CN104483845B - Ship autopilot algorithm testing simulation system - Google Patents

Abstract

The invention discloses a ship autopilot algorithm test simulation system, which comprises a main frame, a standard electronic chart module, a ship motion mathematical model module, a navigation calculation toolbox module, a route design module and an autopilot controller module. The invention builds a standard electronic chart module, which is based on international standard electronic charts, can load global electronic chart data in S57 format, and can browse global charts with any scale and stepless zooming, with multiple data display modes and Color display scheme, the entire interface is simple and beautiful. The invention can set different wind flow conditions, so that the ship can simulate sailing under realistic sea disturbance conditions. Users are not limited by time and place, and can test the ship's autopilot in any sea area around the world for a long time on a large scale, so as to solve the problems of high risk, long debugging period and high cost in the real ship test of the ship's autopilot.

Description

A test simulation system for ship autopilot algorithm

technical field

The invention relates to a ship autopilot algorithm test simulation system in the field of navigation simulation.

Background technique

Water transport is the most effective mode of transport for bulk trade between regions and between countries. The improvement of the level of world economic development has promoted the gradual deepening of trade exchanges between regions and countries, and the transaction volume has continued to increase, resulting in an increase in the density of maritime traffic. Moreover, ships will inevitably be affected by wind and waves when sailing at sea. , current, fog, reef and other factors will interfere with the operation of the ship. Therefore, ship motion control is an important research field, and the design of ship motion controller is one of the important research topics. The ultimate goal is to improve ship automation, The level of intelligence ensures the safety, economy and comfort of the ship's navigation.

The overall prosperity of cybernetics provides many control algorithms for the design of ship motion controllers. In particular, the theories of neural network control, fuzzy control, hybrid intelligent control, H∞ robust control and nonlinear control have been introduced into the design field of ship motion controllers to varying degrees, injecting vitality into the development of ship motion control disciplines. The traditional autopilot algorithm needs to be tested on the ship many times in the process of putting it into engineering practice, that is, the loop test. This test solution is expensive, long in cycle, and high in risk factors. User Captain is not allowed to try new algorithms for testing.

Today, with the rapid development of science and technology, computer simulation technology has become an indispensable means to analyze, design, test and evaluate many complex systems. It is based on mathematical theory and uses computers and various physical facilities as equipment. It is a comprehensive technology that uses system models to conduct experimental simulation research on actual or imagined systems, mainly including physical simulation, digital simulation, and physical-digital hybrid simulation. Aiming at the shortcomings of high risk, long debugging period and high cost in the real ship test of ship autopilot, it is convenient for researchers to study the algorithm of autopilot. Therefore, applying computer simulation technology to the test of ship autopilot algorithm and designing a test simulation system for ship autopilot algorithm can effectively solve such problems.

In the existing ship autopilot algorithm test simulation system designed by computer simulation technology, the Simulink toolbox in Matlab is used to perform system simulation to verify the control performance of the autopilot algorithm, but these programs need to be used in the product prototype. The process is quite complicated and requires a lot of work; there is a ship autopilot simulation test platform based on a full-task ship maneuvering simulator. Because it is based on a full-task ship maneuvering simulator, the purchase and operation costs are high, which is not conducive to popularization, and It uses a custom raster vectorized chart, which is not beautiful to display; there is also a VB-based ship autopilot algorithm simulation test platform, because it is based on VB, the execution efficiency of the platform is not high, which is not conducive to quickly testing the autopilot algorithm. At the same time, it uses a simple Mercator chart, the size of the test sea area is limited, only 4 scales are set, and it cannot be zoomed in and out.

In summary, the current ship autopilot algorithm testing system mainly has the following problems:

1. Electronic nautical charts that do not adopt international standards, the display is rough and unsightly, and it is not suitable for long-term testing in large waters.

2. During the test of the ship's autopilot algorithm, the parameters of the autopilot algorithm cannot be adjusted in real time, and the route required for the test track autopilot cannot be modified in real time.

