行精确地跟踪。同时将多传感器在地理位置的布局信息和探测到的目标信息在上位机上可视化显示，对于整个战场的综合态势的把握有着至关重要的作用。With the rapid development of modern science and technology and the needs of modern warfare, the application of information fusion technology in the field of maneuvering target tracking has become a research hotspot in recent years. 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 mobility and complexity of the enemy's flying targets in the modern battlefield, in order to effectively strike and defend the target in real time, it is necessary to organically combine multiple sensors to provide target information for accurate tracking. At the same time, the layout information of the multi-sensors in the geographic location and the detected target information can be visualized on the host computer, which plays a vital role in grasping the comprehensive situation of the entire battlefield.
现有的雷达上位机软件系统，一般是用单部雷达进行探测，所探测目标的精度和准确度完全依赖于雷达的硬件配置，这就导致了硬件配置成为雷达探测性能提升的瓶颈。而且，传统的上位机显示界面是以雷达为中心的扫描平面，而探测到的目标根据相对雷达的位置直接显示在扫描平面，这种显示方式并不能直观显示出目标在现实世界的位置，可视化程度不高。The existing radar host computer software system generally uses a single radar for detection, and the precision and accuracy of the detected target completely depend on the hardware configuration of the radar, which leads to the hardware configuration becoming a bottleneck for improving the radar detection performance. Moreover, the traditional display interface of the host computer is a scanning plane centered on the radar, and the detected target is directly displayed on the scanning plane according to the position relative to the radar. This display method cannot directly display the position of the target in the real world. Visualization Not to a high degree.
发明内容SUMMARY OF THE INVENTION
本发明所要解决的技术问题在于提供一种基于电子地图的分布式组网雷达上位机软件系统，在保证航迹数据显示准确的同时，满足实时性的要求。The technical problem to be solved by the present invention is to provide a distributed networking radar host computer software system based on an electronic map, which can meet the real-time requirements while ensuring the accurate display of track data.
实现本发明目的的技术解决方案为：一种基于电子地图的分布式雷达上位机软件系统，包括雷达信息设置模块、雷达信息可视化模块、航迹数据接收模块、航迹数据坐标转换模块、航迹数据处理模块、航迹数据显示模块、多线程处理框架模块；The technical solution for realizing the purpose of the present invention is: a distributed radar host computer software system based on an electronic map, 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 coordinate conversion module, and a track data coordinate conversion module. Data processing module, track data display module, multi-thread processing framework module;
所述雷达信息设置模块，用于对各雷达的信息进行修改，同时进行本地化存储；The radar information setting module is used to modify the information of each radar and perform localized storage at the same time;
所述雷达信息可视化模块，根据雷达信息设置模块设置好的各雷达信息，在电子地图上显示各雷达的位置以及探测范围；The radar information visualization module displays the position and detection range of each radar on the electronic map according to the radar information set by the radar information setting module;
所述航迹数据接收模块，用于接收多部雷达的航迹数据，并将该航迹数据传送至航迹数据坐标转换模块；The track data receiving module is used to receive track data of multiple radars, and transmit the track data to the track data coordinate conversion module;
所述航迹数据坐标转换模块，用于将航迹数据接收模块中的航迹数据的极坐标转换为电子地图的经纬度坐标，并将转换后的航迹数据传送至航迹数据处理模块；The track data coordinate conversion module is used to convert the polar coordinates of the track data in the track data receiving module into the latitude and longitude coordinates of the electronic map, and transmit the converted track data to the track data processing module;
所述航迹数据处理模块，用于对经过航迹数据坐标转换模块转换后的航迹数据进行航迹关联，且将关联上的航迹数据进行融合并输出至航迹数据显示模块，将未关联上的航迹数据直接输出至航迹数据显示模块；The track data processing module is used to perform track association on the track data converted by the track data coordinate conversion module, and fuse the associated track data and output it to the track data display module, and convert the unrelated track data to the track data display module. The associated track data is directly output to the track data display module;
所述航迹数据显示模块，用于将航迹数据处理模块处理好的目标航迹数据根据经纬度坐标实时显示在电子地图上，并绘制目标运动的轨迹；The track data display module is used to display the target track data processed by the track data processing module on the electronic map in real time according to the latitude and longitude coordinates, and draw the track of the target movement;
所述多线程处理框架模块，用于将航迹数据接收模块、航迹数据处理模块、航迹数据显示模块分为两个线程进行并行处理，其中前两个模块在一个线程中，后一个模块在另一个线程中。The multi-thread processing framework module is used to divide 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 one thread. in another thread.
