• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The general field of the invention is that of three-dimensional synthetic representation methods of a field. These methods are implemented in a system for assisting the piloting and navigation of a vehicle. The method according to the invention comprises the following steps: Step 1: Calculation, for a given position of the vehicle, of a first part or of all the terrain seen through the display system; Step 2: Calculation, for said portion of land, of the curvature of said ground at each point; Step 3: Calculation, according to the position and orientation of the wearer, the position of the points displayed; Step 4: Calculation of the luminance of each point of said portion of land visible according to a given law, a function of said curvature and the distance to the aircraft; Step 5: Display by the visualization system of the luminance of each point.
    公开号:FR3030092A1
    申请号:FR1402836
    申请日:2014-12-12
    公开日:2016-06-17
    发明作者:Johanna Dominici；Jean Pierre Gerbe；Emmanuel Monvoisin
    申请人:Thales SA；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The field of the invention is that of the synthetic and three-dimensional cartographic representation. It can be represented in head up, in conformal view, or in head down. A conformal representation is understood to mean a cartographic representation superimposed on the terrain actually seen by the observer. Optical superposition is provided by an optical system that projects the synthetic image to the observer's eye. This optical system comprises an optical mixer or combiner which ensures the superimposition of the image on the external landscape. This type of representation is particularly used in aeronautics so as to ensure steering in poor visibility or at night. In the low head, the synthetic view does not conform to the external landscape (by definition) but can be perfectly positioned with respect to the primary display symbology displayed, if symbology there is. A cartographic representation system is shown in FIG. 1. This system comprises a database representative of the terrain overflown, means for determining the position and the orientation of the display system displaying the cartographic image, a generator of The EC image generator provides three main functions which are the calculation of the viewpoint, the selection of the terrain area to be displayed and the calculation of the image to be displayed according to the point of view. One of the delicate points of this three-dimensional representation is that it must be sufficiently complete and precise to give a good representation of the overflown terrain that may be useful for piloting and navigation and sufficiently discrete not to saturate the natural image of the landscape. . Different solutions have been proposed. A first solution for representing a compatible 3D terrain of a head-up display system is described in US Pat. No. 8,264,498 entitled "System, apparatus, and method for presenting a monochrome image of terrain on a head-up display unit". . In this representation, the luminous intensity of the terrain is modulated according to the 3030092 2 lighting parameters obtained by positioning a virtual point or omnidirectional light source above the terrain overflown. This representation strongly overloads the display and does not respond correctly to the need for superposition of the synthetic image with the actual view. A second solution is to display the terrain using a simple grid as shown in Figure 2. The perception of distance is only by the size of the geometric elements of the grid which are shown in white lines in Figure 2. Indeed, under the effect of perspective, the greater their distance from the point of view displayed, the smaller the geometric elements on the screen. This type of display is not suitable for displaying terrain far removed from the observer. US Pat. No. 7,098,913 entitled "Method and system for providing depth by attenuating distant terrain" proposes a solution for improving the representation of darkening the distant terrain from the point of view. This technique makes it possible to better understand the distance from the field, but this does not solve the problem of saturation of the image. A third solution that is a variant of the previous solution consists in modifying the size of the geometric elements from a certain distance. For example, only one point of the elevation grid out of two is retained. By way of example, FIG. 3 illustrates this type of graphical representation. It is possible to limit the number of elements displayed on the screen, but we remove a large part of the elements to improve the perception of the depth of the ground. In fact, the representation of a 3D synthetic terrain by squaring is well suited for terrain close to the point of view. A fourth solution is to present the terrain by highlighting the ridge lines. The line of ridges is the boundary between the hidden parts and the visible parts of the landscape. The ridgelines do not necessarily represent a sequence of points whose altitude is maximum locally. They are therefore a function not only of the terrain but also of the position of the observer. The peak lines must therefore be recalculated continuously according to the position of the carrier. This allows to give an information on the relief of the ground without overloading 3030092 3 the image. Such a representation is shown in Figure 4. This representation of the terrain by the ridge lines can greatly limit the density of information displayed on the screen. It gives a partial view of the environment, rather interesting for the distant terrain. However, it gives only extremely limited information of the terrain close to the point of view. It is possible to use two of the graphic representations mentioned above simultaneously. Thus, it is possible to represent the near terrain in the form of a grid and the distant terrain in the form of ridges 10 as seen in FIG. 5. Between the representation of the terrain in the form of a grid and the representation in the form of of ridges, the transition is ensured by a fade-in principle based on the distance from the field. Until a distance close to the distance defined above, the terrain is represented in both modes. Then, as one approaches a predefined distance, the grid pattern fades as the peak line representation becomes more pronounced. This last solution makes it possible to effectively reduce the information on the screen and seems adapted to display the information of ground lying in the background but generates artefacts of displays.