3. Different simulation time ratios cannot be set, so that the ship autopilot algorithm cannot be quickly tested.

At present, there is no precedent for a ship autopilot algorithm test simulation system that can provide a ship autopilot algorithm test simulation system based on international standard electronic charts, real-time adjustment parameters, and rapid testing that is similar to the actual situation at sea.

Contents of the invention

In order to solve the problems of the existing ship autopilot algorithm test simulation system, the purpose of the present invention is to design a kind of ship autopilot algorithm test that can provide similar to the actual situation at sea, adjust parameters in real time, and can set the simulation time ratio so as to be able to test quickly Simulation System.

In order to achieve the above object, the technical solution of the present invention is as follows: a ship autopilot algorithm test simulation system, comprising a main frame, a standard electronic chart module, a ship motion mathematical model module, a navigation calculation toolbox module, a route design module and an autopilot Controller module; What described main framework adopted is the single-document program of the MFC of VisualC++, and other each module adopts dynamic link library interface technology to carry out encapsulation design;

The main frame is a single-document program based on the MFC of Visual C++, which mainly completes the user's interactive display interface. The interactive display interface includes a main display area, an information display panel, an environment setting panel, an own ship setting panel, and a steering setting panel and the ship control panel; the main display area includes displaying charts, active range marker circles, routes, own ship icons and track; the information display panel includes displaying the ship's course, speed, turn rate, vertical and horizontal speed , position, target waypoint and yaw distance; the environment setting panel is used to set the external disturbance when modifying the autopilot algorithm test, the external disturbance includes wind speed, wind direction, current speed and flow direction; the own ship setting panel is used to select The ship model when the autopilot algorithm is tested, directly input the latitude and longitude or set the position of the ship through the mouse, and set the speed and course of the ship; the steering setting panel is used to select the type of steering, select different autopilot algorithms, and set the simulation time ratio , the simulation time ratio is set to 1 or greater than 1, that is, the ratio of the simulation time to the actual time is 1 or greater than 1; the ship control panel is used for the switch control of the simulation test and the control and display of the rudder and the car clock. Communicate with the standard electronic chart module, ship motion mathematical model module, navigation calculation toolbox module, route design module and autopilot controller module in the form of calling the dynamic link library;

The standard electronic chart module analyzes the electronic chart data of the S57 international standard, adopts the S-52 standard to display and draw the chart, loads the global electronic chart data in the S57 format, and browses the global chart with any scale stepless zooming, There are three data display methods: basic display, standard display and full display; there are three color schemes: day, evening and night;

The ship motion mathematical model module is the basis for the design of the ship motion controller. The MMG ship mathematical model of the three-degree-of-freedom motion is adopted. The main feature of the MMG ship mathematical model is that the fluid dynamics and moments acting on the ship are in accordance with the physical meaning. It is decomposed into the hydrodynamic force and moment acting on the bare hull, open water propeller and open water rudder, and the mutual interference hydrodynamic force and moment between them; the three-degree-of-freedom motion includes surge motion, sway motion and bow motion shake motion;

Said navigational calculation toolbox module includes the functional functions of commonly used navigational calculations, the calculation of distance and azimuth between two longitude and latitude points, and the calculation of latitude gradation rate;

The route design module is used to design the required route for testing the track autopilot; the functions of the route design are all concentrated in the route design panel, and the user opens or closes the route design panel through the menu of the main frame; Add, modify and delete waypoints on the map in real time to design the route; after designing the waypoints on the chart, name the route on the route design panel, and add the origin and destination port information of the route; view the route in the waypoint list on the right side of the route design panel Point position, relative distance and relative orientation information and can set the left and right yaw distance of each route segment; the designed routes are displayed in the route list on the left side of the route design panel, and whether to display each route on the chart , navigation, editing, deletion and saving operations; store a large number of routes, and edit the routes being used for track control in real time and detect the control effect of the autopilot algorithm in real time;

The autopilot controller module is used for adding the autopilot algorithm designed by the user and testing the autopilot algorithm. The autopilot controller module is written by the user and is called by the main framework in the form of an MFC extended dynamic link library; the autopilot controller module uses a self-defined standard data interface, and the autopilot controller module tells the main framework the current autopilot control through the standard interface Which control algorithms the controller module has, the main frame will correspondingly initialize the algorithm list in the main frame interface. When testing the autopilot algorithm, the main frame provides input parameters to the control module. The input parameters include the control algorithm currently selected by the main frame, the selected route information or the maintained heading, the ship's position, speed, heading, and bow. Angular velocity, target waypoint, yaw distance, length, breadth, draft, molded depth, displacement, square coefficient of the mathematical model of the ship.