基于所述软件系统的运行方法，包括以下步骤：The operating method based on the software system includes the following steps:
步骤1、通过雷达信息设置模块，设置各个雷达的坐标信息和探测信息；Step 1. Set the coordinate information and detection information of each radar through the radar information setting module;
步骤2、根据设置好的雷达信息，通过雷达信息可视化模块在电子地图上显示各雷达的位置和探测范围；Step 2. According to the set radar information, display the position and detection range of each radar on the electronic map through the radar information visualization module;
步骤3、设置组播通信的地址，然后通过航迹数据接收模块接收一个航迹数据包的数据，并将该航迹数据传送至航迹数据坐标转换模块；Step 3, set the address of multicast communication, then receive the data of a track data packet through the track data receiving module, and transmit the track data to the track data coordinate conversion module;
步骤4、利用航迹数据坐标转换模块将步骤3获得的航迹数据的极坐标转换为电子地图的经纬度坐标，并将转换后的航迹数据传送至航迹数据处理模块；Step 4, utilize the track data coordinate conversion module to convert the polar coordinates of the track data obtained in step 3 into the latitude and longitude coordinates of the electronic map, and transmit the converted track data to the track data processing module;
步骤5、利用航迹数据处理模块对步骤4获得的航迹数据进行航迹关联，对关联上的航迹数据进行融合并输出至航迹数据显示模块，将未关联上的航迹数据直接输出至航迹数据显示模块；Step 5. Use the track data processing module to perform track association on the track data obtained in step 4, fuse the associated track data and output it to the track data display module, and directly output the unassociated track data. to the track data display module;
步骤6、通过航迹数据显示模块将步骤5获得的目标航迹数据根据经纬度坐标实时显示在电子地图上，并绘制目标运动的轨迹；Step 6, display the target track data obtained in step 5 on the electronic map in real time according to the latitude and longitude coordinates by the track data display module, and draw the track of the target movement;
步骤7、重复步骤2～步骤6对下一个航迹数据包的数据进行处理，以此循环实时获取目标的运动轨迹，直至停止该软件系统的运行。Step 7: Repeat steps 2 to 6 to process the data of the next track data packet, so as to obtain the motion track of the target in real time in a loop, until the operation of the software system is stopped.
本发明与现有技术相比，其显著优点为：1)本发明利用信息融合技术，减小了目标探测的误差，提高了目标跟踪的精度；2)本发明通过使用电子地图技术，将雷达技术与计算机可视化技术相结合，极大提高了雷达显示和目标显示的可视化程度，同时提高了雷达的易用性，推动雷达民用化进程；3)本发明使用多线程的结构框架，避免了网络通信的丢包问题，同时保证了航迹数据接收、处理和显示的实时性。Compared with the prior art, the present invention has the following significant advantages: 1) the present invention utilizes information fusion technology to reduce the error of target detection and improve the accuracy of target tracking; 2) the present invention uses electronic map technology to The combination of technology and computer visualization technology greatly improves the visualization degree of radar display and target display, and at the same time improves the ease of use of radar, and promotes the process of radar civilianization; 3) The present invention uses a multi-threaded structural framework to avoid network The problem of packet loss in communication, while ensuring the real-time performance of track data reception, processing and display.
下面结合附图对本发明作进一步详细的描述。The present invention will be described in further detail below with reference to the accompanying drawings.
附图说明Description of drawings
图1为本发明基于电子地图的分布式雷达上位机软件系统的结构框图。FIG. 1 is a structural block diagram of a distributed radar host computer software system based on an electronic map of the present invention.
图2为本发明中航迹数据处理模块的结构框图。FIG. 2 is a structural block diagram of the track data processing module in the present invention.
图3为本发明中航迹数据显示模块的结构框图。FIG. 3 is a structural block diagram of the track data display module in the present invention.
图4为本发明中多线程处理框架模块的结构框图。FIG. 4 is a structural block diagram of a multi-thread processing framework module in the present invention.
