• 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 graphical representation methods in an aircraft visualization system of an image (EVS) derived from an image superimposition on a synthetic image (SVS) of the external landscape. . The method according to the invention comprises the following steps: - Analysis, at a temporal frequency, of the captured images so as to determine, in each image, a boundary (F) between the information useful for piloting and the useless information, useful information consisting of remarkable elements, said time frequency being an order of magnitude lower than the video refresh rate; - Determination of a transition zone (T) in the vicinity of each boundary; - Display on the display screen at the video refresh rate of the captured images, each captured image being displayed superimposed on a synthetic image of the landscape, the captured image being opaque under the transition zone, completely transparent to- above the transition zone and continuously variable transparency in the transition zone.
    公开号:FR3058233A1
    申请号:FR1601574
    申请日:2016-11-03
    公开日:2018-05-04
    发明作者:Baptiste PERRIN；Thierry Ganille；Johanna LUX
    申请人:Thales SA；
    IPC主号:
    专利说明:

    (54) METHOD FOR SUPERIMPOSING AN IMAGE FROM A SENSOR ON A SYNTHETIC IMAGE BY AUTOMATIC DETECTION OF THE VISIBILITY LIMIT AND ASSOCIATED VISUALIZATION SYSTEM.
    (© The general field of the invention is that of graphic representation methods in an aircraft visualization system for aircraft of an image (EVS) from an image sensor superimposed on a synthetic image (SVS) of the outdoor landscape The process according to the invention comprises the following stages:
    - Analysis, at a temporal frequency, of the captured images so as to determine, in each image, a border (F) between the information useful for piloting and the useless information, the useful information consisting of remarkable elements, said time frequency being one order of magnitude lower than the video refresh frequency;
    - Determination of a transition zone (T) in the vicinity of each border;
    - Display on the display screen, at the video refresh rate, of the captured images, each captured image being displayed superimposed on a synthetic image of the landscape, the captured image being opaque under the transition zone, completely transparent to the above the transition zone and continuously variable transparency in the transition zone.
    Method for superimposing an image from a sensor on a synthetic image by automatic detection of the visibility limit and associated visualization system
    The general field of the invention is that of man-machine interface for aircraft and, more specifically, that of display systems combining synthetic image of the external landscape and real image given by a sensor.
    Synthetic imaging systems are known as "SVS", an acronym for "Synthetic Vision System". Real imaging systems are known as "EVS", which stands for "Enhanced Vision System". The sensors used are, for example, infrared sensors, millimeter wave radars or even sensors with low light levels.
    The combination of the two systems is called "CVS", meaning "Combined Vision System". "CVS" imagery can be displayed on a "head-down" screen or a "head-up" viewing device, whether or not worn by the user.
    SVS imagery greatly improves the crew’s situational awareness by displaying an image of the outdoor scene independent of weather conditions. However, inaccuracies in satellite location and / or lack of database integrity do not allow this system to be sufficient for use during low-level flight or landing. Its use is therefore relevant for displaying terrain relatively distant from the aircraft.
    An EVS enhanced vision system is an electronic means for providing an improved image of the outdoor scene compared to natural vision through the use of an imaging sensor. The pilot therefore has real-time information from the outside. EVS increases visibility at night and in bad weather, but in the latter case its effectiveness is limited and variable depending on the types of fog and the types of sensors used. Its use is therefore relevant especially when one is relatively close to the field.
    The goal of CVS imagery is to make the most of the previous two systems by combining them. The expected CVS functions are based on those of the EVS and SVS taken individually with added value provided by a relevant combination. These functions revolve around two axes:
    - Improve the awareness of the crew's situation with regard to the terrain, obstacles and relevant cultural elements, which may include cities, roads, rivers, helipads, runways, the environment 'airport, ... thus offering the ability to continue a so-called "VFR" flight in reduced visibility at night or in bad weather;
    - Supplement the visual references required in “IFR” thus offering the ability for the aircraft to descend below the authorized minima in the case of “ILS CAT I” or “LPV” approaches on aerodrome or in the case of approaches on "Point in Space" type heliport, or in the case of off-shore approaches.
