CN105160942A - Navigation environment visualization representation method for ship visual navigation - Google Patents
Navigation environment visualization representation method for ship visual navigation Download PDFInfo
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Abstract
The invention provides a navigation environment visualization representation method for ship visual navigation. The method includes the following steps that: a geometric layer is constructed, wherein the geometric layer includes a geometric model of navigation environment and thematic elements, initial positions and statuses, ship dynamic data and movement navigation point position information; a physical layer is constructed, wherein the physical layer is used for representing the physical characteristics of the thematic elements in the navigation environment and laws of physics which the thematic elements should follow in the navigation environment; a temporal layer is constructed, wherein the temporal layer concludes the temporal characteristics of the navigation environment and thematic elements to states and processes and specifies a researched time domain as a continuous model based on time density; and a semantic layer is constructed, wherein the semantic layer includes topic semantic, space semantic and process semantic and reflects the physical natures of the dynamic change processes of the navigation environment elements and the influences of the navigation environment elements on ship visual navigation. With the method of the invention adopted, the navigation environment and thematic elements can be integrated under a unified time-space frame, and centralized and unified representation of navigable environment information can be realized, and the accuracy and efficiency of visual time-space analysis can be improved.
Description
Technical field
The invention belongs to marine navigation field, especially a kind of navigation environment visable representation method towards boats and ships visual navigation.
Background technology
Boats and ships visual navigation is a kind of novel air navigation aid comprehensive visual, navigation and waterborne traffic administrative skill organically combined, need to consider complicated navigation environment, merge real-time Ship Navigation Sensor data and environmental sensor data, realize termination environment environmental information unified representation accurately.The environmental element affecting visual navigation comprises terrain and its features, hydrologic condition, aids to navigation and risk object, and these environmental elements have different physical propertys, and its space scale and time variations yardstick span are large and influence each other.Evade various danger, must thorough perception boats and ships surrounding environment.Therefore the dynamic 3 D of boats and ships termination environment environment high-efficiency high-accuracy represents the important prerequisite becoming boats and ships visual navigation.
Existing method for expressing based on different ambits, isolated to carry out, lack the unified representation to navigating ship termination environment environment.Navigation environment information represent dispersion make to navigate the Information heterogeneity phenomenon of decision-making needs serious, merge difficulty, efficiency of decision-making reduction.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of navigation environment visable representation method towards boats and ships visual navigation, multi-source heterogeneous information organically blended in unified Spatial-Temporal Frame, for marine navigation provides visual space-time analysis.
The present invention for solving the problems of the technologies described above taked technical scheme is: a kind of navigation environment visable representation method towards boats and ships visual navigation, is characterized in that: it comprises the following steps:
S1, set up geometrical layers:
Comprise the geometric model of navigation environment and subject element, initial position and state, the movement capturing data of boats and ships, movement navigation dot position information, first abstract is point, line, surface, body 4 class, and forms some parents according to the assemblage characteristic of different key element;
S2, set up Physical layer:
For the physics law representing the physical characteristics of subject element in navigation environment He should follow, these physical characteristicss and rule are applied to the expression of complex behavior; By LOD technology, detail expression is carried out to the object in navigation environment, on the basis retaining subject element principal character, improve rendering speed, reduce the computing cost of real-time rendering; When frame rate is constant, improve the role's number in navigation environment;
S3, state layer when setting up:
Based on Time Density, the temporal feature of navigation environment and subject element is summarized as state and process, for the feature of dynamic object movement locus continuous gradation in navigation environment, the time domain of research is appointed as continuous model; State and process are a pair key concept corresponding to moment and time period, and dynamic key element is called state sometime in its cycle of activity, and whole cycle of activity or territory sometime are wherein called process;
Definition 1: the life cycle T=[t of dynamic object
0, t
n], TR is the time domain of field, for any one moment t
ithree element complex F=f (x, y, z, the t of T
i), be called that dynamic object is at t
ithe state in moment;
Definition 2: the life cycle T=[t of dynamic object
0, t
n], TR is the time domain of field, for any one time domain [t
i, t
j] quaternion functions F=f (x, y, z, the t) (t [t of T
i, t
j]), be called that dynamic object is at time domain [t
i, t
j] in process;
In dynamic object cycle of activity, the state of any time or the process of a period of time are arbitrarily realized by matching and interpolation;
S4, set up semantic layer:
Comprise 3 classes, be respectively special topic semanteme, Spatial Semantics and procedural semantics;
Special topic semanteme comprises navigation environment mesorelief atural object, hydrologic condition, aids to navigation and threat target and the relation that intercouples thereof;
Spatial Semantics comprises the position in space, direction and speed, with special topic semanteme by entity associated, is describes the spatial relationship of each subject element and the approach of implementation space analysis;
The time course semanteme of the dynamic object of mechanical periodicity is divided into generation stage, developing stage, stabilization sub stage, decling phase and extinction stage by procedural semantics;
Association process event that is semantic and special topic semanteme is the reason causing subject element generation state to change, and it constitutes the change of space-time object within its period of motion to the continuous driving of subject element state; The procedural semantics of navigation environment subject element motion change by the abstract expression of event and with the associating of special topic semanteme, reflect the physical essence of navigation environment key element dynamic changing process and the impact on boats and ships visual navigation.