具体实施方式Detailed ways
本发明通过UDP组播通信技术来获取各个雷达所探测到的航迹数据，经过坐标转换、独立序贯航迹关联和凸组合航迹融合处理后，将处理后的数据根据其经纬度信息显示在电子地图上。本系统对航迹数据处理和航迹数据显示分别用两个线程来运行，从而保证了航迹数据接收的及时性以及航迹显示的实时性。The present invention obtains the track data detected by each radar through UDP multicast communication technology, and after coordinate conversion, independent sequential track association and convex combined track fusion processing, the processed data is displayed on the basis of its longitude and latitude information. on the electronic map. The system uses two threads to process the track data and display the track data respectively, thus ensuring the timeliness of track data reception and the real-time performance of track display.
结合图1，本发明基于电子地图的分布式雷达上位机软件系统，包括雷达信息设置模块、雷达信息可视化模块、航迹数据接收模块、航迹数据坐标转换模块、航迹数据处理模块、航迹数据显示模块、多线程处理框架模块。其中，In conjunction with Fig. 1, the distributed radar host computer software system of the present invention based on an electronic map includes 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 processing module, and a track data processing module. Data display module, multi-threaded processing framework module. in,
雷达信息设置模块，用于对各雷达的信息进行修改，同时进行本地化存储；The radar information setting module is used to modify the information of each radar and store it locally;
雷达信息可视化模块，根据雷达信息设置模块设置好的各雷达信息，在电子地图上显示各雷达的位置以及探测范围；The radar information visualization module, according to the radar information set by the radar information setting module, displays the position and detection range of each radar on the electronic map;
航迹数据接收模块，用于接收多部雷达的航迹数据，并将该航迹数据传送至航迹数据坐标转换模块；The track data receiving module is used to receive the track data of multiple radars, and transmit the track data to the track data coordinate conversion module;
航迹数据坐标转换模块，用于将航迹数据接收模块中的航迹数据的极坐标转换为电子地图的经纬度坐标，并将转换后的航迹数据传送至航迹数据处理模块；The track data coordinate conversion module is used to convert the polar coordinates of the track data in the track data receiving module into the latitude and longitude coordinates of the electronic map, and transmit the converted track data to the track data processing module;
航迹数据处理模块，用于对经过航迹数据坐标转换模块转换后的航迹数据进行航迹关联，且将关联上的航迹数据进行融合并输出至航迹数据显示模块，将未关联上的航迹数据直接输出至航迹数据显示模块；The track data processing module is used to perform track association on the track data converted by the track data coordinate conversion module, and fuse the associated track data and output it to the track data display module. The track data is directly output to the track data display module;
航迹数据显示模块，用于将航迹数据处理模块处理好的目标航迹数据根据经纬度坐标实时显示在电子地图上，并绘制目标运动的轨迹；The track data display module is used to display the target track data processed by the track data processing module on the electronic map in real time according to the latitude and longitude coordinates, and draw the trajectory of the target movement;
多线程处理框架模块，用于将航迹数据接收模块、航迹数据处理模块、航迹数据显示模块分为两个线程进行并行处理，其中前两个模块在一个线程中，后一个模块在另一个线程中。The multi-thread processing framework module is used to divide 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 another. in a thread.
进一步地，雷达信息设置模块包括：Further, the radar information setting module includes:
雷达位置信息获取模块，用于在在线电子地图上获取雷达位置的经纬度坐标信息；The radar position information acquisition module is used to obtain the latitude and longitude coordinate information of the radar position on the online electronic map;
雷达探测信息设置模块，用于对雷达的探测信息进行修改；所述修改包括增加、删除；所述探测信息包括起始角度信息、终止角度信息和距离信息；The radar detection information setting module is used to modify the detection information of the radar; the modification includes addition and deletion; the detection information includes the starting angle information, the ending angle information and the distance information;
雷达信息本地化保存模块，用于将设置好的雷达信息保存至本地磁盘中。The radar information localization saving module is used to save the set radar information to the local disk.
作为一种具体示例，雷达信息设置模块包括：As a specific example, the radar information setting module includes:
雷达位置信息获取模块，加载在线电子地图上，并用JavaScript调用百度地图API来获取雷达位置的经纬度坐标信息；The radar position information acquisition module loads the online electronic map, and uses JavaScript to call Baidu Map API to obtain the latitude and longitude coordinate information of the radar position;
雷达探测信息设置模块，使用QT的QTableView和QstandardItemModel控件来对雷达的探测信息进行增加、删除等修改；The radar detection information setting module uses QT's QTableView and QstandardItemModel controls to add and delete radar detection information;
雷达信息本地化保存模块，通过字符串的拼接，将设置好的雷达信息保存至本地txt文本中。The radar information localization saving module saves the set radar information to the local txt text through the splicing of strings.
