CN103679803B - Sea ice dynamic modelling method in a kind of navigation simulator scene - Google Patents
Sea ice dynamic modelling method in a kind of navigation simulator scene Download PDFInfo
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Abstract
The invention discloses the sea ice dynamic modelling method in a kind of navigation simulator scene, comprise the following steps: dynamically manage whole sea ice field based on quaternary tree space partitioning technology；Determine sea ice model state；Sea ice model can be broken for monomer and carry out dynamic trash ice modeling.Quaternary tree technology is applied in the scene management of duplication model by the present invention, because the generation of sea ice model, crushing, melting, freezing, it is especially suitable for the storage of attribute structure, and entirety sea ice face can be regarded as monolayer, this allows for apply increasingly complex Octree to manage three-dimensional scenic, follow-up dynamic processes such as crushing, freeze and melt serves the effect that early stage simplifies, and the real-time of this visual system is greatly improved and optimizes by this.Optimized for Voronoi diagram algorithm addition is applied to sea ice dynamic modeling by the present invention, and purpose makes it when there is the collision of ship ice, and what formation break-up model was relatively true to nature meets the natural situation of reality, enhances the sense of reality that sea ice is broken.
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 navigation simulator scene.
Background technology
In real world, the region of global ocean about 10% is covered by sea ice, and this includes the seasonal sea ice of polar region Sea Ice and low latitudes Temperate Region in China.The existence of sea ice is surveyed to shipping, operation on the sea, fishery and oil gas mineral and the marine behavior such as is adopted and bring inconvenience and potential safety hazard greatly.Marine simulator adds the relevant navigation in ice formation what comes into a driver's, the not only perfect multifunctionality of marine simulator, the aspects such as the staff training of relevant maritime field, maritime affairs assessment and scientific research have all been also functioned to indispensable effect [1] [2].
Relevant research both domestic and external is concentrated mainly on analysis and the application upper [3-6] of Engineering Sea Ice numerical model, migration characteristics and physico-mechanical properties is generated such as sea ice, 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 falls within the exploratory stage.
The foundation of sea ice scene, not only includes the due weather condition of ice formation scene and orographic condition, and the sea ice dynamic simulation model building that wherein real-time high-efficiency is true to nature is all emphasis and the difficult point of extensive ice formation environment Visualization all the time.Because the modeling of the models such as sea ice model is different from ocean scenes boats and ships, onshore constructions and harbour heap thing field, these models, once build up, do not change in what comes into a driver's field, only show.In reality, sea ice is along with the change of temperature conditions under marine environment, it may occur that freeze, the natural phenomena such as thawing, and due to the reciprocal action of stormy waves, boats and ships and sea ice, the reality view such as sea ice can crush, floating and accumulation.So, its corresponding Real-time windows target must be had to present the sea ice modeling and simulating of ice formation scene.In the sea ice scale-model investigation of present stage, Sun Yuhao [10] utilizes the Koch curve after optimizing in fractal method and random triangular once sea ice modeling to be carried out relevant exploration.But the method has following deficiency:
Although 1 optimizes Koch curve, add random triangular, but the sea ice visualization ultimately formed still has certain repeatability, the channel edge trigonometric ratio formed is obvious, verity is poor compared with the sea ice of reality, have impact on the environment sense of reality of user, and it is more single to generate method applicability, and can not dynamic creation method, limitation is obvious.
2, lacking the scene management in overall sea ice region, sea ice model repeats existence in a large number, consumes system resource, have impact on 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 improve the verity of virtual emulation and strengthen the effect of feeling of immersion and the effect of user, be the difficult point of present stage.Make a concrete analysis of as follows:
3, Navigation Simulation field is single for traditional modeling comparison of natural landscape, it is impossible to meet the natural phenomena such as broken, freezing-thawing of sea ice object.If Applied Physics mathematical model completely, time and space resource consumption is excessive, is not suitable for the marine simulator that real-time is higher.
4, owing to the sea-ice area of ice formation scene needs is very big, the scene management of a large amount of overall sea ice models is also required to scientific and reasonable method, not so not only expends plenty of time space resources, the real-time effect of whole program can be affected.