    A first solution consists in superimposing the entire EVS image on the SVS image, thus masking a useful part of the SVS, possibly with a registration of the SVS image on the EVS image by identifying a remarkable element such as a landing runway. This representation necessarily limits the use cases. It is illustrated in Figure 1. In this figure, the SVS image is shown in wireframe and the EVS image in dotted areas. The symbology S is represented by simple geometric figures. This basic solution consisting in displaying the entire EVS image without transparency on the wider field SVS image is not very satisfactory since the EVS image masks the useful information of the SVS image for all the parts representing far ground for which the sensor does not pierce.
    A second possible method consists in proposing a transition between the EVS image and the SVS image. The problem to solve is then to find a solution allowing to superimpose and move from one image to another by maximizing the added value of each system. Indeed, beyond a certain distance between the ground and the aircraft, dependent on weather conditions but also on the air regulations applicable to the flight, the SVS image must then be predominant since the visibility of the EVS sensor does not allow display an exploitable image to the crew of the aircraft. Conversely, below a certain distance from the ground, the EVS image must be predominant because the SVS image can be a source of errors due to the inaccuracy of the location of the device and the bases. of data.
    There are different criteria and different forms of possible transition. A first solution is to display the EVS image only below the horizon and display the SVS image only above it. A variant of this solution is described in the Honeywell patent application US20120026190. The rendering of the "EVS" image on the "SVS" image is carried out with a first color and a first transparency above the horizon and a second color and a second transparency below the horizon. This all-or-nothing solution does not always make the most of the potential of the two images.
    This solution is less brutal than the total overlapping of the EVS image on the SVS image. However, it has its limits. In poor visibility due to or fog or snow, for example, the sensor does not pierce to the horizon. Useful SVS information can thus be masked by the absence of transparency. This solution can also bring confusion on the parts close to the ground because the imprecision of the localization and / or the data coming from the databases can lead to a double display with shift of the position of certain elements of the ground or of obstacles or airstrips.
    A second type of transition solution is based on the analysis of the images themselves. A first variant consists in detecting the zones having a contrast greater than a given threshold in the EVS image and in superimposing only these zones with high contrast on the SVS image. Patent application US2010283782 describes a fusion of images associating different colors or textures according to the type of SVS and EVS data. Patent application US2011227944 describes a fusion of SVS and EVS images after filtering by intensity or frequency threshold of the EVS image, the two images being able to be distinguished by different formats and colors. The patent US7605719 describes a similar solution. Replacing unnecessary areas of the sensor image with SVS imagery can confuse the CVS display. Indeed, the different replaced areas are not related, the EVS image then has "holes". We can no longer distinguish what comes from the sensor image or what comes from the synthetic image, which can make it difficult for the pilot to interpret the resulting image.
    Another type of solution is to analyze the "semantic" content of the image. Thus, patent application US2008180351 describes a method for improving the EVS image around a point of interest known by the SVS database. Patent application US2012035789 takes up this principle to apply it specifically to approach ramps. Patent application US2010113149 describes the display in an SVS image of portions of images from one or more sensors representing a remarkable element such as a landing strip or a fixed or mobile obstacle. US Pat. No. 7,605,719 describes the detection of useful and non-useful areas of the image from the sensor and the replacement of non-useful areas with synthetic terrain, without giving more details.
    Local improvement of the EVS image or clipping around a known point of interest in the database only works if there is actually a point of interest overflown and stored in the database, typically a track landing. This solution is not always satisfactory, for example, during low-altitude flights, typical of a helicopter mission where the helicopter constantly flies close to the ground without frequently flying over points of interest stored in a data base. data.
    Another solution consists in determining by a different means a visibility distance and in calculating, as a function of this distance, the border separating the two images SVS and EVS. Thus, patent FR2996670 claims the partial masking of an SVS image by calculating the intersection of a sphere centered on the plane or of a plane perpendicular to the plane axis with the terrain, according to a visibility distance calculated automatically or entered by the operator. Patent FR2996671 describes the partial masking of an SVS image around the runway and in a wider area at the front of the runway, the length of which depends on the so-called “DH / A” approach procedure. , acronym meaning "Decision Height / Altitude". In these two patents, the masked area is used to display the sensor image.
    This type of solution introduces a sudden break between the EVS image and the SVS image which is not necessarily appreciated by pilots because the range limit of the sensor in poor visibility is not straightforward and constant. In addition, this solution requires knowledge of the value of the visibility distance and cannot be modified simply, for example, if the visibility distance changes over time.