Compared with prior art, advantage and beneficial effect of the present invention are:

1. The present invention builds a standard electronic chart module, which is based on international standard electronic charts, can load global electronic chart data in S57 format, and can browse global charts with any scale and stepless zooming, with multiple data displays Mode and color display scheme, the entire interface is simple and beautiful. The invention can set different wind flow conditions, so that the ship can simulate sailing under realistic sea disturbance conditions. Users are not limited by time and place, and can test the ship's autopilot in any sea area around the world for a long time on a large scale, so as to solve the problems of high risk, long debugging period and high cost in the real ship test of the ship's autopilot. The invention adopts the computer simulation technology to construct the test simulation system of the automatic rudder of the ship based on the electronic chart which is similar to the actual situation at sea.

2. Since the present invention has built the entire autopilot test environment, and the autopilot controller module has passed the standard interface protocol, the user only needs to concentrate on researching and writing the autopilot algorithm in the autopilot controller module without wasting time In the process of building the test environment, it greatly facilitates the R&D personnel of the autopilot algorithm, and the parameters of the autopilot controller can be modified during the simulation run, which is conducive to quickly and intuitively calling out the satisfactory parameters of the autopilot controller. The present invention can set the simulation time ratio, which can be set as 1:1 simulation with real time, or can be set as surreal time ratio simulation, so it can save the time of waiting for the result and quickly calculate and check the simulation result. The invention has a powerful route design function, can flexibly design and store a large number of routes, and the routes being used for track control can be edited in real time, and the execution effect of the control algorithm can be verified in real time. The invention provides the motion mathematical model of multiple ships, so the user can select multiple ships for testing the same algorithm, which is beneficial to test the effectiveness of the algorithm on different types of ships.

Description of drawings

The present invention has 4 accompanying drawings, wherein:

Fig. 1 is the ship autopilot test simulation system based on the electronic chart of the present invention.

Fig. 2 is an operation flowchart of the electronic chart-based ship autopilot test simulation system of the present invention.

Fig. 3 is the system main interface of the ship autopilot test simulation system based on the electronic chart of the present invention.

Fig. 4 is the route design panel of the ship autopilot test simulation system based on the electronic chart of the present invention.

In the figure: 1. Main frame, 2. Electronic chart module, 3. Ship motion mathematical model module, 4. Navigation calculation toolbox module, 5. Route design module, 6. Autopilot controller module.

detailed description

detailed description

The present invention will be further described below in conjunction with the accompanying drawings. As shown in Figure 1,

The ship autopilot test simulation system based on the electronic chart includes the main frame 1, the electronic chart module 2, the ship motion mathematical model module 3, the navigation calculation toolbox module 4, the route design module 5, and the autopilot controller module 6. What described main frame 1 adopted is the single-document program of the MFC of Visual C++, and other each module adopts dynamic link library interface technology to carry out encapsulation design;

Described main frame 1 is the single-document program based on the MFC of Visual C++, mainly completes the user's interactive display interface, and interactive display interface comprises: 1. main display area: display and draw chart, active distance mark circle, route, own ship icon, Track; ②Information display panel: display the ship's heading, speed, yaw rate, vertical and horizontal speed, position, target waypoint, and yaw distance; ③Environmental setting panel: used to set and modify the external interference during the autopilot algorithm test , including wind speed, wind direction, current speed, and flow direction; ④ Own ship setting panel: used to include the selection of the ship model during the autopilot algorithm test, directly input longitude and latitude or set the position of the own ship through the mouse, and set the speed and course of the own ship; ⑤ Steering setting panel: It is used to select the steering category and select different autopilot algorithms, and to set the simulation time ratio. The simulation time ratio is set to 1 or greater than 1, that is, the ratio of simulation time to actual time is 1 or greater than 1; ⑥Steering panel; used to include The switch control of the simulation test and the control and display of the rudder and the car clock. At the same time, it also interacts with the electronic chart module 2, the ship motion mathematical model module 3, the navigation calculation toolbox module 4, the route design module 5, and the autopilot controller module 6 in the form of calling the dynamic link library;