The present invention relates to list of references as follows:
[1] Jin Yicheng, Yin Yong " development [J] of pact, technology and marine simulator ", Chinese navigation, 2010,33 (1): 1-6.
[2] " 1978 training of seafarer, issue licence and standard international convention Manila amendment [M] on duty " are translated by marine board of the People's Republic of China (PRC), publishing house of the Maritime Affairs University Of Dalian, and 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, Liu Yu etc. " numerical simulation [J] of Bohai Sea ice-control seasonal evolution " marine forecasting, 2010,27 (2): 48-52.
[6]Lau,Michael.PreliminaryModellingofShipManoeuvringinIceUsingaPMM[R].Ottawa:NationalResearchCouncilCanada,2006。
[7] JohnTucker, AnthonyPatterson, GlennFiander, CarlHarris, DonSpencer.SimulationandModelingofNavigatinginIce [C] .InternationalNavigationSimulatorLecturers ' Conference (INLSC-14), July3-7,2006.
[8]MagnusBostrom.Effectivesimulatortraininginpreparationforicebreakingoperationsandicemanagementassessment[C].InternationalNavigationSimulatorLecturers’Conference(INLSC-16),12-16July,2010。
[9]Lubbad,R.,S.Anumericalmodelforreal-timesimulationofship–iceinteraction.Coldregionsscienceandtechnology,2011,65(2),111-127。
[10] Sun Yuhao, Yin Yong, Gao Shuai, " in marine simulator the research of ice formation what comes into a driver's ", Journal of System Simulation, 2012,24 (1): 49-53.
Summary of the invention
For solving the problems referred to above that prior art exists, the present invention to design the sea ice dynamic modelling method in a kind of real-time and the better navigation simulator scene of sense of reality.
To achieve these goals, technical scheme is as follows: the sea ice dynamic modelling method in a kind of navigation simulator scene, comprises the following steps:
A, dynamically manage whole sea ice field based on quaternary tree space partitioning technology
A1, in advance by the distinguishing hierarchy sea ice field position grid of quaternary tree；
A2, according to each layer in sea ice field, vessel position searching loop place, and judge whether last layer leaf node generates；If last layer leaf node generates, then go to step A4, otherwise, go to step A3；
If A3 does not generate last layer leaf node, then creating the child node of boats and ships position layer, the every piece of sea ice model showing as current layer in what comes into a driver's is replaced by the model of 4 pieces of sublayers；
A4 is until last layer leaf node generates, and cycle criterion terminates；
A5, again freezing the stage at ice cube, delete leaf node from last layer gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, and this process is the inverse process of A2 to A4；
B, determine sea ice model state
B1, input boats and ships kinestate, the sea ice model that monitoring and boats and ships come in contact；
B2, sea ice model is carried out collision detection, it is determined that the quantity N of the sea ice model that contacts with each other, and make i=1；
B3, calculate i-th ice cube volume Vi, and judge whether more than reference volume VlimIf, more than reference volume VlimThen this ice cube model is labeled as the block that can open ice；Otherwise this ice cube model is labeled as the block that can not open ice；
B4, judge that whether i is more than N, if i is not more than N, then makes i=i+1, go to step B3；If i is be more than or equal to N, then go to step B5；
B5, the sea ice not contacted with boats and ships and underwater ice model being labeled as the block that can not open ice, application newtonian dynamics calculates sea ice motion state；
B6, by the sea ice Force feedback boats and ships kinestate to ship and update sea ice model state；
C, sea ice model can be broken for monomer in step B carry out dynamic trash ice modeling
C1, reading leaf node, be marked as the unit sea ice model that can open ice；
C2, in unit sea ice model, dispense seed points at random；
C3, generate the Delaunay triangle of each seed points according to the generation method of Voronoi diagram；
C4, connect Delaunay triangle circumcenter obtain object model surface Voronoi polygon divide；
C5, according to Voronoi polygon divide build trash ice model.