    [0002] These artifacts are, for example, the appearance and / or sudden disappearance of ridges when close to the point of view, the absence of potentially relevant terrain information such as valleys or talwegs. Therefore, this last representation does not yet provide an optimal level of perception of the terrain.
    [0003] As FIGS. 2, 3, 4 and 5 show, the different cartographic representations according to the prior art do not make it possible to significantly reduce the number of data displayed on the screen without reducing the perception of the depth of the terrain. The cartographic representation method according to the invention does not have these disadvantages. It displays not just the ridge lines but, more generally, the curvature of the terrain. It also does not show only the local minimum and maximum of the curvature, but the curvature at any point on the ground. The representation is then a gradient of 35 gray levels or other colors and not just a set of 3030092 4 lines, as described in the publication "Redeeming valleys and ridges for line-drawing", PCM 2005), Part I, LNCS 3767, pp 327-338. We obtain a realistic representation of the terrain, easily understandable and occupying a limited space.
    [0004] In what follows, the term "point" of the field is a small surface unit which corresponds to a pixel displayed by the visualization system. Also called "curvature" at a given location of the ground the inverse of the radius of curvature at that location. Thus, a perfectly flat ground has zero curvature.
    [0005] More specifically, the subject of the invention is a method of three-dimensional synthetic representation of a terrain, said method being implemented in a system for assisting the piloting and navigation of a vehicle, said assistance system comprising at least one navigation system, a map database and a visualization system for displaying synthetic images, characterized in that said method comprises the following steps: Step 1: Calculation, for a given position of the vehicle , of the portion of the land seen through the visualization system; Step 2: Calculation, for the portion of ground determined in the previous step 20, of the curvature of said terrain at each point, the curvature corresponding to a variation of orientation of the terrain; Step 3: Calculate, as a function of the position and orientation of the vehicle, the position on the screen of the points for said vehicle position and for said portion of visible terrain; Step 4: Calculation of the luminance of each point of said portion of land visible according to a given law, at least a function of said curvature; Step 5: Display by the visualization system of the luminance of each point.
    [0006] Advantageously, step 3 is followed by the following steps, said steps preceding step 4: Step 3.1: Computation of the vector normal to the terrain at each point of said visible portion of the terrain; Step 3.2: Calculation, for each point of a director vector whose origin is located at this point and the vertex at a reference point; Step 3.3: Calculation, for each point, of the angle of inclination between the direction of the vector normal to the terrain and the direction of the director vector; Step 3.4: Calculation of the luminance of each point of said visible portion along a law function of said curvature and said inclination angle.
    [0007] Advantageously, the luminance law is an increasing function of the angle of inclination. Advantageously, step 4 is followed by the following steps, said steps preceding step 5: Step 4.1: Calculation, up to a determined distance and counted from the determined position of the vehicle, of a representation of the terrain under squared form, that is to say a regular grid arranged on the ground; Step 4.2: Display by the display system of said grid to the determined distance.
    [0008] Advantageously, the luminance of the points of the terrain is an increasing function of the curvature. Advantageously, the luminance of the points of the ground is an increasing function of the angle of inclination. Advantageously, the luminance of a point on the ground is zero when the curvature of the ground is below a certain threshold. Advantageously, the luminance of the points of the ground is a function of the distance to the aircraft. Advantageously, the luminance of the points of the terrain decreases as the distance to the aircraft increases.
