CN103679803A - Method for dynamic modeling for sea ice in navigation simulator scene - Google Patents
Method for dynamic modeling for sea ice in navigation simulator scene Download PDFInfo
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Abstract
The invention discloses a method for dynamic modeling for sea ice in a navigation simulator scene. The method for the dynamic modeling for the sea ice in the navigation simulator scene comprises the following steps of dynamically managing a whole sea ice field based on a quadtree space partition technology, confirming a state of a sea ice model and carrying out dynamic brash ice modeling on a single body ice breaking model. According to the method for the dynamic modeling for the sea ice in the navigation simulator scene, a quadtree technology is applied to the scene management of repetition models, due to the fact that the generation, breaking, melting and freezing in the sea ice model are extremely suitable for the storage of property structures, the whole sea ice face can be taken as a single layer, an octree which is more complex is not necessary to be used for managing three-dimensional scenes, the function of early stage simplification is performed on the subsequent breaking, freezing, melting and other dynamic processes, and thus the real-time performance of a visual system is greatly improved and optimized. According to the method for the dynamic modeling for the sea ice in the navigation simulator scene, a Voronoi image algorithm is optimized and then added and applied to sea ice dynamic modeling so that relative realistic situations meeting actual natural conditions can be formed in a breaking model when collision between ships and ice occurs, and thus the sense of reality of sea ice breaking is enhanced.
Description
Technical field
The present invention relates to a kind of navigation scene simulation technical field, relate to the sea ice dynamic modelling method in a kind of marine simulator scene.
Background technology
In real world, the region of global ocean approximately 10% is covered by sea ice, and this comprises the seasonal sea ice of polar region Sea Ice and low latitude Temperate Region in China.The existence of sea ice is surveyed and the marine behavior such as is adopted and brought great inconvenience and potential safety hazard to shipping, offshore operation, fishery and oil gas mineral.In marine simulator, add the relevant navigation in ice formation what comes into a driver's, the not only perfect multifunctionality of marine simulator, has all also played indispensable effect [1] [2] to aspects such as the staff training of relevant maritime field, maritime affairs assessment and scientific researches.
Relevant research both domestic and external mainly concentrates on the analysis and application of Engineering Sea Ice numerical model [3-6], as sea ice generates migration characteristics and physico-mechanical properties, the theory of ice and structural interaction and test method, ice resistant structure and sea ice design project condition etc.At home and abroad, in research, ice navigation vision simulation field belongs to new branch of science [7-10], and wherein the dynamic modeling aspect of sea ice still belongs to the exploratory stage.
The foundation of sea ice scene, has not only comprised the due weather condition of ice formation scene and topographic condition, and wherein real-time high-efficiency sea ice dynamic simulation modeling true to nature is all the Focal point and difficult point of extensive ice formation environment Visualization all the time.Because sea ice model is different from boats and ships in ocean scenes, the modeling of the model such as buildings and harbour stacking yard field on the bank, once these models are built up, in what comes into a driver's field, do not change, only show.In reality, sea ice is accompanied by the variation of temperature conditions under marine environment, can freeze, the spontaneous phenomenon such as thawing, and due to the reciprocation of stormy waves, boats and ships and sea ice, and the real views such as fragmentation, floating and accumulation can occur sea ice.So, to the sea ice modeling and simulating of ice formation scene, must have its corresponding real-time what comes into a driver's to present.In the sea ice model investigation of present stage, Sun Yuhao [10] utilizes the Koch curve after optimization in fractal method once sea ice modeling to be carried out to relevant exploration with random triangle.But the method has following deficiency:
Although 1 has optimized Koch curve, added random triangle, but the final sea ice forming is visual, still there is certain repeatability, the channel edge trigonometric ratio forming is obvious, to compare authenticity poor with real sea ice, affected user's the environment sense of reality, and it is more single to generate method applicability, and can not dynamic creation method, limitation is obvious.
2, the scene management that lacks whole sea ice region, sea ice model repeats to exist in a large number, has consumed system resource, has affected real-time.
Not affecting on the basis of virtual emulation real-time, how to improve the sense of reality of ice formation what comes into a driver's, reach the authenticity that improves virtual emulation the effect that strengthens user's feeling of immersion, be the difficult point of present stage.Make a concrete analysis of as follows:
3, navigation emulation field is single for traditional modeling comparison of natural landscape, cannot meet the spontaneous phenomenon such as fragmentation, freezing-thawing of sea ice object.If complete applied physics mathematical model, time and space resource consumption is excessive, is not suitable for the marine simulator that real-time is higher.
