Real time video perspective digital map display

• US 4,489,389 A
• Filed: 10/02/1981
• Issued: 12/18/1984
• Est. Priority Date: 10/02/1981
• Status: Expired due to Term

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Bascle, Kent P., Pearce, Jeffrey B., Beckwith, Paul B.
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/308,166
• Time in Patent Office: 1,173 Days
• Field of Search: 364/521, 364/522, 364/518, 364/731, 358/103
• US Class Current: 345/421
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G09B 9/301 by computer-processed or -generated image

Abstract

A digital system for producing a real-time visual display in perspective of the terrain over which an aircraft is passing on the basis of compressed digital data stored on a cassette tape includes a perspective processor for transforming the addresses of points in a two-dimensional data pattern to the addresses these points occupy in a three-dimensional scene and for filling in points between the transformed points to provide a complete display of the terrain in perspective.

Claims

1. A digital information storage and read-out system for use in a system producing a perspective display, comprising:

memory means for storing digital data representing a two-dimensional pattern of elevation information in addressable memory locations;

means for generating signals representing the parameters of the desired perspective display including the height and location of the viewing point and the angle of the display with respect to the two-dimensional patterns;

read-out control means for reading elevation data out of said memory means from selected addressable memory locations through generation of address signals and application of said address signals to said memory means; and

perspective transform means, responsive to said signal generating means, for transforming the address of each elevation data read out of said memory means from the address of that point in the two-dimensional pattern to the address of a respective pixel position in the perspective display.

2. A digital information storage and read-out system according to claim 1, wherein said digital data is stored in said memory means with said pattern having a fixed orientation, said read-out control means including means for selectively generating said address signals so as to read out pattern information in a direction which may be selectively different from said fixed orientation.

3. A digital information storage and read-out system according to claim 2, wherein said perspective transform means includes means for generating a signal Δ

E representing the difference in height between the viewing point of the perspective display and each elevation point in said elevation pattern, means for generating a signal R representing the distance parallel to said fixed orientation between each elevation point and the viewing point in said two-dimensional elevational pattern, and means for generating a signal Δ

W representing the distance between each elevation point and a line through the viewing point parallel to said fixed orientation.

4. A digital information storage and read-out system according to claim 3, wherein said perspective transform means further includes means for generating transformed addresses a,b for each pixel according to the relationship:

##EQU4## where α

is the angle of the perspective display with respect to said two-dimensional elevational pattern and K is a constant.

5. A digital information storage and read-out system for use in generating a perspective display of terrain over which a vehicle is moving on the basis of digital data representing a two-dimensional elevation terrain pattern which is addressable in relation to the coordinate position of each point in said terrain pattern, comprising:

a scene memory for storing said elevation data representing at least a portion of the terrain pattern of the terrain over which the vehicle is passing;

signal supplying means for providing signals representing the angle of heading of said vehicle with respect to a fixed geographical orientation, the angle of the perspective display with respect to said two-dimensional elevation terrain pattern, and the elevation and current position of said vehicle with respect to said terrain;

read-out control means responsive to the signals from said signal supplying means for reading elevation data out of said scene memory through generation of address signals and the application of said address signals to said scene memory; and

perspective transform means responsive to the signals from said signal supplying means for transforming the address of each point read out of said scene memory from the address of the point in the two-dimensional terrain pattern to the address of a respective pixel position in said perspective display.

6. A digital information storage and read-out system according to claim 5, wherein said perspective transform means includes means for generating a signal Δ

E representing the difference in elevation between the vehicle and each elevation point in said terrain pattern, means for generating a signal R representing the distance parallel to the vehicle heading between each elevation point position and the vehicle position in said terrain pattern, and means for generating a signal W representing the distance between each elevation point and a line through the vehicle position parallel to the vehicle heading in said terrain pattern.

7. A digital information storage and read-out system according to claim 6, wherein said perspective transform means includes further means for generating transformed addresses a,b for each point according to the relationships ##EQU5## where α

is the angle of the perspective display with respect to said two-dimensional elevational terrain pattern and K is a constant.