    [0009] Advantageously, the graphical representation is merged with one or more types of three-dimensional representation of the terrain. Advantageously, the graphical representation is merged with a representation of the terrain in the form of shading.
    [0010] Advantageously, the graphical representation is merged with a representation of the terrain in the form of a gradient of one or more colors, each color representing a determined altitude level.
    [0011] The invention also relates to a system for assisting the piloting and navigation of a vehicle, said assistance system comprising at least one navigation system, a cartographic database and a display system enabling the display of a vehicle. synthetic images, said system comprising electronic computing means arranged so as to implement the method of three-dimensional synthetic representation of a terrain defined above. Advantageously, the vehicle is an aircraft and the flight control and navigation aid system is the avionics system of said aircraft.
    [0012] The invention will be better understood and other advantages will become apparent on reading the description which will follow given in a non-limiting manner and by virtue of the appended figures among which: FIG. 1 represents the block diagram of a cartographic representation system; Figures 2, 3, 4 and 5 show three-dimensional cartographic representations of a terrain according to the prior art; FIG. 6 represents the main steps of the cartographic representation method according to the invention; Figure 7 shows the principle of the cartographic representation according to the invention; FIG. 8 represents a first cartographic representation resulting from the method according to the invention; FIG. 9 represents a second "mixed" cartographic representation resulting from the method according to the invention.
    [0013] In order to be implemented, the graphic representation method according to the invention requires a system for assisting the piloting and navigation of a vehicle. The vehicle can be of different types. In its main application, the method is implemented in an aircraft so as to provide the pilot with the best possible representation of the exterior landscape. The 3030092 7 flight control system is the onboard avionics system of the aircraft. Such systems exist today on all modern aircraft. They must include: - A navigation system to determine the position 5 and the attitude of the aircraft. By way of examples, these navigation systems comprise inertial units and / or "GPS" type systems, which stands for "Global Positioning System"; - A cartographic database of the terrain overflown; An electronic calculator making it possible, among other things, to perform data processing and graphical representation calculations and to implement the display method according to the invention; - A display system, preferably comprising either a display device called "Low Head", located on the dashboard for example, or a display device called "Head High" or "See-Through Through". These devices may be transparent screens or "head-up" viewfinders, also called "Head-Up Displays" or "Head-Worn Displays" or "Head-Mounted Displays". These devices comprise a screen or an optical component that superimposes the image of the display system on the outside.
    [0014] In its basic embodiment, the method according to the invention comprises the following steps: Step 1: Calculation, for a given position of the vehicle, of the portion of the terrain seen through the display system; Step 2: Calculation, for the portion of ground determined in the previous step, of the curvature of said ground at each point, the curvature corresponding to a variation of orientation of the ground; Step 3: Calculate, as a function of the position and orientation of the vehicle, the position on the screen of the points for said vehicle position and for said portion of visible terrain; Step 4: Calculation of the luminance of each point of said portion of land visible according to a specific law, a function of said curvature; Step 5: Display by the visualization system of the luminance of each point.