Beneficial effect of the present invention is: by adopting the inventive method, under navigation environment and subject element can being integrated into unified Spatial-Temporal Frame, achieves concentrated, the unified representation of navigation environment information, improves the accuracy and efficiency of space-time analysis; Represented by space-time data integration, vector is combined with scalar, the dynamic and stalic state combines, discontinuous and continuous combines, and establishes the data model of integration; By 4 tier model architectures, achieve the data value maps of navigation environment under virtual reality technology; By space-time phenomenon coupling model, have expressed change in time and space and the coupling thereof of navigation environment subject element.
Accompanying drawing explanation
Fig. 1 is the conceptual model figure of one embodiment of the invention.
Fig. 2 is the dynamic 3 D GIS data illustraton of model of one embodiment of the invention.
Embodiment
Below in conjunction with instantiation and accompanying drawing, the present invention will be further described.
For the demand of marine navigation decision-making to the organization and administration of navigation environment data efficient and high-performance multidimensional visual analyzing, first the integrated representation of the geometric model of the complicated navigation environment key element of boats and ships, physical model and process model will be set up, multi-source heterogeneous information is organically blended in unified Spatial-Temporal Frame, and efficient accurate space-time analysis is provided, its conceptual model is as shown in Figure 1.
Under unified Spatial-Temporal Frame, the expression model of navigation environment be a kind ofly to calculate, the information model of reasoning and holographic perception.As seen from Figure 1, complicated navigation environment represents that model comprises the content of four aspects: space-time data integration expression, multi-source heterogeneous information fusion, the coupling of complicated space-time phenomenon, navigation environment information visualization are expressed.
1.1 space-time data integration represents
Ship navigation environmental element generally comprises terrain and its features, hydrologic condition, aids to navigation and risk object, kind is many, distribution is wide and have the feature of dynamic change, and space-time data integration represents the geometric model comprising these environmental elements, physical model and the process model showing its dynamic change.Compared with representing model with conventional three-dimensional GIS data, need vector to be combined with scalar, the dynamic and stalic state combines, discontinuous and continuous combines, and sets up the Modelandstructure of Data of integration.
1.2 multi-source heterogeneous information fusion
Multi-source heterogeneous information fusion comprises syntax and semantics two layers of meaning: grammatically multi-source information needs unified space-time datum, spatial scaling and registration, and propagated error correction etc.; Semantically, multi-source navigation environment data semantic is numerous, the level of detail yardstick difference that difference special topic is semantic, and dynamic context time-space process semanteme and the semantic more complicated of relation need Unify legislation procedural semantics and relation semanteme.Multi-platform and the multisensor feature of ship navigation environmental information in gatherer process causes data to there is difference in various degree in space-time datum, method for expressing, yardstick, precision etc., and multi-source heterogeneous information fusion is one of key issue represented towards the navigation environment of boats and ships visual navigation.
1.3 complicated space-time phenomenon couplings
The coupling of complicated navigation environment space-time phenomenon refers to the interactional state of environmental element and the processes such as terrain and its features, hydrologic condition, aids to navigation, risk object, consequently wherein the direction of certain or several key element, intensity and space distribution etc. there occurs certain change, as being coupled of complicated landform and current situation (main flow, unhurried current, backflow, pushing stream, inlet flow, bend-rushing current, Xuan Shui etc.), the coupling phenomenon such as effect, bank effect between ship.
