CN101806596A - Method for automatically generating minimum-distance course based on electronic nautical chart - Google Patents
Method for automatically generating minimum-distance course based on electronic nautical chart Download PDFInfo
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- CN101806596A CN101806596A CN201010108275A CN201010108275A CN101806596A CN 101806596 A CN101806596 A CN 101806596A CN 201010108275 A CN201010108275 A CN 201010108275A CN 201010108275 A CN201010108275 A CN 201010108275A CN 101806596 A CN101806596 A CN 101806596A
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Abstract
The invention discloses a method for automatically generating a minimum-distance course based on an electronic nautical chart, which comprises the following steps of: automatically extracting a difficult area, searching for a minimum-distance course and generating the minimum-distance course. Compared with the traditional manual operation and networking optimization method, the method for automatically generating a minimum-distance course based on an electronic nautical chart has the advantages of low time consumption and high efficiency and accuracy, and can analyze the range of the difficult area, so that the generated course can automatically avoid the difficult area, thereby further improving the reliability.
Description
Technical field
The present invention relates to hydrographic charting and navigation field, particularly a kind of bee-line course line based on electronic chart generates method automatically.
Background technology
As shown in Figure 1, be at submarine topography than Minimal Flight Path from S to D of areas with complicated design.At present basically still according to the personal experience, mainly rely on information such as depth of water annotation on the manual analysis sea chart, sea-bottom contour, obstacle (hindering boat) thing, mode is drafted the Planned Route of navigation by hand.This operational method exists inefficiency, operation result to depend on shortcoming (Zhang Lihua, Zhu Qing, Liu Yanchun such as operator's professional skill and working attitude, Japanese plum army. the course line automatic design method under the electronic chart platform, Maritime Affairs University Of Dalian's journal, vol33,2007 (3): 109-112; Zhang Lihua, Zhu Qing, Zhang Anmin, Liu Yanchun, won profit. a kind of Minimal Flight Path of intelligence makes up algorithm, the mapping journal, Vol 37,2008 (1): 114-119; Li Yuanhui, Pan Mingyang, Wu Xian. based on the course line automatic generating calculation of dynamic grid model, the Communication and Transportation Engineering journal, Vol 7,2007 (3): 34-39).
The networking optimization method is the most classical and course line optimization method widely of current use, and it chooses some representational way point on sea chart, carries out the path feasibility and judges and set up airway net, adopts dijkstra's algorithm to carry out path optimization.The voyage that this method obtains is the shortest at institute's establishing network only, but also not the shortest feasibility course line from the starting point to the point of destination, also need many manual intervention (Zhang Lihua in the operation process, Zhu Qing, Zhang Anmin, Liu Yanchun, won profit. a kind of Minimal Flight Path of intelligence makes up algorithm, the mapping journal, Vol 37,2008 (1): 114-119).Although also the someone has proposed course line feasibility computer-aided analysis determination methods, and the course line of further having explored based on the dynamic grid model generates automatically, and the quality and the operating efficiency that generate Minimal Flight Path depend on sizing grid.Sea chart mesh generation grid is thin more, and the course line quality is high more, but formation efficiency suddenly descends.This method still can't reach the technical indicator (Li Yuanhui that any 2 S on the sea chart generate automatically to the Minimal Flight Path of D, Pan Mingyang, Wu Xian. based on the course line automatic generating calculation of dynamic grid model, Communication and Transportation Engineering journal, Vol 7,2007 (3): 34-39).
Summary of the invention
The objective of the invention is under the electronic chart platform,, generating a feasibility course line that distance is the shortest on the sea chart between any 2 automatically by the automatic computational analysis of computing machine.