进一步地，雷达信息可视化模块包括：Further, the radar information visualization module includes:
扇形绘制模块，用于根据坐标信息、距离信息、起始角度信息和终止角度信息在电子地图上绘制相应的扇形；The sector drawing module is used to draw the corresponding sector on the electronic map according to the coordinate information, distance information, starting angle information and ending angle information;
雷达探测区域绘制模块，通过使用QT的定时功能，根据雷达信息设置模块设置的信息在电子地图上绘制相应的扇形探测区域。The radar detection area drawing module, by using the timing function of QT, draws the corresponding sector detection area on the electronic map according to the information set by the radar information setting module.
作为一种具体示例，雷达信息可视化模块包括：As a specific example, the radar information visualization module includes:
扇形绘制模块，将扇形的弧度平均分成十份，用JavaScript调用百度地图API来计算出各个分割点的经纬度坐标，然后使用Polygon将各个点连成线；The fan-shaped drawing module divides the radian of the fan-shaped into ten equal parts, calls the Baidu map API with JavaScript to calculate the latitude and longitude coordinates of each division point, and then uses Polygon to connect each point into a line;
雷达探测区域绘制模块，通过使用QT的定时功能，调用扇形绘制模块，根据各雷达设置的信息在电子地图上绘制出相应的扇形探测区域。The radar detection area drawing module, by using the timing function of QT, calls the sector drawing module, and draws the corresponding sector detection area on the electronic map according to the information set by each radar.
进一步地，航迹数据接收模块包括：Further, the track data receiving module includes:
本机IP地址获取模块，用于获取上位机所在计算机的IP地址；The local IP address acquisition module is used to acquire the IP address of the computer where the host computer is located;
UDP组播通信模块，用于多雷达航迹数据传输；UDP multicast communication module for multi-radar track data transmission;
数据解析模块，将二进制数据解析为相应的航迹数据。The data parsing module parses binary data into corresponding track data.
作为一种具体示例，航迹数据接收模块包括：As a specific example, the track data receiving module includes:
本机IP地址获取模块，用QNetworkInterface类来获取上位机所在计算机的IP地址；The local IP address acquisition module uses the QNetworkInterface class to obtain the IP address of the computer where the host computer is located;
UDP组播通信模块，使用QUdpSocket套接字来进行多雷达航迹数据传输；UDP multicast communication module, using QUdpSocket socket for multi-radar track data transmission;
数据解析模块，将二进制数据解析为相应的十进制航迹数据。The data parsing module parses binary data into corresponding decimal track data.
进一步地，航迹数据坐标转换模块包括：Further, the track data coordinate conversion module includes:
弧度和角度转换模块，用于将航迹数据极坐标中的角度信息转换为弧度信息；The radian and angle conversion module is used to convert the angle information in the polar coordinates of the track data into radian information;
极坐标转经纬度坐标模块，用于将航迹数据的极坐标转换为电子地图的经纬度坐标。Polar coordinates to latitude and longitude coordinates module, used to convert the polar coordinates of the track data into the longitude and latitude coordinates of the electronic map.
进一步地，航迹数据处理模块包括：Further, the track data processing module includes:
矩阵相乘模块，用于将航迹数据的误差协方差矩阵与状态矩阵相乘；The matrix multiplication module is used to multiply the error covariance matrix of the track data and the state matrix;
矩阵求逆模块，用于对航迹数据的误差协方差矩阵和状态矩阵进行逆运算；The matrix inversion module is used to inverse the error covariance matrix and the state matrix of the track data;
航迹数据关联模块，用于对不同雷达间的航迹数据进行航迹关联；Track data association module, used to correlate track data between different radars;
航迹关联质量统计模块，用于判断所关联的两条航迹是否为固定关联对；所述固定关联对具体为两条航迹关联的次数n大于等于预设阈值p。The track association quality statistics module is used for judging whether the two associated tracks are a fixed association pair; the fixed association pair is specifically that the number of associations n of the two tracks is greater than or equal to a preset threshold p.
航迹数据融合模块，用于将固定关联对的两条航迹数据融合，形成一条航迹。The track data fusion module is used to fuse the two track data of the fixed associated pair to form a track.
作为一种具体示例，航迹数据关联采用独立序贯航迹关联算法。As a specific example, the track data association adopts an independent sequential track association algorithm.
作为一种具体示例，航迹数据融合采用凸组合航迹融合算法。As a specific example, the track data fusion adopts a convex combination track fusion algorithm.