The electronic chart module 2 can analyze the electronic chart data of the S57 international standard, and adopt the S-52 standard to display and draw the chart. It can load global electronic chart data in S57 format, and browse global charts with any scale and stepless zoom. There are three data display methods: basic display, standard display, and full display; there are three color schemes: day, evening, and night.

The ship motion mathematical model module 3 is the basis for the design of the ship motion controller. This system adopts the MMG ship mathematical model of the three-degree-of-freedom motion (ie surge motion, sway motion and yaw motion). The main characteristics of the MMG model It is to decompose the fluid power and moment acting on the ship into the hydrodynamic force and moment acting on the naked hull, open water propeller and open water rudder according to the physical meaning, and the mutual interference between them.

The navigation calculation toolbox module 4 mainly includes some commonly used functions of navigation calculation, including the calculation of the distance and azimuth between two longitude and latitude points, the calculation of the latitude gradient rate, and the like.

The route design module 5 is mainly used for designing the route required for testing the track autopilot. The functions of route design are all concentrated in the route design panel. Users can open or close the route design panel through the view in the system menu; After designing the waypoints on the map, you can name the route on the route design panel, and add the origin and destination port information of the route; view the position, relative distance, and relative bearing information of the waypoints in the waypoint list on the right side of the route design panel, and set each route The left and right yaw distance of each segment; the designed routes are displayed in the route list on the left of the route design panel, and you can perform operations such as whether to display, navigate, edit, delete, and save each route on the chart; a large number of routes can be stored , and the route being used for track control can be edited in real time, and the control effect of the autopilot algorithm can be detected in real time.

The autopilot controller module 6 is used for adding the autopilot algorithm designed by the user and testing the autopilot algorithm in the system. Therefore, the autopilot controller module 6 is usually written by the user. The autopilot controller module 6 is called by the main framework in the form of an MFC extended dynamic link library, and may contain one or more autopilot algorithms. The autopilot controller module 6 adopts a self-defined standard data interface, and the autopilot controller module 6 tells the main frame 1 which autopilot algorithms the current autopilot controller module 6 has through the standard interface, and the main frame 1 will respond to the corresponding initial main frame List of autopilot algorithms in the interface. When testing the autopilot algorithm, the input provided by the main frame 1 to the autopilot controller module 6 includes: the currently selected autopilot algorithm of the main frame 1 and the selected route information or the heading maintained; the ship's position, speed, heading, Steering angle speed, target waypoint, yaw distance; data such as ship length, ship width, draft, molded depth, displacement, square coefficient, etc. of the ship mathematical model.

The working method of the present invention comprises the following steps (the simulation operation main flow is shown in Fig. 2):

A. Start the system.

B. Test the autopilot algorithm: To test the autopilot algorithm, the user needs to select the steering mode first. If the track autopilot is selected, the autopilot algorithm and route must be selected. If there is no route, a new route must be created. If heading autopilot is selected, the heading to hold needs to be set.

C. Parameter setting: set wind current environment parameters and the ship's position, heading, speed and other parameters.

D. Start the simulation: Click the "Start" button on the steering panel to start the simulation, and then the "Start" button will change to the "End" button. During the running process, operations such as pausing the simulation, modifying the wind flow setting, and modifying the simulation time ratio can be performed.

E. End simulation: Click the "End" button to end the simulation, and at the same time it will prompt the user whether to save the simulation test data. The user can name the record file and select a directory to save it.