    Finally, we can also separate the image from the sensor into three distinct rectangular areas. A first area at the bottom of the image is completely or almost opaque, the area at the top of the image is completely or almost transparent, and the transition area has a vertical linear opacity gradient. The disadvantage of this solution is that the border between useful and non-useful areas is not determined. Thus, this solution is not optimal when the visibility of the image of the sensor does not correspond to the distribution of the zones. In some cases, useful information from the SVS is masked by a part of the sensor image which turns out to be unusable. Finally, this solution based on rectangular areas is less suitable for a flight close to a steep relief because, in this case, the visibility limit is no longer a straight line.
    The solution according to the invention is based on the idea of favoring the bottom of the sensor image corresponding to the nearby terrain to be monitored while leaving more room for the SVS image for the distant terrain in the upper part of the image for improve situational awareness. The EVS image is superimposed on the SVS image with variable opacity between the different parts detected beforehand, delimited by a calculated border. The bottom of the image is very or completely opaque and the top of the image is very or completely transparent with an opacity transition of a certain predetermined width between the low and high parts. More specifically, the subject of the invention is a method of graphical representation in an on-board display system for aircraft of a first image from an image sensor of the external landscape superimposed on a second image representing a synthetic image of the same exterior landscape, the two images being displayed on a display screen of the display system, characterized in that the method comprises the following steps:
    - Analysis, at a time frequency, of a first series of first images from the image sensor so as to determine, within each image, a border between the information useful for piloting and the information useless for piloting, the useful information consisting of portions of terrain or of obstacles or elements of remarkable interest, said time frequency being one order of magnitude lower than the video refresh frequency of the images displayed on the screen of display, these first images being denoted analyzed images;
    - Determination of a transition zone in the vicinity of each border of a determined width;
    - Display on the display screen, at the video refresh rate, of a second series of first images between two successive analyzed images, each first image being displayed superimposed on a second image representing a synthetic image of the same external landscape, the first image being opaque under the transition zone, completely transparent above the transition zone and of transparency continuously variable between opacity and total transparency in the transition zone.
    Advantageously, between two first images displayed successively at the video refresh rate, the position and the inclination of the border corresponding to said images are subject to the attitude of the aircraft in pitch, roll and yaw and to the variations in rotation of the sensor. of images.
    Advantageously, the transition between two boundaries calculated successively at the time frequency is carried out by means of a morphosis.
    Advantageously, the transition zone is either centered on the border, or located below it, or located above it.
    Advantageously, the first images from the image sensor and the second synthetic images are in different color ranges.
    The invention also relates to an on-board display system for aircraft comprising by means of an image sensor of the external landscape, a cartographic database, a graphic computer arranged so as to generate a synthetic image of the same external landscape, a screen of display displaying a first image from the image sensor superimposed on a second image representing the synthetic image, characterized in that the display system comprises:
    - Image analysis means, at a time frequency, of a first series of first images from the image sensor so as to determine, within each image, a border between the information useful for piloting and the information unnecessary for piloting, the useful information consisting of portions of terrain or of obstacles or elements of remarkable interest, said time frequency being one order of magnitude lower than the video refresh frequency of the images displayed on the viewing screen, these first images being denoted analyzed images;
    - First means of calculating a transition zone in the vicinity of each border of a determined width;
    the graphic computer displaying, at the video refresh rate, a second series of first images between two successive analyzed images, each first image being displayed superimposed on a second image representing a synthetic image of the same external landscape, the first image being opaque under the transition zone, completely transparent above the transition zone and of transparency continuously variable between opacity and total transparency in the transition zone.
    Advantageously, between two first images displayed successively at the video refresh rate, the position and the inclination of the border corresponding to said images are subject to the attitude of the aircraft in pitch, roll and yaw and to the variations in rotation of the sensor. of images.
    Advantageously, the transition between two boundaries calculated successively at the time frequency is carried out by means of a morpho.
    Advantageously, the image sensor is an infrared camera or a light intensifier device or a millimeter wave sensor.
    Advantageously, the display screen is a dashboard screen or a screen with a fixed head-up display device or a screen with a head-up display device carried or a screen for a projection device on a windshield.
    The invention will be better understood and other advantages will appear on reading the description which follows given without limitation and thanks to the appended figures among which:
    FIG. 1 represents an EVS image superimposed on an SVS image according to the prior art;
    Figure 2 shows a border according to the invention in an image from a sensor;
    Figures 3, 4 and 5 show the different positions of the transition zone near the border;
    FIG. 6 represents an EVS image superimposed on an SVS image according to the invention;
    Figure 7 illustrates the border movements as a function of the attitude of the aircraft.