作为一种具体示例，结合图2，航迹数据处理模块的工作流程如下：As a specific example, with reference to Figure 2, the workflow of the track data processing module is as follows:
(1)航迹接收模块和航迹坐标转换模块所处理完成后的航迹数据存储在结构体数组中，并传输到航迹数据处理模块中。(1) 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)航迹数据处理模块对结构体数组进行循环遍历，首先判断所要关联检测的两个航迹数据是否为固定关联对，如果是则直接进行凸组合航迹融合操作，反之则进行独立序贯航迹关联操作。(2) The track data processing module traverses the structure array cyclically. First, it determines whether the two track data to be associated and detected are fixed association pairs. If so, the convex combination track fusion operation is performed directly. Otherwise, the independent sequence is performed. Cross-track association operations.
(3)两个航迹数据进行独立序贯航迹操作后，会产生一个统计量，比较该统计量和设定门限的大小值，如果统计量值小于门限则航迹关联质量加一，否则航迹关联质量减一并结束本次循环操作。(3) After the two track data are operated independently and sequentially, a statistic will be generated, and the statistic will be compared with the value of the set threshold. If the statistic value is less than the threshold, the associated quality of the track will be increased by one, otherwise The associated quality of the track is reduced by one and the cycle operation is ended.
(4)对于关联上的两个航迹数据，判断航迹关联质量是否大于六，如果大于六则标记为固定关联对。然后进行凸组合航迹融合操作，融合操作结束后进行下一组航迹数据的处理。(4) For the two track data on the association, determine whether the track association quality is greater than six, and if it is greater than six, mark it as a fixed association pair. Then, the convex combination track fusion operation is performed, and the next group of track data is processed after the fusion operation.
进一步地，航迹数据显示模块包括：Further, the track data display module includes:
点迹绘制模块，用于将探测到的目标绘制在电子地图的相应位置；The dot trace drawing module is used to draw the detected target on the corresponding position of the electronic map;
航迹绘制模块，用于将探测到目标移动的轨迹显示在电子地图上。The track drawing module is used to display the track of the detected target movement on the electronic map.
作为一种具体示例，航迹数据显示模块包括：As a specific example, the track data display module includes:
点迹绘制模块，在Html文件里使用JavaScript调用百度地图API根据位置信息将探测到的目标绘制在电子地图的相应位置，且不同的目标类型显示为不同的图标；The dot trace drawing module uses JavaScript to call Baidu Map API in the Html file to draw the detected target on the corresponding position of the electronic map according to the location information, and different target types are displayed as different icons;
航迹绘制模块，在Html文件里使用JavaScript调用百度地图API根据前一时刻和当前时刻目标位置信息将探测到目标移动的轨迹显示在电子地图上，且不同目标类型显示为不同的颜色。The track drawing module uses JavaScript to call Baidu Map API in the Html file to display the track of the detected target movement 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.
作为一种具体示例，结合图3，航迹数据显示模块工作方式如下：As a specific example, with reference to Figure 3, the working mode of the track data display module is as follows:
(1)Html文件首先引用离线地图所需要的离线地图瓦片图、CSS样式文件和API资源。然后在Html的JavaScript标签里面调用电子地图API函数来编写添加目标点、移动目标点、删除目标点、绘制轨迹和删除轨迹的相关函数。最后，用上位机的WebKit控件加载编写好的Html文件，来显示电子地图。(1) The Html file first references the offline map tiles, CSS style files and API resources required by the offline map. Then call the electronic map API function in the JavaScript tag of Html to write the related functions of adding target point, moving target point, deleting target point, drawing track and deleting track. Finally, use the WebKit control of the host computer to load the prepared Html file to display the electronic map.
(2)电子地图加载成功后，根据处理后的航迹数据状态，调用Html里面相应的JavaScript函数来在电子地图上显示、移动、删除目标点以及绘制与删除航迹。(2) After the electronic map is loaded successfully, according to the status of the processed track data, call the corresponding JavaScript function in Html to display, move, delete the target point on the electronic map, and draw and delete the track.
进一步地，多线程处理框架模块包括：Further, the multithreading framework module includes:
子线程模块，用于实时接收和处理航迹数据；Sub-thread module for receiving and processing track data in real time;
主线程模块，用于开启子线程，并实时显示处理后的航迹数据。The main thread module is used to start the child thread and display the processed track data in real time.