F. Exit the system.

The implementation mode of each subsystem of the present invention is as follows:

1. Implementation of main frame 1

The main frame 1 is built on the Windows operating system using the Visual Studio 2010 platform. The main frame 1 mainly completes the user's interactive display interface, including the main display area, information display panel, environment setting panel, own ship setting panel, steering setting panel, ship steering panel. At the same time, it also calls other submodules in the form of calling dynamic link libraries.

The user interface is a medium for interaction and information exchange between the present invention and users, and realizes the conversion between the internal form of information and the form acceptable to users. Therefore, the user interface is a very important aspect of the present invention, and it is necessary to ensure that the interface is beautiful and elegant while also conforming to the user's operating habits during design. The user can perform various operations on the present invention through the interface, and can also visually check the control effect of the autopilot. The main frame 1 is specifically a single-file mode frame using MFC, and multiple application appearances can be selected by default. Other display control panels are based on floating and dockable MFC controls. If users are not used to the default layout of the system, they can rearrange the layout according to the user's personal habits, or close or display all display control panels. The default main interface implemented is shown in Figure 3.

2. Electronic chart module 2

The electronic chart module 2 analyzes the electronic chart data of the S57 international standard, and then adopts the S-52 standard to display and draw the chart. The electronic chart display module can load global electronic chart data in S57 format, automatically load corresponding charts according to the geographic display range of the current window, and browse global charts with any scale and stepless zoom. The electronic chart module 2 is encapsulated into a standard dynamic link library, which provides external interface functions such as drawing display and display mode. In this way, the main frame 1 calls the corresponding function to complete the display of the chart. The display of the chart is completed in the OnPaint function of the main view class CShipAutoControlView in the main frame 1:

3. Ship motion mathematical model module 3

The ship motion model is the core of the design and implementation of the ship autopilot algorithm test simulation system, so it is necessary to complete the modeling of the ship motion mathematical model first. What the present invention establishes is the MMG ship motion mathematical model of three-degree-of-freedom motion (that is, surge motion, sway motion and yaw motion), and is based on the MMG model to establish the ship plane motion equation as follows:

$\left\{\begin{array}{c}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span>{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}\\ <span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; )</span>{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; v</span>}}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; u</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}\\ <span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, m is the mass of the hull; m _x , m _y are the additional mass of the ship longitudinally and laterally; I _zz , J _zz are the yaw and additional moment of inertia of the ship respectively; u _r and v _r are the speed of the ship through the water; X , Y, and N are the external forces and moments acting on the hull, and the subscripts h, p, r, and e represent the hull, propeller, rudder, and external environment, respectively.

The main function of the ship motion mathematical model module 3 is to first calculate the wind current acting on the hull in formula (1) External forces and moments, and then use the Runge-Kutta method to solve formula (1) to obtain the ship's vertical and horizontal velocities and bow angular velocities. The calculation of the ship motion mathematical model is specifically called in the OnTimer timer function in the main view class CShipAutoControlView in the main frame 1. The timer is triggered every 0.5 seconds, and then the ship dynamic data is obtained through calculation. The OnTimer function part is as follows:

4. Navigation calculation toolbox module 4

The navigation calculation toolbox module 4 mainly encapsulates some commonly used navigation calculation functions in a dynamic link library, which is then called by the main frame 1. It mainly includes the calculation of the distance and azimuth between two latitude and longitude points, the calculation of the latitude gradient rate and other functions.

5. Route design module 5

The route design module 5 is mainly used for designing the route required for testing the track autopilot. This module is encapsulated into an extended MFC dynamic link library. The route design functions are mainly concentrated on the route design panel. Users can open or close the route design panel through the view in the system menu; the route design functions include real-time display on the chart. Add, modify, and delete waypoints to design routes; set route names, origin and destination information; check the position, relative distance, and relative orientation information of waypoints in the waypoint list on the right side of the route design panel, and set the left and right deviation of each route segment Navigation distance; the designed routes are displayed in the route list on the left side of the route design panel, and you can perform operations such as whether to display, navigate, edit, delete, and save each route on the chart; the interface of the route design panel is shown in Figure 4 Show.