4, the sea-ice area needing due to ice formation scene is very large, also needs scientific and reasonable method on the scene management of a large amount of whole sea ice models, not so not only expends plenty of time space resources, can affect the real-time effect of whole program.
The present invention relates to list of references as follows:
[1] Jin Yicheng, development [J] the > > of Yin Yong < < pact, technology and marine simulator, Chinese navigation, 2010,33 (1): 1-6.
[2] marine board of the People's Republic of China (PRC) translates < < training of seafarer in 1978, issues licence and standard international convention on duty Manila amendment [M] > >, publishing house of the Maritime Affairs University Of Dalian, 2011.
[3] fourth German < < Engineering Sea Ice outline [M] > >, Beijing: Maritime Press, 1999.
[4] Ji Yingshun < < Engineering Sea Ice numerical model and application [M] > > Beijing: Science Press, 2011.
[5] Tang Maoning, Liu Qinzheng, numerical simulation [J] the > > marine forecasting of the < < Bohai Sea ice-control seasonal evolution such as Liu Yu, 2010,27 (2): 48-52.
[6]Lau,Michael.Preliminary?Modelling?of?Ship?Manoeuvring?in?Ice?Using?a?PMM[R].Ottawa:National?Research?Council?Canada,2006。
[7]John?Tucker,Anthony?Patterson,Glenn?Fiander,Carl?Harris,Don?Spencer.Simulation?and?Modeling?of?Navigating?in?Ice[C].International?Navigation?Simulator?Lecturers’Conference(INLSC-14)，July3-7,2006。
[8]Magnus?Bostrom.Effective?simulator?training?in?preparation?for?icebreaking?operations?and?ice?management?assessment[C].International?Navigation?Simulator?Lecturers’Conference(INLSC-16),12-16July,2010。
[9]Lubbad,R.,
S.A?numerical?model?for?real-time?simulation?of?ship?–ice?interaction.Cold?regions?science?and?technology,2011,65(2),111-127。
[10] Sun Yuhao, Yin Yong, Gao Shuai, the research > > of ice formation what comes into a driver's in < < marine simulator, Journal of System Simulation, 2012,24 (1): 49-53.
Summary of the invention
The problems referred to above that exist for solving prior art, the present invention will design the sea ice dynamic modelling method in a kind of real-time and the better marine simulator scene of the sense of reality.
To achieve these goals, technical scheme of the present invention is as follows: the sea ice dynamic modelling method in a kind of marine simulator scene, comprises the following steps:
A, based on the whole sea ice of quaternary tree spatial division technology dynamic management field
A1, by the level of quaternary tree, divide sea ice field position grid in advance;
A2, according to each layer of sea ice field, vessel position searching loop place, and whether a judgement end layer leaf node generates; If end layer leaf node generates, go to step A5, otherwise, go to step A3;
If A3 does not generate end layer leaf node, create the child node of boats and ships position layer, the every sea ice model that shows as current layer in what comes into a driver's is replaced by the model of 4 sublayers;
A4 is until end layer leaf node generates, and cycle criterion finishes;
A5, at ice cube again freezing stage, from end layer, delete leaf node gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, this process is that A2 is to the inverse process of A4;
B, determine sea ice model state
B1, input ship motion state, the sea ice model that monitoring and boats and ships come in contact;
B2, sea ice model is carried out to collision detection, determine the quantity N that is in contact with one another sea ice model, and make i=1;
The volume V of B3, i ice cube of calculating
i, and judge whether to be greater than reference volume V
limif be greater than reference volume V
limthis ice cube model is labeled as to the piece that can open ice; Otherwise this ice cube model is labeled as to the piece that can not open ice;
B4, judge whether i is greater than N, if i is not more than N, make i=i+1, go to step B3; If i is more than or equal to N, go to step B5;
B5, the sea ice not contacting with boats and ships and underwater ice model are labeled as to the piece that can not open ice, application newtonian dynamics calculates sea ice motion state;
B6, by sea ice to the acting force feedback ship motion state of ship and upgrade sea ice model state;
C, for monomer in step B, can break sea ice model and carry out dynamic trash ice modeling
C1, read leaf node, be labeled as the unit sea ice model that can open ice;
C2, in unit sea ice model random spreading Seed Points;
C3, according to Voronoi map generalization method, generate the Delaunay triangle of each Seed Points;
C4, the connection leg-of-mutton circumcenter of Delaunay obtain the Voronoi polygon on object model surface and divide;
C5, according to Voronoi polygon, divide to build trash ice model.