The technical scheme that the present invention is adopted for achieving the above object is: provide a kind of bee-line course line based on electronic chart to generate method automatically, described bee-line course line based on electronic chart generates the method concrete steps automatically and is:
The automatic extraction of first step difficult area: utilize charted depth, consider constraint conditions such as land, island, bare rock, make up the depth of water triangulation network automatically; According to warship safety navigation requirement, follow the trail of safe sea-bottom contour; On the basis of the classification of safety sea-bottom contour and processing, difficult area when extracting shallow water, and form last difficult area with other fixing difficult area such as culture zone, prohibited area;
The search in the second step bee-line course line: when detouring difficult area, the relation of each straight line leg and difficult area is equivalent to spatial relationship middle conductor and relation of plane; If leg and difficult area intersect, this leg is not all right leg; If leg and difficult area from, be not the Minimal Flight Path of difficult area of detouring then via the course line of leg; Have only when leg and difficult area are tangent, just might produce the bee-line course line; Therefore, when wanting to detour difficult area, go on a voyage in the tangent mode of leg and difficult area in the bee-line mode as far as possible;
The generation in the 3rd step bee-line course line: when carrying out the search in bee-line course line, whenever to a new difficult area, may produce the possible path in two bee-line course lines, this is similar to binary tree, so generate all possible shortest path with the air route binary tree, more all possible at last path obtains the bee-line course line.
Beneficial effect of the present invention: the bee-line course line that the present invention is based on electronic chart generates method automatically and compares with the networking optimization method with traditional handwork, not only have weak point consuming time, efficient height, advantage of high accuracy, and can analyze the difficult area scope, generate the course line and can avoid difficult area automatically, on reliability, also obtained further raising.
Description of drawings
Fig. 1 is the embodiment of the invention sea area depth of water and bathymetric chart;
Fig. 2 is the triangulation network and the sea-bottom contour of the embodiment of the invention;
Fig. 3 is definite figure of embodiment of the invention difficult area;
Fig. 4 is the generation figure in embodiment of the invention binary tree course line;
Fig. 5 is the generation figure in embodiment of the invention binary tree course line;
The Minimal Flight Path figure that Fig. 6 generates for the embodiment of the invention;
Fig. 7 is that starting point is formed the situation (the safe depth of water is 10 meters) in the convex hull on the difficult area summit;
Fig. 8 is starting point and terminal point situation in convex hull (the safe depth of water is 10 meters);
Fig. 9 is starting point and terminal point situation outside convex hull (the safe depth of water is 5 meters).
Embodiment
The present invention is described in further detail below in conjunction with drawings and the specific embodiments.
1, the automatic extraction of difficult area
(1) definition of sea-bottom contour
The left side is the shoal water zone, and the right side is that the working direction of profundal zone is the forward of sea-bottom contour; Otherwise the shoal water zone is the negative sense of sea-bottom contour in right, the direction of profundal zone on a left side.In Fig. 2, the direction of arrow is represented the forward of sea-bottom contour.
Inside is that the closed sea-bottom contour of shoal water zone is (as the c among Fig. 2
1) be I class sea-bottom contour; Inside is that the closed sea-bottom contour of profundal zone is (as the c among Fig. 2
2) be II class sea-bottom contour; Non-closed sea-bottom contour is (as the c among Fig. 2
3) be III class sea-bottom contour.
For closed sea-bottom contour and non-closed sea-bottom contour, when following the trail of, can whether overlap and distinguish according to starting point with terminal point.I class and II class sea-bottom contour all are a kind of polygons of closure, distinguish I class and II class sea-bottom contour and need also further to judge that the node of sea-bottom contour is to arrange clockwise or counterclockwise.
(2) the automatic extraction of difficult area
Safe sea-bottom contour is the safety zone of ship navigation and the separatrix of hazardous location.The interior zone of I class safety sea-bottom contour, normally geographic element such as islands and reefs, shallow ground is natural difficult area.The III class is not sealed safe sea-bottom contour, is the boundary line in safety depth of water district and danger sounding district.Along the forward of this class sea-bottom contour, earlier itself and survey region outer boundary are formed a closed region, its inside is shallow water area.These shoal water zones are sealed accordingly with stacked processing after, they have also constituted a kind of natural difficult area.II class sea-bottom contour, although internal area is deeper than the safe depth of water, it is positioned at the inside of bigger difficult area, only need consider peripheral difficult area when the course line is analyzed.Except that the natural difficult area that extracts from the safety sea-bottom contour, also have point, line, surface barriers such as shipwreck, culture zone, be called cultural obstacle.Considering these barrier domains of influence, is the buffer zone of point, line, surface target just.A among Fig. 3
1Be a kind of area target, the square frame inner region is the domain of influence of cultural obstacle for this reason.