6. Autopilot controller module 6

The autopilot controller module 6 is used to add the autopilot algorithm designed by the user and test the autopilot algorithm in the system. Therefore, the autopilot controller module 6 is usually written by the user. The autopilot controller module 6 is called by the main framework in the form of an MFC extended dynamic link library, and may contain one or more autopilot algorithms. The autopilot controller module 6 uses a self-defined standard data interface. The autopilot controller module 6 tells the main frame which autopilot algorithms the current autopilot controller module 6 has through the standard interface, and the main frame 1 will display the corresponding initial main frame interface. List of autopilot algorithms in . The input provided by the main frame 1 to the autopilot controller module 6 includes data such as the autopilot algorithm currently selected by the system, the ship model, and the selected route information. The autopilot interface function provided is autoPilot(), and the autoPilot function part is as follows:

The present invention has realized following function:

1. Nautical chart function. The present invention can load global electronic chart data in S57 format. Before the present invention runs, the user places the *.000 file in the specified directory, and the present invention can automatically load the chart at the corresponding position according to the current window range when the present invention is running; any scale can be used Stepless zooming to browse charts; three data display methods: basic display, standard display, and full display; three color schemes: day, evening, and night;

2. Route design function. The user can open or close the route design panel through the view in the menu of the present invention; the user can add, modify, and delete waypoints on the chart in real time to design the route through the mouse; Name the route on the design panel, add the origin and destination port information of the route; view the position, relative distance, and relative bearing information of the waypoint in the waypoint list on the right side of the route design panel, and set the left and right yaw distance of each route segment; the designed route All are displayed in the route list on the left side of the route design panel, and operations such as displaying, navigating, editing, deleting, and saving each route on the chart can be performed; a large number of routes can be stored, and the routes being used for track control can be Real-time editing, real-time detection of the control effect of the autopilot algorithm.

3. Set the function. It mainly includes the following functions: ①environment setting: you can set and modify the external parameters of the controller test in real time, including wind speed, wind direction, flow speed, and flow direction; Use the mouse to set the position of the ship, and set the speed and course of the ship; ③ Steering setting: the user can choose hand steering, track autopilot, and heading autopilot; choose hand steering to control the ship's movement through the ship's car bell and rudder; the autopilot can be selected Different autopilot algorithms, the track autopilot can select different routes, and the course autopilot needs to input the maintained course; ④Controller parameter setting: Controller developers can set and adjust controller parameters during simulation running; ⑤Simulation time ratio Setting: It can be set as 1:1 simulation with real time, or it can be set as surreal time scale simulation.

4. Display function. Display the own ship and track on the chart; when the scale is large, it will be displayed on the chart according to the actual length and width of the ship; when the scale is small, it will be displayed in two concentric circles; the thickness and color of the track line can be selected; Display the ship's position, course, speed, target waypoint, yaw distance and other information in the form of data or curves; when testing the autopilot, the command rudder angle output by the controller will refresh the rudder control indication angle on the steering panel in real time, In this way, the effectiveness of the autopilot algorithm can be observed more vividly.

5. Record and playback function. After a simulation is over, it will automatically prompt whether to save all valid data such as the ship’s dynamic information, steering records, selected autopilot algorithms and routes, and corresponding wind flow environment settings in this simulation. This allows users to analyze simulation data through playback and compare the performance of the autopilot algorithms.

6. Other functions. There is the bearing range ring tool to measure distance and bearing on the chart.

Claims (1)

1. a Marine Autopilot test of heuristics analogue system, it is characterised in that: include main frame (1), mark Quasi-electronic chart module (2), ship motion mathematical model module (3), navigation calculate workbox module (4), Flight-line design module (5) and autopilot controller module (6)；Described main frame (1) uses Visual The single document program of the MFC of C++, other each modules use dynamic chanining bank interface technology to be packaged design；