8. A digital information storage and read-out system according to claim 5, wherein said terrain pattern of data is stored in said scene memory with a fixed geographical orientation, and said read-out means includes means for selectively generating said address signals so as to read out pattern information in a direction which may be selectively different from said fixed geographical orientation.

9. A digital information storage and read-out system according to claim 5, wherein said terrain pattern of data is stored in said scene memory with a north-up orientation, and wherein said read-out means includes means for selectively generating said address signals so as to scan said elevation data in said scene memory either in a north-south or an east-west direction depending on which is closest to the direction of heading of the vehicle with respect to said terrain.

10. A digital information storage and read-out system according to claim 5, wherein said read-out means includes means for selectively generating said address signals so as to scan an area of said scene memory in successive lines which extend from a line through the point position corresponding to the position of the vehicle in the general direction of heading of the vehicle with respect to the terrain.

11. A digital information storage and read-out system according to claim 5, wherein said read-out means includes means for selectively generating said address signals so as to scan a generally diamond-shaped area of said scene memory, said area being positioned within said scene memory with one edge thereof being substantially transverse to the direction of vehicle heading with respect to said terrain pattern and the scanning of said area being in the direction parallel or transverse to the geographical orientation of said data in the scene memory, whichever makes the smallest angle with said vehicle heading.

12. A system for generating a perspective display of terrain over which a vehicle is moving, comprising:

a scene memory for storing digital data representing a two-dimensional elevation terrain pattern which is addressable in relation to the coordinate position of each elevation point with respect to a selected geographical orientation,

signal supplying means for providing signals representing the heading angle of said vehicle with respect to said selected geographical orientation, the angle of the desired perspective display with respect to said two-dimensional elevation terrain pattern, and the elevation and current position of said vehicle with respect to said terrain;

read-out control means, responsive to the signals from said signal supplying means, for reading elevation data for respective ones of said elevation points out of said scene memory through generation of address signals and the application of said address signals to said scene memory;

perspective transform means responsive to the signals from said signal supplying means for transforming the address of each point read out of said scene memory from the address of that point in the scene memory to the address of a respective pixel position in said perspective display;

display memory means for storing the elevation data read out of said scene memory in a matrix of memory positions forming storage locations corresponding to said transformed addresses; and

display means for displaying the elevation data stored in said display memory means to produce said perspective display.

13. A system according to claim 12, further including

buffer storage means for storing the data read out of said scene memory including the transformed address of each elevation in storage locations corresponding to the storage locations occupied by said elevation data in said scene memory;

and

means for transferring said data from said buffer storage means to storage locations in said display memory means in accordance with said transformed address.

14. A system according to claim 12, wherein said read-out means includes means for selectively generating said address signals so as to scan a generally diamond-shaped area of said scene memory along lines substantially parallel or transverse to said selected geographical orientation depending on which makes the smallest angle with the vehicle heading, said area being positioned within said scene memory with one edge thereof transferse to said vehicle heading.

15. A system according to claim 13, wherein said read-out means includes means for selectively generating said address signals so as to scan a generally diamond-shaped area of said scene memory along parallel lines substantially in the direction of the heading of the vehicle.

16. A system according to claim 15, wherein said buffer storage means includes a column buffer memory having a plurality of columns for storing respective lines of data read out of said scene memory by said read-out means in positions corresponding to the locations of said data in said scene memory.

17. A system according to claim 16, wherein each column in said column buffer memory has a capacity to store data associated with at least the number of points which occupy the diagonal of said generally diamond-shaped scan area of said scene memory, and further including start/stop means for storing the address location for each column of said column buffer memory at which data begins and ends and means responsive to said start/stop means for reading plural data from adjacent columns of said column buffer memory.

18. A system according to claim 16, wherein said transferring means includes buffer control means for reading out plural data including the transformed addresses thereof in groups from adjacent columns of said column buffer memory by scanning said columns, line writing logic means responsive to the data read out of said column buffer memory for generating additional elevation data representing occupying positions extending along lines between the data points of each group in accordance with the transformed addresses thereof, and means for transmitting said data and said additional data in said display memory means.