Uncertain factors such as the influence of the accuracy of barrier position, wind (stream, wave), navigation positioning system precision will influence navigation safety.For the consideration of reliability, can carry out a certain amount of expansion to difficult area (or thing) scope, and expand the processing that the back difficult area intersects.The difficult area of Sheng Chenging is shown in shadow region among Fig. 3 at last.
2, the search in bee-line course line
How to walk around difficult area in the most reasonable navigation mode, arrive point of destination D from starting point S.When detouring difficult area, the relation of each straight line leg and difficult area is equivalent to spatial relationship middle conductor and relation of plane (as SP
1With O
1Relation).As shown in Figure 4, if leg and difficult area intersect, this leg is not all right leg; If leg and difficult area are from (as SP
1' with O
1Relation), then via leg SP
1' the course line be not the Minimal Flight Path (P that detours and hinder boat
1' be not with the detour way point of difficult area of the shortest mode); Have only when leg and difficult area are tangent, just might just give birth to bee-line course line (P
1Be possible) with the detour way point of difficult area of the shortest mode.Therefore, when wanting to detour difficult area, go on a voyage in the tangent mode of leg and difficult area in the bee-line mode as far as possible.Usually, when detouring difficult area, may pass through from the left side or right side two paths of difficult area at most, as Fig. 4 and Fig. 5 in tangent mode.
3, the generation in bee-line course line
When carrying out Shortest Path Searching, to a new difficult area, may produce the possible path in two bee-line course lines whenever, this is similar to binary tree, so generate all possible shortest path with the air route binary tree.More all possible at last path obtains the bee-line course line.The bee-line course line result of Sheng Chenging such as Fig. 6, Fig. 7, Fig. 8 and shown in Figure 9 at last, the course line of the broken line that shows on the figure for adopting the method for the invention to draw, wherein, Fig. 7 is that starting point is formed the situation (the safe depth of water is 10 meters) in the convex hull on the difficult area summit, Fig. 8 is situations in convex hull (the safe depth of water is 10 meters) of starting point and terminal point, and Fig. 9 is situations outside convex hull (the safe depth of water is 5 meters) of starting point and terminal point.
4, beneficial effect checking
In order to contrast the performance of automatic generation method and traditional networking optimization method, select for use certain group data to test, last comparison result is as shown in table 1.The networking optimization method is that certain operating personnel chooses some representational way point on sea chart, carries out the path feasibility and judges and set up airway net, adopts dijkstra's algorithm to carry out realizing after the path optimization.Reliability in the table 1 adopts the accuracy of feasibility path analysis to estimate, is to choose certain group way point, analyzes when setting up airway net, and correct feasibility path accounts for the ratio in whole airway net path.
The performance comparison of table 1 distinct methods
Table 1
According to the data in the table 1, this paper institute's extracting method and classic method are carried out following some comparison and analysis:
(1) efficiency analysis.Adopt traditional networking optimization method, it is consuming time with selecting for use the way point number to increase and suddenly to increase; And adopt bee-line course line to generate method automatically based on electronic chart, obviously reduce on consuming time than networking optimization method.
(2) analysis of the accuracy.The bee line that classic method drew depends on what and rationality of selected way point, but all is not so good as the voyage weak point that this paper institute extracting method obtains.So based on the bee-line course line of electronic chart generate automatically method than networking optimization method in the search of bee line, accuracy is higher.
(3) fail-safe analysis.When adopting classic method to set up airway net, the correctness of feasibility path analysis is relevant with navigating officer's experience, operation skill level and working attitude, might owing to neglect miss can not shipping the path be used as the feasibility path.The bee-line course line based on electronic chart that this paper carried generates method automatically and can analyze the difficult area scope, and the course line can be avoided difficult area automatically, has also obtained further raising thus on reliability.