    [0015] These steps are shown in Figure 6. Step 2 is illustrated in Figure 7. This figure shows a view in a sectional plane (x, z) of a terrain. The local curvature of the CL field corresponds to the local variation of the terrain orientation. Three types of terrain curvature can be distinguished. The first type corresponds to a rapid variation of the curvature without inversion of this curvature, the second type corresponds to a high inversion of the curvature, the curvature of the ground corresponds in this case to the passage of a ridge C. Finally, the third type curvature corresponds to a low inversion of the curvature of the ground, it corresponds in this case 10 to the passage of a trough T. In Figure 7, the areas of the ground having a relevant curvature to represent are in bold lines. They correspond to the areas where the curvature is important. It can be seen in FIG. 7 that at each point in the field a normal vector N is calculated, the norm of which is proportional to the value of the curvature. In this first embodiment, the rendering of the curvature of the ground is a function of the importance of the curvature of the ground. More specifically, the luminance at each point of the terrain is a function of the degree of curvature of the terrain, the lower the curvature, the lower the luminance rendering. In this mode, the luminance can be proportional to the curvature value of the terrain. It can also obey other laws of variation depending on whether one wishes to accentuate or not the representations of the variations of curvature. It is then understood that, when the terrain is particularly rugged, the luminance generated by the representation of the curvature of the terrain in each pixel can be significant and hinder the observation of the external landscape. It is therefore possible to improve this graphical representation by indexing the luminance of each point or pixel of the terrain on the angle of inclination with respect to a reference point, this reference point being generally the observation point, c. that is, the position of the vehicle. More precisely, in this variant, the method according to the invention comprises the following additional steps: Step 3.1: Computation of the vector normal to the terrain at each point of said visible portion of the terrain; Step 3.2: Calculation, for each point of a director vector whose origin is located at this point and the vertex at a reference point; Step 3.3: Calculation, for each point, of the angle of inclination between the direction of the vector normal to the terrain and the direction of the director vector; Step 3.4: Calculation of the luminance of each point of said visible portion along a law function of said curvature and said inclination angle.
    [0016] By way of example, a graphical representation is obtained as illustrated in FIG. 8. In this figure, the curvature of the ground is represented according to a luminance scale ranging from white for a significant curvature to black, for a zero curvature. which corresponds to a flat terrain. The luminance scale can be linear or not. For example, in a head-up display device, the curvature of the terrain is represented according to a luminance scale ranging from a given intensity for a significant curvature to the transparency, for a zero curvature so as to mask at least the vision of the image. outside. Generally, for a head-up display system, the representative color of the chosen terrain is green. We can see, on the representation of figure 8 that the whole terrain is well represented and that the representation accentuates the variations of curvature of the ground, providing a more intuitive reading of reliefs such as ridges C, valleys and talwegs T.
    [0017] The luminance variation is not necessarily linear with the value of the curvature of the terrain. It is thus possible to accentuate the important terrain curves such as ridges, valleys or talwegs without overloading the image or dazzling the user, and thus allowing him to keep as clear a view as possible of the outside landscape. We can, moreover, associate a threshold below which the curvature of the land is no longer displayed. That is to say, we associate, at these points or pixels of the ground whose curvature is less than this determined threshold, zero luminance. Advantageously, the luminance can be made dependent on the distance to the aircraft. More specifically, for each pixel of the terrain, the luminance decreases as the terrain moves away from the aircraft. This makes it possible to attenuate the representation and thus not to overload the image for the distant distances whose density of information to be displayed is high, because of the perspective effect which narrows the field in the distance.
    [0018] Advantageously, the graphical representation in the form of curvature of the terrain can be merged with a more conventional three-dimensional representation of a 3D terrain. For example, the plot-shaped graphical representation of the terrain may be superimposed on a shaded graphical representation, or as a gradient of color representing the altitude of the terrain. Each color stratum represents an altitude level. Figure 8 also shows that the short-range areas have less curvature information than the remote areas. This is due to the perspective effect that narrows the field off. Also, it may be interesting to complete the graphical representation in the form of curvature of the terrain by a representation of the terrain in the form of a grid, as represented in FIG. 9. More precisely, in this latter variant, the method according to the invention comprises the following additional steps, said steps preceding step 5: Step 4.1: Calculation, to a determined distance and counted from the determined position of the vehicle, of a representation of the terrain in the form of a grid, that is to say -a regular grid pattern on the ground; Step 4.2: Display by the display system of said grid to the determined distance. By way of example, a graphical representation 30 is obtained as illustrated in FIG. 9 which represents the same terrain as that of FIG. 8 but completed in the foreground by a representation in the form of a grid. This gives a three-dimensional representation of the terrain perfectly legible and perfectly adapted to the proximity of the field.