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CN-122027835-A - Radar image synchronous display method

CN122027835ACN 122027835 ACN122027835 ACN 122027835ACN-122027835-A

Abstract

The invention discloses a radar image synchronous display method, which comprises the steps of obtaining radar original data, analyzing the radar original data, converting the radar original data into structured radar image data, synthesizing the structured radar image data into standardized video stream data, obtaining video frames by each receiving end, carrying out frame rendering according to a timestamp, monitoring the frame rendering of the receiving end, and feeding back a network state to a server side module in a time delay dynamic manner, wherein the server side module adjusts a sending strategy of a subsequent frame according to feedback, and optimizes the synchronous effect of multiple receiving ends. The method focuses on real-time conversion and synchronous presentation from radar data to multi-receiving-end visual images, is suitable for scenes needing to conduct efficient processing and dynamic display on radar detection information, achieves accurate synchronous display of radar images in multiple receiving terminals and multiple modes through combination of an audio and video processing tool and a data buffering mechanism, and provides visual data support for operation and decision of a radar system.

Inventors

  • SONG KAI
  • HAO ZHEN
  • LIN YUE

Assignees

  • 中国船舶集团有限公司第七二四研究所

Dates

Publication Date
20260512
Application Date
20260211

Claims (10)

  1. 1. The radar image synchronous display method is characterized by comprising the following steps of: step 1, a server acquires radar original data, analyzes the radar original data and converts the radar original data into structured radar image data; step 2, synthesizing the structured radar image data into standardized video stream data; step 3, each receiving end obtains a video frame and performs frame rendering according to the time stamp; and 4, monitoring frame rendering of the receiving end, and dynamically feeding back a network state to the server side module in a time delay manner, wherein the server side module adjusts a sending strategy of a subsequent frame according to feedback, so that the synchronization effect of multiple receiving ends is optimized.
  2. 2. The method according to claim 1, wherein the structured radar image data in step 1 is specifically: Acquiring radar original data, extracting distance, azimuth and amplitude information contained in the data during analysis, mapping distance parameters into radial dimensions of polar coordinates, mapping azimuth parameters into angular dimensions of the polar coordinates, and converting the amplitude parameters into pixel brightness values corresponding to the polar coordinate points; Polar radar images ordered by time stamp are generated.
  3. 3. The method for synchronously displaying radar images according to claim 2, wherein the radar output data format is 16-bit binary stream, and the data are sequentially transmitted according to azimuth and distance; The radar azimuth range is 0-360 degrees, the total mapping is 1024 azimuth codes, the distance range is 0-25km, the total mapping is 2083 distance elements, the distance elements are represented by single byte, and the amplitude range is 0-255; Reading the original data into a one-dimensional array according to azimuth codes during analysis, and generating QBrush texture objects by taking the range element amplitude as transparency; And extracting each azimuth texture object, and drawing 1024 azimuth texture objects according to the azimuth value and the corresponding angle range to form a radar image in a range of 0-360 degrees through QPainter.
  4. 4. The method according to claim 1, wherein the step 2 of synthesizing the structured radar image data into standardized video stream data comprises: the server side reads the radar image data by using an FFmpeg tool, synthesizes a video stream and pushes the video stream to an Nginx RTMP server in real time; the FFmpeg tool maps the time stamp of the radar image to the PTS of the video frame.
  5. 5. The method for synchronously displaying radar images according to claim 4, wherein each receiving end in the step 3 performs frame rendering according to the time stamp, specifically: When generating each frame of polar radar image, the server acquires a current time stamp based on an NTP protocol and writes the current time stamp into a private field of a video frame; Each receiving end for synchronously displaying radar images acquires video streams through a standard protocol, and the consumption threads are rendered by the display module after format conversion is completed.
  6. 6. The method according to claim 1, wherein the monitoring of the frame rendering of the receiving end in step 4 is: each receiving end program sets a timer, and the rendering timeout time of each frame of image is a threshold value set according to the time stamp; triggering a frame loss instruction if the rendering is not completed within the timeout time, and broadcasting frame loss information comprising a frame sequence number to all receiving ends through multicast; after receiving the frame loss instruction, each receiving end discards the current frame and updates the local frame loss identifier.
  7. 7. The method of claim 1, wherein the source in step 4 adjusts a sending policy of a subsequent frame according to feedback, specifically: The receiving end calculates average decoding delay when receiving video data of a certain frame, and sends a delay value and network jitter parameters to a state feedback interface of the server through an HTTP POST request; After receiving the feedback, if the average time delay or the network jitter is greater than a set threshold value, the server reduces the video stream code rate; if the average time delay or the network jitter is lower than the set threshold value, recovering the default code rate; Meanwhile, the I frame interval is dynamically adjusted according to the network condition, the I frame interval is increased when the network is congested, and the I frame interval is reduced when the network is unobstructed.
  8. 8. A radar image synchronous display system, comprising the following modules: the server module is used for acquiring radar original data, analyzing the radar original data, converting the radar original data into structured radar image data, and synthesizing the structured radar image data into standardized video stream data; The receiving terminals acquire video frames, render the frames according to the time stamps and synchronously display the frames; And the feedback module is used for monitoring the frame rendering of the receiving end, dynamically feeding back the network state to the server module in a time delay manner, and optimizing the synchronous effect of multiple receiving ends by the server module according to the feedback to adjust the sending strategy of the subsequent frames.
  9. 9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when the computer program is executed by the processor.
  10. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1-7.