Compared with prior art, the method have the advantages that
1, why quaternary tree technology is applied in the scene management of duplication model by the present invention, it is because the generation of sea ice model, crushes, melt, freeze, it is especially suitable for the storage of attribute structure, and overall sea ice face can be regarded as monolayer, this allows for apply increasingly complex Octree to manage three-dimensional scenic.It is compared to the method in document [10], utilize quaternary tree data structure managing sea ice field, not only greatly reduce in scene the time needing prestrain model, optimize the consuming cost of system resource, and each of which leaf node represents a fixed mode sea ice model, the position of leaf node and sea ice position in whole ice stadium match, facilitate dynamic queries and the management of whole ice formation sea ice model, follow-up is crushed, the dynamic process such as freeze and melt and serve the effect that early stage simplifies, the real-time of this visual system is greatly improved and optimizes by this.
2, the brittle crush because of the region partitioning method of Voronoi diagram with the object in reality is closer to, therefore crushing the correlational study in emulation at object is also hot topic in recent years, but models field at sea ice and not yet have invention to exist.Optimized for Voronoi diagram algorithm addition is applied to sea ice dynamic modeling by the present invention, purpose makes it when there is the collision of ship ice, what formation break-up model was relatively true to nature meets the natural situation of reality, enhance the sense of reality that sea ice is broken, and Voronoi diagram model partition method relative maturity, the efficiency of ease for use, transplantability and method is all higher, it is ensured that the efficient real-time of whole system, and follow-up broken floating ice dynamic analog is served early stage basic role.
Accompanying drawing explanation
The present invention has 5, accompanying drawing, wherein:
Fig. 1 is the amended quaternary tree schematic diagram of the present invention.
Fig. 2 is the flow chart dynamically generating the whole ice stadium of management 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 contrasts before and after sea ice model application Voronoi diagram method of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail:
Present invention introduces quaternary tree scene management algorithm and Voronoi diagram opens ice modeling algorithm.Wherein, quaternary tree is a kind of tree data structure, and its definition is: at most can have four child nodes under its each node, generally a part of two-dimensional space is subdivided into four regions and the relevant information in this region 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 (generation), amendment dynamically, delete, and query node path is also very convenient.Voronoi diagram (VoronoiDiagram is again Thiessen polygon or Dirichlet figure) is the space partitioning algorithm set up by Russia mathematician GeorgyFedoseevichVoronoi.It is made up of one group of continuous polygon being made up of the perpendicular bisector connecting two adjoint point straight lines.N number of distinguishing in the plane point, divides plane according to closest principle, and each point is associated with its arest neighbors region.Voronoi diagram is all widely used at geometry, computer picture, machine-building, urban planning, statistics etc..
The present invention specifically comprises the following steps that
A, dynamically manage whole sea ice field based on quaternary tree
Quaternary tree is generated method by the present invention and carries out certain amendment, as it is shown in figure 1, each father node or do not have child node, or four child nodes must be generated.Each leaf node represents an independent ice cube of going back as shown in Figure 1, generates the process of child node and is and dynamically generates the process replacing different size sea ice model.
When ship ice comes in contact, concrete grammar is as follows:
A1, the prior distinguishing hierarchy sea ice field position grid pressing quaternary tree；
A2, according to each layer in sea ice field, vessel position searching loop place, and judge whether last layer leaf node generates；
If A3 does not generate last layer leaf node, then creating the child node of ship position layer, the every piece of sea ice model showing as current layer in what comes into a driver's is replaced by the model of 4 pieces of sublayers；
A4 is until last layer leaf node generates, and cycle criterion terminates.
Above-mentioned flow process is as shown in Figure 2.Again freezing the stage at ice cube, delete leaf node from last layer gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, and this process is the inverse process of above-mentioned generation child node process, is not added with repeating.
As shown in Figure 3, the present invention not only greatly reduces in scene the time needing prestrain model, optimize the consuming cost of system resource, and each of which leaf node represents a fixed mode sea ice model, the position of leaf node and sea ice position in whole ice stadium match, facilitate dynamic queries and the management of whole ice formation sea ice model, follow-up dynamic processes such as crushing, freeze and melt is served the effect that early stage simplifies.
B, determine sea ice model state
According to boats and ships kinestate, monitor the sea ice model come in contact with boats and ships and it is carried out collision detection, as shown in Fig. 4 flow process, the sea ice not contacted with boats and ships and underwater ice model are labeled as the block that can not open ice, application newtonian dynamics calculates sea ice motion state, finally by the sea ice Force feedback boats and ships kinestate to ship and update sea ice state.