Compared with prior art, the present invention has following beneficial effect:
1, why the present invention is applied to quaternary tree technology in the scene management of duplication model, because generation, the fragmentation of sea ice model, melt, freeze, be applicable to very much the storage of attribute structure, and whole sea ice face can regard as individual layer, this manages three-dimensional scenic with regard to making to apply more complicated Octree.Be compared to the method in document [10], utilize quaternary tree data structure managing sea ice field, not only greatly reduced the time that needs prestrain model in scene, optimized the consuming cost of system resource, and wherein each leaf node represents a fixed mode sea ice model, the position of leaf node and the sea ice position in whole ice stadium matches, dynamic queries and the management of whole ice formation sea ice model have been facilitated, to follow-up fragmentation, the dynamic process such as freeze and melt and played the effect of in earlier stage simplifying, this real-time to this visual system is greatly improved and optimizes.
2, because the region partitioning method of Voronoi figure and the brittle crush of the object in reality are comparatively approaching, thus in the correlative study aspect the broken emulation of object, be also hot topic in recent years, but in sea ice modeling field, not yet have invention to exist.The present invention is applied to sea ice dynamic modeling by Voronoi nomography through optimizing to add, object makes it when there is the collision of ship ice, form break-up model relatively true to nature meet real natural situation, strengthened the sense of reality of sea ice fragmentation, and Voronoi graph model division methods is relatively ripe, the efficiency of ease for use, transplantability and method is all higher, has guaranteed the efficient real-time of whole system, and follow-up broken floating ice dynamic similation has been played to basic role in early stage.
Accompanying drawing explanation
5, the total accompanying drawing of the present invention, wherein:
Fig. 1 is amended quaternary tree schematic diagram of the present invention.
Fig. 2 is the process flow diagram that whole ice stadium is managed in dynamic generation of the present invention.
Fig. 3 is the comparison diagram that former method and the present invention apply quaternary tree dynamic management approach.
Fig. 4 is sea ice crushing circuit figure of the present invention.
Fig. 5 is contrast before and after sea ice model application Voronoi drawing method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
The present invention introduces quaternary tree scene management algorithm and the Voronoi diagram modeling algorithm that opens ice.Wherein, quaternary tree is a kind of tree data structure, and its definition is: under its each node, can have at the most four child nodes, the relevant information conventionally a part of two-dimensional space being subdivided in Bing Bagai region, four regions is deposited in quadtree's node.Tree structure itself is a kind of typical branched structure, and has obvious level characteristics.And its node can insert dynamically (generation), revises, delete, query node path is also very convenient.The space partitioning algorithm that Voronoi diagram (Voronoi Diagram is again Thiessen polygon or Dirichlet figure) the mathematician Georgy Fedoseevich Voronoi of Shi You Russia sets up.The continuous polygon that it is comprised of the perpendicular bisector that connects two adjoint point straight lines by one group forms.N distinguishing in the plane point, divides plane according to proximity principle, and each point is associated with its arest neighbors region.Voronoi figure is widely used at geometry, computer picture, machine-building, city planning, statistics etc.
Concrete steps of the present invention are as follows:
A, based on the whole sea ice of quaternary tree dynamic management field
In the present invention, quaternary tree generation method has been carried out to certain modification, as shown in Figure 1, each father node or there is no child node, or must generate four child nodes.Each leaf node represents an independent ice cube of going back as shown in Figure 1, and the process that generates child node is the process that different big or small sea ice models are replaced in dynamic generation.
When ship ice comes in contact, concrete grammar is as follows:
A1, by the level of quaternary tree, divide sea ice field position grid in advance;
A2, according to each layer of sea ice field, vessel position searching loop place, and whether a judgement end layer leaf node generates;
If A3 does not generate end layer leaf node, create the child node of ship position layer, the every sea ice model that shows as current layer in what comes into a driver's is replaced by the model of 4 sublayers;
A4 is until end layer leaf node generates, and cycle criterion finishes.
Above-mentioned flow process as shown in Figure 2.At ice cube again freezing stage, from end layer, delete leaf node gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, this process is the inverse process of above-mentioned generation child node process, does not add and repeats.