Description

Radar image synchronous display method Technical Field The invention belongs to the field of radar image real-time processing and streaming media transmission, and particularly relates to a radar image synchronous display method. Background In modern society, radar technology has been widely used in numerous fields such as meteorological monitoring, air control, military reconnaissance, geological exploration, etc. With the continuous progress of technology, performance requirements of radar systems are increasing, and not only are radar required to accurately acquire target information, but also such information is required to be rapidly and clearly presented in the form of images so as to be convenient for relevant personnel to analyze and make decisions. In the radar data processing process, the original data of the radar is huge in volume and complex in format, and how to efficiently analyze, process and generate an image sequence is a key problem. The traditional local area network multi-receiving-end multicast processing method often has the problems of low efficiency, large resource consumption, packet loss and the like, and is difficult to meet the actual demands, and particularly, under the scene of multiple receiving ends, how to ensure that all the receiving ends efficiently and synchronously display radar images is an important challenge at present. The development of video processing technology provides a new idea for synchronous display of radar images. FFmpeg is used as a powerful open source multimedia processing tool, has high-efficiency video encoding and decoding, format conversion and stream processing capabilities, and can rapidly process and promote image sequences. When an image sequence with 1080P resolution is transmitted at a frame rate of 25fps, the FFmpeg-based h.264 streaming method has a real-time code rate of about 2-10Mbps, and the original RBG video data with the same frame rate and the same resolution is transmitted using UDP packets with a code rate of up to 720Mbps. In summary, the FFmpeg video processing technology is combined with the radar image sequence, so that a general radar image synchronous display method is developed, and the method has important practical significance and application value. Disclosure of Invention The invention aims to provide a radar image synchronous display method, which aims to solve the problems of large transmission delay, poor network adaptability, high CPU resource occupancy rate and the like faced by radar image synchronous display, and is a beneficial supplement and innovation of the traditional radar image synchronous method based on UDP multicast. The specific technical scheme for realizing the purpose of the invention is as follows: A synchronous display method of radar images comprises the following steps: step 1, a server acquires radar original data, analyzes the radar original data and converts the radar original data into structured radar image data; step 2, synthesizing the structured radar image data into standardized video stream data; step 3, each receiving end obtains a video frame and performs frame rendering according to the time stamp; and 4, monitoring frame rendering of the receiving end, and dynamically feeding back a network state to the server side module in a time delay manner, wherein the server side module adjusts a sending strategy of a subsequent frame according to feedback, so that the synchronization effect of multiple receiving ends is optimized. Compared with the prior art, the invention has the beneficial effects that: the synchronization precision is high, namely the synchronization error of the multiple receiving ends is controlled to be in the millisecond level through the unified display of the time stamp and the global frame loss mechanism, so that the high-precision synchronization requirement is met; the real-time performance is strong, namely, the radar data analysis and the video stream synthesis are carried out, the push stream is rendered to a receiving end, and each link adopts a high-efficiency processing mode, so that the low delay of image display is ensured; The network adaptability is good, the system can adapt to different network environments based on a dynamic adjustment strategy of the historical decoding delay, and the influence of network fluctuation on synchronous display is reduced; The method focuses on real-time conversion and synchronous presentation from radar data to multi-receiving-end visual images, and is suitable for scenes needing efficient processing and dynamic display of radar detection information, including but not limited to anti-unmanned aerial vehicle monitoring, remote radar early warning systems and the like. The method has the core that through the combination of the audio and video processing tool and the data buffering mechanism, the accurate synchronous display of radar images in multiple receiving terminals and multiple modes is realized, and visual data