19. A system according to claim 16, wherein said transferring means includes inhibiting means responsive to the elevation data of each pixel to be transferred to said display memory means for inhibiting such transfer in connection with any pixel along a given column in said matrix of memory positions of said display memory means which has an elevational value which is less than the elevation value of a pixel from the same column which has already been transferred to said display memory means.

20. A system according to claim 19, wherein said inhibiting means includes a column max memory for storing an elevation value for each column of data stored in said display memory means, means for comparing the elevation value for each point read out of said column buffer memory and for each point generated by said line writing logic means with the elevation value stored in the column max memory for that column in which the data is to be written into said display memory means, means responsive to said comparing means for storing in the column max memory the elevation value of the point when that value is greater than the value previously stored and for inhibiting transfer of said data to said display memory means when the elevation value thereof is less than that previously stored.

21. A system according to claim 18, wherein said line writing logic means includes storing means for storing the transformed addresses of two adjacent points, means for increment one of said addresses in first and second coordinate directions toward said other address by calculated stepping values, means for generating an additional data value at each incremented step taken by said incrementing means, and means for controlling said buffer control means to store the transformed addresses of the next points read out of said column buffer memory into said storing means when the one address has been incremented until it corresponds to said other address.

22. A system according to claim 21, wherein said storing means stores the transformed addresses of four adjacent points read out of said column buffer memory, and said incrementing means includes means to compare said addresses in predetermined combinations of pairs, and means to increment said addresses in said predetermined combinations of pairs only when said comparison thereof indicates that the one address of the pair has a selected relationship to the other address.

23. A system according to claim 22, wherein said comparing means includes means for determining whether the line extending between the pair of points will face in a predetermined direction with respect to the orientation of data in said display memory means.

24. A system according to claim 13, wherein said transferring means includes means for writing into said display memory means along successive scanning lines only those data values which represent a different value of slope from the previous data value stored in said display memory means on the same scanning line.

25. A system according to claim 24, wherein said display means includes means for reading pixel data out of said display memory means, including means for generating pixels for storage locations containing zero information in accordance with the value of the last pixel read out along the same scanning line.

26. A system according to claim 25, wherein said display memory means includes first and second display memories, and means for writing pixel data into one of said first and second display memories while pixel data is being read out of the other.

27. A digital information storage and read-out system for use in generating a real-time perspective display of terrain over which a vehicle is moving on the basis of stored digital data representing a two-dimensional elevational terrain pattern and signals indicating the instantaneous heading, geographic location and elevation of the vehicle and the desired angle of view of the resultant perspective display, comprising

a scene memory for storing said digital data in addressable coordinate positions relating to a selected geographic orientation of the terrain;

read-out control means responsive to said signals representing heading, geographic location and angle of view for reading data out of said scene memory through generation of address signals to address a selected area of said scene memory on the basis of the heading and geographic location of the vehicle and the desired angle of view with respect to the terrain represented by said digital data;

perspective transform means responsive to the signals representing heading, elevation, geographic location and angle of view for transforming the address of each data value read out of said scene memory from the address of its associated point in the two-dimensional terrain pattern to the address of a respective pixel in said perspective display; and

display means responsive to the addresses generated by said perspective transform means for generating a real-time perspective display of said terrain.

28. A system according to claim 27, wherein said perspective transform means includes means for varying said transformed addresses in response to selected variations in the signal representing the desired angle of view.

29. A system according to claim 27, wherein said perspective transform means includes means for generating a signal Δ

E representing the difference in elevation between the vehicle and each point in said terrain pattern, means for generating a signal R representing the distance parallel to the vehicle heading between each point position and the vehicle position in said terrain pattern, and means for generating a signal Δ

W representing the distance between each point and a line through the vehicle position parallel to the vehicle heading in said terrain pattern.

30. A system according to claim 29, wherein said digital data stored in said scene memory represents for each point in the terrain an elevation value E_i equal to the actual elevation of that point reduced by a base elevation E_b, and said means for generating the signal Δ

E includes first means for multiplying the elevation value E_i read from said scene memory by a scale factor S_f and for adding to the result of said multiplication the base elevation E_b and second means for subtracting the output of said first means from the signal representing the elevation of said vehicle.