    The method according to the invention is implemented in a display system comprising the means necessary for displaying a synthetic image of the exterior landscape, of a real image of the exterior landscape, image processing means allowing '' analyze the real image and graphic processing means making it possible to superimpose the real image on the synthetic image.
    The means necessary for the display of a synthetic image include a cartographic database of the terrain overflown, sensors making it possible to geolocate the apparatus and its attitude in space, means of graphic calculation making it possible to generate a three-dimensional synthetic image. corresponding to the terrain overflown and a display device. It is known that in modern aircraft, these display devices can take various forms. These can be dashboard display screens, transparent projection screens, head-up display devices or those worn by the user.
    The means necessary for capturing a real image are essentially an image sensor. This image sensor can be an infrared camera or a light intensifier or a millimeter wave sensor.
    In the method according to the invention, the image processing means make it possible to analyze the real image so as to determine, within each image, a border between the information useful for piloting and the useless information. during piloting, useful information consisting of portions of terrain or obstacles or elements of remarkable interest. Areas of the image lacking information are, for example, the sky or areas of the ground covered by mist. This amounts to detecting the visibility limit of the image from the sensor.
    This step of the process is shown in Figure 2. In this figure, the terrain areas are shown in dotted areas and the sky in white. After processing, the determined border is the concave line represented in bold line. The shape of this border is given for information only. It is however preferable that the border is a simple form.
    Video refresh rates do not allow this image analysis in real time. In the method according to the invention, this analysis is made at a frequency lower than the video frequency. For example, this frequency is an order of magnitude lower than the video frequency.
    Once this border has been calculated, a transition zone is determined in the vicinity of this border. This transition zone has a width which, for example, can be equal to 10% of the width of the image. As seen in Figures 3, 4 and 5, this transition zone can be either centered on the border, or located below it, or located above it.
    In the next step of the process, we display the actual image superimposed on the synthetic image as follows. The real image is opaque under the transition zone, completely transparent above the transition zone and continuously variable in transparency between opacity and total transparency in the transition zone. If the number of possible transparency values is limited, a conventional so-called descrambling or "dithering" algorithm can be introduced to obtain transitions invisible to the eye between each level of transparency. FIG. 6 represents an EVS image superimposed on an SVS image according to the invention. In this figure, the periphery of the opaque part is shown in solid lines and the periphery of the transparent part in dotted lines. In this figure, we see that the synthetic landscape in the background symbolized by a line of ridges has reappeared.
    As mentioned, the border is calculated at a lower frequency than the video refresh rate. Between a first border calculation and the following calculation, the same calculated border is used to display a certain number of video images. It is interesting to make this border evolve in a simple way with the movements of the plane so that between two calculated images, it continues to match the useful areas of the image as well as possible. Thus, between two images displayed successively at the video refresh rate, the position and the inclination of the border corresponding to the images are controlled by the attitude of the aircraft in pitch, roll and yaw. Figure 7 illustrates this development. The border was calculated at time t, for a first position of the aircraft A. At time t + At, the roll of the aircraft increased by an angle a, so that the continuous border of marry the landscape, it switches from an angle -a. In this figure, for reasons of clarity, the roll angles are notably exaggerated between two successive images.
    In the case of a mobile image sensor, the servo-control from the lace border is different. Indeed, as we extrapolate the curve at the ends, it is possible that the border diverges. Thus, with a mobile camera, we do not extrapolate the border but we can extend it by a straight line parallel to the horizon.
    In the same way, it is preferable that the transition from a calculated image to the next calculated image is done with a smooth transition. To this end, it is possible to use a morphosis algorithm also known as "morphing" to pass from one calculated border to the next.
    To clearly distinguish what is relevant to each image and whether the displays are color displays, the images from the image sensor and the synthetic images can be in different color ranges.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Method for graphical representation in an on-board visualization system for aircraft of a first image (EVS) originating from an image sensor of the exterior landscape superimposed on a second image (SVS) representing a synthetic image of the same landscape outside, the two images being displayed on a display screen of the display system, characterized in that the method comprises the following steps:
    - Analysis, at a time frequency, of a first series of first images from the image sensor so as to determine, within each image, a border (F) between the information useful for piloting and the information that is not necessary for piloting, useful information consisting of portions of terrain or of obstacles or elements of remarkable interest, said time frequency being one order of magnitude lower than the video refresh rate of the images displayed on the screen. 'display screen, these first images being denoted analyzed images;
    - Determination of a transition zone (T) in the vicinity of each border of a determined width;
    - Display on the display screen, at the video refresh rate, of a second series of first images between two successive analyzed images, each first image being displayed superimposed on a second image representing a synthetic image of the same external landscape, the first image being opaque under the transition zone, completely transparent above the transition zone and of transparency continuously variable between opacity and total transparency in the transition zone.