Above content be in conjunction with concrete optimal technical scheme to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (1)
1. the bee-line course line based on electronic chart generates method automatically, it is characterized in that: described bee-line course line based on electronic chart generates the method concrete steps automatically and is:
The automatic extraction of first step difficult area: utilize charted depth, consider constraint conditions such as land, island, bare rock, make up the depth of water triangulation network automatically; According to warship safety navigation requirement, follow the trail of safe sea-bottom contour; On the basis of the classification of safety sea-bottom contour and processing, difficult area when extracting shallow water, and form last difficult area with other fixing difficult area such as culture zone, prohibited area;
The search in the second step bee-line course line: when detouring difficult area, the relation of each straight line leg and difficult area is equivalent to spatial relationship middle conductor and relation of plane; If leg and difficult area intersect, this leg is not all right leg; If leg and difficult area from, be not the Minimal Flight Path of difficult area of detouring then via the course line of leg; Have only when leg and difficult area are tangent, just might produce the bee-line course line; Therefore, when wanting to detour difficult area, go on a voyage in the tangent mode of leg and difficult area in the bee-line mode as far as possible;
The generation in the 3rd step bee-line course line: when carrying out the search in bee-line course line, whenever to a new difficult area, may produce the possible path in two bee-line course lines, this is similar to binary tree, so generate all possible shortest path with the air route binary tree, more all possible at last path obtains the bee-line course line.
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| CN102278986A (en) * | 2011-06-21 | 2011-12-14 | 海华电子企业(中国)有限公司 | Optimization method for electronic marine chart ship route design |
| CN103900573A (en) * | 2014-03-27 | 2014-07-02 | 哈尔滨工程大学 | Underwater vehicle multi-constrained path planning method based on S57 standard electronic chart |
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| CN110220514A (en) * | 2019-05-27 | 2019-09-10 | 中国电子科技集团公司第二十八研究所 | A kind of dynamic lane generation method based on chart data |
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| CN102278986A (en) * | 2011-06-21 | 2011-12-14 | 海华电子企业(中国)有限公司 | Optimization method for electronic marine chart ship route design |
| CN103900573A (en) * | 2014-03-27 | 2014-07-02 | 哈尔滨工程大学 | Underwater vehicle multi-constrained path planning method based on S57 standard electronic chart |
| CN103900573B (en) * | 2014-03-27 | 2017-01-04 | 哈尔滨工程大学 | A kind of underwater research vehicle multiple constraint Route planner based on S57 standard electronic sea chart |
| CN104239635A (en) * | 2014-09-16 | 2014-12-24 | 武汉中原电子集团有限公司 | Method for automatically drawing navigable area central line on inland river electronic chart |
| CN104835167A (en) * | 2015-05-15 | 2015-08-12 | 张立华 | Navigation mark automatic selection method based on maximum coverage of space influence domain |
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| CN106203721B (en) * | 2016-07-18 | 2019-11-26 | 武汉理工大学 | The polar region ice formation route design system and method for self-adaptive ship ice-breaking capacity |
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| CN107798185B (en) * | 2017-10-20 | 2021-05-04 | 山东交通学院 | ECDIS-based automatic route design system and construction method thereof |
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| CN108959348A (en) * | 2018-04-20 | 2018-12-07 | 张立华 | A kind of difficult area automatic generation method merging several chart datas |
| CN108959348B (en) * | 2018-04-20 | 2021-07-09 | 中国人民解放军海军大连舰艇学院 | Method for automatically generating navigation area by fusing multiple chart data |
| CN110220514A (en) * | 2019-05-27 | 2019-09-10 | 中国电子科技集团公司第二十八研究所 | A kind of dynamic lane generation method based on chart data |
| CN110220514B (en) * | 2019-05-27 | 2021-04-13 | 中国电子科技集团公司第二十八研究所 | Dynamic route generation method based on chart data |
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| CN110398249B (en) * | 2019-07-23 | 2020-10-30 | 金陵科技学院 | Path planning method for automatic cruise by combining environmental characteristics |
| CN111861045A (en) * | 2020-08-06 | 2020-10-30 | 中国科学院地理科学与资源研究所 | Method for rapidly generating marine shortest route oriented to massive digital water depth model data body |
| CN111861045B (en) * | 2020-08-06 | 2024-04-09 | 中国科学院地理科学与资源研究所 | Rapid generation method of offshore shortest route for massive digital water depth model data body |
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