作为一种具体示例，结合图4，多线程处理框架模块包括：As a specific example, in conjunction with Fig. 4, the multi-thread processing framework module includes:
子线程处理模块，通过子类派生QThread，并重新实现QThread::run()函数，用于实时从网络通信的缓冲区读取航迹数据并进行处理。The sub-thread processing module derives QThread through sub-classes and re-implements the QThread::run() function to read and process track data from the network communication buffer in real time.
主线程处理模块，开启子线程进行数据接收和处理，通过共享变量进行线程间通信，对处理后的数据进行实时显示。The main thread processing module starts sub-threads for data reception and processing, communicates between threads through shared variables, and displays the processed data in real time.
作为一种具体示例，多线程处理框架模块的工作方式如下：As a concrete example, the multithreading framework module works as follows:
(1)运行程序，在主线程中通过QThread::start()来开启子线程。通过子线程的运行来接收并处理航迹数据，处理后的结果保存到一个结构体数组里面。利用线程之间共享内存的通信方式，主线程读取该结构体数组，并根据数据状态来将结果显示在电子地图上。(1) Run the program and start the child thread through QThread::start() in the main thread. The track data is received and processed through the operation of the child thread, and the processed result is stored in a structure array. Using the communication method of shared memory between threads, the main thread reads the structure array and displays the result on the electronic map according to the data state.
(2)在运行期间，子线程通过QT的信息/槽机制来触发主线程的航迹绘制，两个线程的运行没有固定的顺序，系统会各个线程的资源使用量自动根据来分配CPU使用。(2) During the running period, the sub-thread triggers the track drawing of the main thread through the QT information/slot mechanism. There is no fixed order for the running of the two threads, and the system automatically allocates the CPU usage according to the resource usage of each thread.
基于分布式雷达上位机软件系统的运行方法，包括以下步骤：The operation method based on the distributed radar host computer software system includes the following steps:
步骤1、通过雷达信息设置模块，设置各个雷达的坐标信息和探测信息；Step 1. Set the coordinate information and detection information of each radar through the radar information setting module;
步骤2、根据设置好的雷达信息，通过雷达信息可视化模块在电子地图上显示各雷达的位置和探测范围；Step 2. According to the set radar information, display the position and detection range of each radar on the electronic map through the radar information visualization module;
步骤3、设置组播通信的地址，然后通过航迹数据接收模块接收一个航迹数据包的数据，并将该航迹数据传送至航迹数据坐标转换模块；Step 3, set the address of multicast communication, then receive the data of a track data packet through the track data receiving module, and transmit the track data to the track data coordinate conversion module;
步骤4、利用航迹数据坐标转换模块将步骤3获得的航迹数据的极坐标转换为电子地图的经纬度坐标，并将转换后的航迹数据传送至航迹数据处理模块；Step 4, utilize the track data coordinate conversion module to convert the polar coordinates of the track data obtained in step 3 into the latitude and longitude coordinates of the electronic map, and transmit the converted track data to the track data processing module;
步骤5、利用航迹数据处理模块对步骤4获得的航迹数据进行航迹关联，对关联上的航迹数据进行融合并输出至航迹数据显示模块，将未关联上的航迹数据直接输出至航迹数据显示模块；Step 5. Use the track data processing module to perform track association on the track data obtained in step 4, fuse the associated track data and output it to the track data display module, and directly output the unassociated track data. to the track data display module;
步骤6、通过航迹数据显示模块将步骤5获得的目标航迹数据根据经纬度坐标实时显示在电子地图上，并绘制目标运动的轨迹；Step 6, display the target track data obtained in step 5 on the electronic map in real time according to the latitude and longitude coordinates by the track data display module, and draw the track of the target movement;
步骤7、重复步骤2～步骤6对下一个航迹数据包的数据进行处理，以此循环实时获取目标的运动轨迹，直至停止该软件系统的运行。Step 7: Repeat steps 2 to 6 to process the data of the next track data packet, so as to obtain the motion track of the target in real time in a loop, until the operation of the software system is stopped.
本发明减小了目标探测的误差，提高了雷达和目标在上位机的可视化程度，同时系统软件在航迹数据接收、处理以及显示方面的准确性和实时性满足实际工程要求的指标，具有较高的实用性。The invention reduces the error of target detection, improves the visualization degree of the radar and the target in the host computer, and at the same time, the accuracy and real-time performance of the system software in the reception, processing and display of the track data meet the indexes of actual engineering requirements, and has a relatively high performance. High availability.
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