    [2" id="c-fr-0002]
    2. A method of graphic representation according to claim 1, characterized in that, between two first images displayed successively at the video refresh rate, the position and the inclination of the border corresponding to said images are subject to the attitude of the aircraft in pitch, roll and yaw and variations in rotation of the image sensor.
    [3" id="c-fr-0003]
    3. A method of graphic representation according to one of the preceding claims, characterized in that the transition between two boundaries calculated successively at the time frequency is achieved by means of a morphosis.
    [4" id="c-fr-0004]
    4. A method of graphical representation according to one of the preceding claims, characterized in that the transition zone is either centered on the border, or located below it, or located above it.
    [5" id="c-fr-0005]
    5. Method of graphic representation according to one of the preceding claims, characterized in that the first images from the image sensor and the second synthetic images are in different color ranges.
    [6" id="c-fr-0006]
    6. On-board display system for aircraft comprising by means of an external landscape image sensor, a cartographic database, a graphic computer arranged so as to generate a synthetic image of the same external landscape, a display screen displaying a first image from the image sensor superimposed on a second image representing the synthetic image, characterized in that the display system comprises:
    - Image analysis means, at a time frequency, of a first series of first images from the image sensor so as to determine, within each image, a border between the information useful for piloting and the information unnecessary for piloting, the useful information consisting of portions of terrain or of obstacles or elements of remarkable interest, said time frequency being one order of magnitude lower than the video refresh frequency of the images displayed on the viewing screen, these first images being denoted analyzed images;
    - First means of calculating a transition zone in the vicinity of each border of a determined width;
    the graphic computer displaying, at the video refresh rate, a second series of first images between two successive analyzed images, each first image being displayed superimposed on a second image representing a synthetic image of the same external landscape, the first image being opaque under the transition zone, completely transparent above the transition zone and of transparency continuously variable between opacity and total transparency in the transition zone.
    [7" id="c-fr-0007]
    7. On-board display system for aircraft according to claim 6, characterized in that, between two first images displayed successively at the video refresh rate, the position and the inclination of the border corresponding to said images are controlled by the attitude of the aircraft in pitch, roll and yaw and variations in rotation of the image sensor.
    [8" id="c-fr-0008]
    8. On-board display system for aircraft according to one of claims 6 or 7, characterized in that the transition between two boundaries calculated successively at the time frequency is achieved by means of a morphosis.
    [9" id="c-fr-0009]
    9. On-board display system for aircraft according to one of claims 6 to 8, characterized in that the image sensor is an infrared camera or a light intensifier device or a millimeter wave sensor.
    [10" id="c-fr-0010]
    10. On-board display system for aircraft according to one of claims 6 to 9, characterized in that the display screen is a dashboard screen or a screen of a fixed head-up display device or a screen of head-up display device or a projection device screen on the windshield.
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1601574|2016-11-03|
    FR1601574A|FR3058233B1|2016-11-03|2016-11-03|METHOD FOR OVERLAYING AN IMAGE FROM A SENSOR ON A SYNTHETIC IMAGE BY AUTOMATICALLY DETECTING THE VISIBILITY LIMIT AND VISUALISION SYSTEM THEREOF|FR1601574A| FR3058233B1|2016-11-03|2016-11-03|METHOD FOR OVERLAYING AN IMAGE FROM A SENSOR ON A SYNTHETIC IMAGE BY AUTOMATICALLY DETECTING THE VISIBILITY LIMIT AND VISUALISION SYSTEM THEREOF|
    US15/786,473| US10008179B2|2016-11-03|2017-10-17|Method for overlaying an image arising from a sensor on a synthetic image by automatic detection of the limit of visibility and associated viewing system|
    CN201711058669.6A| CN108024070B|2016-11-03|2017-11-01|Method for overlaying sensor images on composite image and related display system|
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