Described main frame (1) is the single document program of MFC based on Visual C++, completes user's Mutual display interface, described mutual display interface includes main viewing area, information display panel, ambient As Panel, this ship arrange panel, steering arranges panel and behaviour's deck plate；Described main viewing area includes that display is painted Sea chart processed, variable range marker circle, course line, this STOWAGE PLAN mark and flight path；Described information display panel includes display This ship's head, the speed of a ship or plane, turn bow angular velocity, vertically and horizontally speed, position, target course point and driftage away from From；External disturbance when described ambient As panel is for arranging amendment autopilot algorithm test, outside dry Disturb and include wind speed, wind direction, flow velocity and the flow direction；This described ship arranges panel for selecting autopilot algorithm to survey Ship model during examination, directly inputs longitude and latitude or arranges this ship position by mouse, arranges the speed of a ship or plane and the boat of this ship To；Described steering arranges panel for selecting classification and the different autopilot algorithms of selection, the Yi Jishe of steering Putting simulation time ratio, simulation time ratio is set to 1 or more than 1, i.e. simulation time and the ratio of actual time It is 1 or more than 1；Described behaviour's deck plate for the on-off control of emulation testing and the control of rudder and carriage clock and Display, simultaneously also by call form and standard electronic sea chart module (2), the boats and ships fortune of dynamic link library Dynamic mathematical model module, navigation calculate workbox module, flight-line design module (5) and autopilot controller mould Block (6) carries out communication；

Described standard electronic sea chart module (2) resolves the electronic chart data of S57 international standard, uses S-52 Standard display charting, loads the S57 form electronic chart data in the whole world, and stepless with arbitrary scale Scaling browses whole world sea chart, has three kinds of data display modes: basic display, standard show and all show； There are three kinds of Color schemes: daytime, dusk and night；

Described ship motion mathematical model module (3) is the basis of ship motion controller device design, uses three The MMG Ship autopilots of degree of freedom motion, being mainly characterized by of MMG Ship autopilots will act on Fluid dynamic on boats and ships and moment according to physical significance, be decomposed into act on hull, spacious water propeller and Fluid dynamic on spacious water rudder and moment, and interfere fluid dynamic and moment between them；Described Three-degree-of-freedom motion include surge motion, swaying motion and yawing campaign；

Described navigation calculates the power function of navigation calculating, two longitudes and latitudes that workbox module (4) includes commonly using Distance between point and the calculating in orientation, the calculating of meridional parts；

Described flight-line design module (5) is for designing the course line needed for test flight path autopilot；Flight-line design Function all concentrate in flight-line design panel, user, by the menu of main frame (1), opens or closes Flight-line design panel；User is increased, revises and deletes way point on sea chart in real time and designs boat by mouse Line；After the complete way point of drawing design of sea, then on flight-line design panel, name course line, increase course line the beginning and the end Port information；The position of way point, relative distance and phase are checked in way point list on the right of flight-line design panel To azimuth information left and right cross track distance that every course line section can be arranged；The course line designed is shown in course line In the course line list on the design panel left side, be made whether every course line to show on sea chart, navigate, edit, Delete and preserve operation；Store a large amount of course line, and the course line being used for flight tracking control is compiled in real time Collect and detect in real time the control effect of autopilot algorithm；

Described autopilot controller module (6) is for adding the autopilot algorithm of access customer design and testing automatically Rudder algorithm；Autopilot controller module (6) is write by user, with the form of MFC extended dynamic chained library Called by main frame (1)；Autopilot controller module (6) uses the data-interface of self-defined standard, from Dynamic rudder controller module (6) tells main frame (1) current autopilot controller module (6) by standard interface Having which autopilot algorithm, it is automatic that main frame (1) then can initialize in main frame (1) interface accordingly Rudder algorithm list；During test autopilot algorithm, main frame (1) provides input parameter to control module, described Input parameter include the currently selected autopilot algorithm of main frame (1) and selected route information or holding Course, the position of boats and ships, the speed of a ship or plane, course, turn bow angular velocity, target course point, cross track distance, ship The captain of oceangoing ship mathematical model, the beam, drinking water, moldeed depth, displacement, Block Coefficient.