As shown in Figure 3, the present invention has not only greatly reduced the time that needs prestrain model in scene, optimized the consuming cost of system resource, and wherein each leaf node represents a fixed mode sea ice model, the position of leaf node and the sea ice position in whole ice stadium matches, dynamic queries and the management of whole ice formation sea ice model have been facilitated, to follow-up fragmentation, freeze and the dynamic process such as melt to have played the effect of in earlier stage simplifying.
B, determine sea ice model state
According to ship motion state, the sea ice model that monitoring and boats and ships come in contact also carries out collision detection to it, as shown in Fig. 4 flow process, the sea ice not contacting with boats and ships and underwater ice model are labeled as to the piece that can not open ice, application newtonian dynamics calculates sea ice motion state, finally sea ice is fed back to ship motion state and upgrades sea ice state the acting force of ship.
C, utilize Voronoi figure to sea ice dynamic modeling
In for ship ice reciprocal process, when the contact of ship ice, while there is sea ice fragmentation, application Voronoi drawing method, detailed process is as follows: first read least unit sea ice model, random spreading Seed Points in model; Then according to Voronoi map generalization method, generate the Delaunay triangle of each Seed Points, connect the Voronoi polygon division that the leg-of-mutton circumcenter of Delaunay can obtain object model surface, as shown in Figure 5, and using that this is visual and collide broken basis as ship ice in whole system.
The present invention repartitions sea ice model block by Voronoi figure, object makes it when there is the collision of ship ice, form break-up model relatively true to nature meet real natural situation, and Voronoi graph model division methods is relatively ripe, the efficiency of ease for use, transplantability and method is all higher, guaranteed the real-time high-efficiency of whole system, and follow-up broken floating ice dynamic similation has been played to basic role in early stage.
Claims (1)
1. the sea ice dynamic modelling method in marine simulator scene, is characterized in that: comprise the following steps:
A, based on the whole sea ice of quaternary tree spatial division technology dynamic management field
A1, by the level of quaternary tree, divide sea ice field position grid in advance;
A2, according to each layer of sea ice field, vessel position searching loop place, and whether a judgement end layer leaf node generates; If end layer leaf node generates, go to step A5, otherwise, go to step A3;
If A3 does not generate end layer leaf node, create the child node of boats and ships position layer, the every sea ice model that shows as current layer in what comes into a driver's is replaced by the model of 4 sublayers;
A4 is until end layer leaf node generates, and cycle criterion finishes;
A5, at ice cube again freezing stage, from end layer, delete leaf node gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, this process is that A2 is to the inverse process of A4;
B, determine sea ice model state
B1, input ship motion state, the sea ice model that monitoring and boats and ships come in contact;
B2, sea ice model is carried out to collision detection, determine the quantity N that is in contact with one another sea ice model, and make i=1;
The volume V of B3, i ice cube of calculating
i, and judge whether to be greater than reference volume V
limif be greater than reference volume V
limthis ice cube model is labeled as to the piece that can open ice; Otherwise this ice cube model is labeled as to the piece that can not open ice;
B4, judge whether i is greater than N, if i is not more than N, make i=i+1, go to step B3; If i is more than or equal to N, go to step B5;
B5, the sea ice not contacting with boats and ships and underwater ice model are labeled as to the piece that can not open ice, application newtonian dynamics calculates sea ice motion state;
B6, by sea ice to the acting force feedback ship motion state of ship and upgrade sea ice model state;
C, for monomer in step B, can break sea ice model and carry out dynamic trash ice modeling
C1, read leaf node, be labeled as the unit sea ice model that can open ice;
C2, in unit sea ice model random spreading Seed Points;
C3, according to Voronoi map generalization method, generate the Delaunay triangle of each Seed Points;
C4, the connection leg-of-mutton circumcenter of Delaunay obtain the Voronoi polygon on object model surface and divide;
C5, according to Voronoi polygon, divide to build trash ice model.
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| CN107065597A (en) * | 2017-05-23 | 2017-08-18 | 大连海事大学 | A kind of marine simulator simulates the sea ice computational methods of ship ice interaction |
| CN109493421A (en) * | 2018-11-19 | 2019-03-19 | 东北石油大学 | A kind of data processing method and system |
| CN109766603A (en) * | 2018-12-26 | 2019-05-17 | 哈尔滨工程大学 | A kind of ice boat contact process numerical computation method |
| CN110135115A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨工程大学 | A kind of two dimension and three-dimensional floating ice field or trash ice field generation method |
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| CN110135115A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨工程大学 | A kind of two dimension and three-dimensional floating ice field or trash ice field generation method |
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