31. A system according to claim 29, wherein said perspective transform means includes further means for generating transformed addresses a,b for each point according to the relationships ##EQU6## where is the desired angle of view with respect to the horizontal and K is a constant.

32. A digital information storage and read-out system according to claim 27, wherein said read-out means includes means for selectively generating said address signals so as to scan a generally diamond-shaped area of said scene memory, said area being positioned within said scene memory with one edge thereof being substantially transverse to the direction of vehicle heading with respect to said terrain pattern and the scanning of said area being in the direction parallel or transverse to the geographical orientation of said data in the scene memory, whichever makes the smallest angle with said vehicle heading.

33. A system according to claim 27, wherein said display means includes a column buffer memory having a plurality of columns for storing respective lines of data, including both elevation data and the transformed address of each point read out of said scene memory by said read-out means, in positions corresponding to the locations of said points in said scene memory;

line writing logic means responsive to groups of the data read out of said column buffer memory for generating additional data representing the elevation and addresses of points extending along lines between the points of each group in accordance with the transformed address thereof; and

display memory means for storing the elevation data of points processed by said line writing logic means and points read out of said column buffer memory at locations corresponding to the transformed addresses of said points.

34. A system according to claim 33, wherein said display means further includes transferring means for transferring data from said line writing logic means into said display memory means by scanning said display memory means in successive lines beginning with pixel data representing the bottom of the display, the storage locations in each line of pixel data in the display memory means forming columns with the corresponding positions in the other lines.

35. A system according to claim 34, wherein said transferring means includes inhibiting means responsive to the elevational data of each point to be transferred to said display memory means for inhibiting such transfer in connection with any pixel along a given column of said display memory means which has an elevational value which is less than the elevational value of a pixel of the same column which has already been transferred to said display memory means.

36. A system according to claim 35, wherein said inhibiting means includes a column max memory for storing an elevation value for each column of data stored in said display memory means, means for comparing the elevation value for each point read out of said column buffer memory and for each point generated by said line writing logic means with the elevation value stored in the column max memory for that column in which the pixel is to be written into said display memory means, means responsive to said comparing means for storing the column max memory the elevation value of the pixel when that value is greater than the value previously stored and for inhibiting transfer of said pixel value to said display memory means when the elevation value thereof is less than that previously stored.

37. A system according to claim 33, wherein said line writing logic means includes storing means for storing the transformed addresses of two adjacent points, means for incrementing one of said addresses in first and second coordinate directions toward said other address by calculated stepping values, means for generating an additional data value at each incremented step taken by said incrementing means, and means for controlling said buffer control means to store the transformed addresses of the next points read out of said column buffer memory into said storing means when the one address has been incremented until it corresponds to said other address.

38. A system according to claim 37, wherein said storing means stores the transformed addresses of four adjacent points read out of said column buffer memory, and said incrementing means includes means to compare said addresses in predetermined combinations of pairs, and means to increment said addresses in said predetermined combinations of pairs only when said comparison thereof indicates that the one address of the pair has a selected relationship to the other address.

39. A system according to claim 38, wherein said comparing means includes means for determining whether the line extending between the pair of points will face in a predetermined direction with respect to the orientation of data in said display memory means.

40. A system according to claim 33, wherein said display means further includes sun angle logic means for generating, with respect to each data value read out of said column buffer memory and each data value generated by said line writing logic means, the slope at the point of the terrain represented by that data value on the basis of the data values around that point, and transferring means for transferring said slope data into said display memory means at addresses provided by said line writing logic means in successive lines.

41. A system according to claim 40, wherein said sun angle logic means includes means for comparing each value of slope which is generated with the slope value previously generated for the preceeding point, and inhibiting means responsive to said comparing means for controlling said transferring means to store in said display memory means only that data which represents a change in slope on a given scanning line in said display memory.

42. A system according to claim 41, wherein said display means includes means for reading pixel data out of said display memory means, including means for generating pixels for storage locations containing zeros in accordance with the value of the last non-zero pixel read out along the same scanning line.