C, utilize Voronoi diagram to sea ice dynamic modeling
For in ship ice interaction, when ship ice contacts, when occurring sea ice broken, applying Voronoi diagram method, detailed process is as follows: first reads least unit sea ice model, dispenses seed points in a model at random；Then the Delaunay triangle of each seed points is generated according to the generation method of Voronoi diagram, the circumcenter connecting Delaunay triangle can obtain the Voronoi polygon division on object model surface, as it is shown in figure 5, and the basis crushed in this, as the visualization of ship ice and collision thereof in whole system.
The present invention repartitions sea ice model block by Voronoi diagram, purpose makes it when there is the collision of ship ice, what formation break-up model was relatively true to nature meets the natural situation of reality, and Voronoi diagram model partition method relative maturity, the efficiency of ease for use, transplantability and method is all higher, ensure that the real-time high-efficiency of whole system, and follow-up broken floating ice dynamic analog is served early stage basic role.
Claims (1)
1. the sea ice dynamic modelling method in a navigation simulator scene, it is characterised in that: comprise the following steps:
A, dynamically manage whole sea ice field based on quaternary tree space partitioning technology
A1, in advance by the distinguishing hierarchy sea ice field position grid of quaternary tree；
A2, according to each layer in sea ice field, vessel position searching loop place, and judge whether last layer leaf node generates；If last layer leaf node generates, then go to step A4, otherwise, go to step A3；
If A3 does not generate last layer leaf node, then creating the child node of boats and ships position layer, the every piece of sea ice model showing as current layer in what comes into a driver's is replaced by the model of 4 pieces of sublayers；
A4 is until last layer leaf node generates, and cycle criterion terminates；
A5, again freezing the stage at ice cube, delete leaf node from last layer gradually, in two dimension, being expressed as four is one, regenerates quaternary tree path, and this process is the inverse process of A2 to A4；
B, determine sea ice model state
B1, input boats and ships kinestate, the sea ice model that monitoring and boats and ships come in contact；
B2, sea ice model is carried out collision detection, it is determined that the quantity N of the sea ice model that contacts with each other, and make i=1；
B3, calculate i-th ice cube volume Vi, and judge whether more than reference volume VlimIf, more than reference volume VlimThen this ice cube model is labeled as the block that can open ice；Otherwise this ice cube model is labeled as the block that can not open ice；
B4, judge that whether i is more than N, if i is not more than N, then makes i=i+1, go to step B3；If i is be more than or equal to N, then go to step B5；
B5, the sea ice not contacted with boats and ships and underwater ice model being labeled as the block that can not open ice, application newtonian dynamics calculates sea ice motion state；
B6, by the sea ice Force feedback boats and ships kinestate to ship and update sea ice model state；
C, sea ice model can be broken for monomer in step B carry out dynamic trash ice modeling
C1, reading leaf node, be marked as the unit sea ice model that can open ice；
C2, in unit sea ice model, dispense seed points at random；
C3, generate the Delaunay triangle of each seed points according to the generation method of Voronoi diagram；
C4, connect Delaunay triangle circumcenter obtain object model surface Voronoi polygon divide；
C5, according to Voronoi polygon divide build trash ice model.
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| CN104598663A (en) * | 2014-07-30 | 2015-05-06 | 徐松林 | Virtual generating system and method for ocean mechanical environment |
| CN107065597B (en) * | 2017-05-23 | 2019-10-01 | 大连海事大学 | A kind of sea ice calculation method of marine simulator simulation ship ice interactive process |
| CN109493421B (en) * | 2018-11-19 | 2023-05-12 | 东北石油大学 | Data processing method and system |
| CN109766603B (en) * | 2018-12-26 | 2022-09-27 | 哈尔滨工程大学 | Ice ship contact process numerical calculation 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 |
| CN110443368B (en) * | 2019-06-14 | 2021-05-28 | 青岛科技大学 | Ship cluster situation analysis method in conflict state |
| CN111551447B (en) * | 2020-06-22 | 2021-06-08 | 东北大学 | Multi-axis compression test device and method for simulating sea ice breaking process |
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