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. A method for three-dimensional synthetic representation of a terrain, said method being implemented in a system for assisting the piloting and navigation of a vehicle, said help system comprising at least one navigation system, a database and a visualization system for displaying synthetic images, characterized in that said method comprises the following steps: Step 1: Calculation, for a given position of the vehicle, of the portion of the terrain seen through the system of visualization; Step 2: Calculation, for the portion of ground determined in the previous step 10, of the curvature of said terrain at each point, the curvature corresponding to a variation of orientation of the terrain; Step 3: Calculation, according to the position and the orientation of the vehicle, the position on the screen of the points for said position of the carrier and for said portion of visible terrain; Step 4: Calculation of the luminance of each point of said portion of land visible according to a given law, at least a function of said curvature and the distance to the aircraft; Step 5: Display by the visualization system of the luminance of each point. 20
    [0002]
    2. Method of representing a terrain according to claim 1, characterized in that step 3 is followed by the following steps, said steps preceding step 4: Step
    [0003]
    3.1: Calculation of the vector normal to the terrain at each point of said visible portion of the terrain; Step 3.2: Calculation, for each point, of a direction vector whose origin is located at this point and the vertex at a reference point; Step 3.3: Calculation, for each point, of the angle of inclination 30 between the direction of the vector normal to the terrain and the direction of the director vector; Step 3.4: Calculation of the luminance of each point of said visible portion according to a law according to said curvature and said angle of inclination. 3. Method for representing a terrain according to one of the preceding claims, characterized in that step 4 is followed by the following steps, said steps preceding step 5: Step
    [0004]
    4.1: Calculation, up to a determined distance and counted from the determined position of the vehicle, of a representation of the ground 10 in the form of a grid, that is to say a regular grid placed on the ground; Step 4.2: Display by the display system of said grid to the determined distance. 4. A method of representing a terrain according to one of the preceding claims, characterized in that the luminance of the points of the terrain is an increasing function of the curvature.
    [0005]
    5. A method of representing a terrain according to one of claims 1, 2 or 3, characterized in that the luminance of the terrain points decreases as the distance to the aircraft increases.
    [0006]
    6. A method of representing a terrain according to one of claims 2 or 3, characterized in that the luminance of the points of the terrain is an increasing function of the angle of inclination.
    [0007]
    7. A method of representing a terrain according to one of the preceding claims, characterized in that the luminance of the points of the ground is zero when the curvature of the ground is below a certain threshold.
    [0008]
    8. A method of representing a terrain according to one of the preceding claims, characterized in that the graphical representation is merged with one or more types of three-dimensional representation of the terrain. 3030092 13
    [0009]
    9. A method of representing a terrain according to one of claims 1 to 7, characterized in that the graphical representation is merged with a representation of the terrain in the form of shading. 5
    [0010]
    10. A method of representing a terrain according to claim 9, characterized in that the graphical representation is merged with a representation of the terrain as a gradient of one or more colors, each color representing a determined altitude level.
    [0011]
    11. System for assisting the piloting and navigation of a vehicle, said help system comprising at least one navigation system, a cartographic database and a display system for displaying synthetic images, characterized in that said system comprises electronic calculation means arranged so as to implement the method of three-dimensional synthetic representation of a terrain according to one of the preceding claims.
    [0012]
    12. System for assisting the piloting and navigation of a vehicle 20 according to claim 11, characterized in that the vehicle is an aircraft and the flight control and navigation aid system is the avionics system of said aircraft.
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    法律状态:
    2015-11-23| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-17| PLSC| Publication of the preliminary search report|Effective date: 20160617 |
    2016-11-28| PLFP| Fee payment|Year of fee payment: 3 |
    2017-11-27| PLFP| Fee payment|Year of fee payment: 4 |
    2019-11-28| PLFP| Fee payment|Year of fee payment: 6 |
    2020-11-25| PLFP| Fee payment|Year of fee payment: 7 |
    2021-11-26| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
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    US14/578,286| US9619935B2|2014-12-12|2014-12-19|Method of three-dimensional representation of a scene|
    CN201510005207.2A| CN105823475B|2014-12-12|2015-01-06|Three-dimensional representation method of scene|
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