1.4 navigation environment information visualizations are expressed
According to visual and the behavioral characteristics of navigation environment key element, navigation environment Visualization can be divided into 3 levels: 1. to the Visualization of significant, that border is clearly demarcated navigation environment key element, as water front, atural object, aids to navigation etc.; 2. spatial and temporal distributions continuously, be not easily shown in but marine navigation had to the Visualization of the navigation environment key element of directly or indirectly impact, as underwater topography, current situation etc.; 3. to spatial and temporal distributions gradual change, the Visualization with the environmental element of cyclical variation process, as water level etc., the procedural semantics of expressing emphatically Changing Pattern is needed.Especially, the large and dynamic change of navigation environment element information amount, needs to utilize LOD(levelofdetails) technology, under limited load prerequisite, guarantee the clear of key message and credible expression, realize navigation environment self-adaptation dynamic and visual.
According to the conceptual model of the complicated navigation environment unified representation of boats and ships, boats and ships visual navigation needs to solve the Unified Expression problem of the locus of varying environment key element, semantic meaning representation, change in time and space 3 aspects.
Therefore, the invention provides a kind of navigation environment visable representation method towards boats and ships visual navigation, comprise the following steps:
S1, set up geometrical layers
Geometrical layers is the description of the geometric data to navigation environment and subject element, comprising the information such as movement capturing data, movement navigation point position of the geometric model of navigation environment and subject element, initial position and state, boats and ships, is the integrated basis of navigation environment space time information.General abstract is point, line, surface, body 4 class, and forms some parents according to the assemblage characteristic of different key element.Point, line, surface in complicated navigation environment, body key element are compared with space distribution with the geometric shape of general static scene, and the key distinction is the existence of the dynamic fields such as water level.Meanwhile, body object can not only express the entity and complex thereof that are made up of simple face and parametric surface etc., also wants to represent the composite object that different voxel is formed.Body object supports subdivision and the visual analyzing of the dynamic field of out-of-shape or obscurity boundary in navigation environment.The geometric description of the dynamic object motion processes such as boats and ships is the space trackings determining its dynamic position.
S2, Physical layer
Physical layer is used for representing the physical characteristics of subject element in navigation environment and the physics law that should follow, these physical characteristicss and rule are applied to the expression of complex behavior, the change in location of such as moving ship, the simulation etc. in the underwater topography of continuous dynamic change, water level and flow field.The description of Physical layer to subject element makes the surface of subject element and behavior more true, by formulating the path planning of Moving Objects, determines the behavior act to current state reaction.By LOD technology, detail expression is carried out to the object in navigation environment, on the basis retaining subject element principal character, improve rendering speed, reduce the computing cost of real-time rendering; When frame rate is constant, improve the role's number in navigation environment.
S3, time state layer
Geometric attribute and the physical attribute of environmental element determine temporal feature, both comprised intuitively easily see, single entity that border is clear and definite, as landform, atural object etc., also comprise space distribution consecutive variations, the indefinite object in border, as water level etc.Based on Time Density (discrete, compact and continuous), the temporal feature of navigation environment subject element is summarized as state and process herein.For the feature of the dynamic object movement locus continuous gradations such as boats and ships in navigation environment, the time domain of research is appointed as continuous model.State and process are a pair key concept corresponding to moment and time period, and dynamic key element is called state sometime in its cycle of activity, and whole cycle of activity or territory sometime are wherein called process.Because the restriction of the spatial and temporal resolution of observation data and predicted data, in dynamic object cycle of activity, the state of any time or the process need of a period of time are arbitrarily realized by matching and interpolation.
S4, semantic layer
Semantic layer in the data model of navigation environment unified representation comprises 3 classes.Special topic semanteme comprises navigation environment mesorelief atural object (as underwater topography, water front, harbour, bridge etc.), hydrologic condition (as water level etc.), aids to navigation (as beacon, light beacon, light boat, day-mark, buoy etc.) and threatens target (as neighbouring ship, obstruction etc.) and the semantemes such as relation that intercouple thereof.Spatial Semantics mainly comprises the position in space, direction and speed etc., with special topic semanteme by entity associated, is describes the spatial relationship of each thematic factor and the main path of implementation space analysis.The time course semanteme of the dynamic environment key element of mechanical periodicity is divided into generation stage, developing stage, stabilization sub stage, decling phase and extinction stage by procedural semantics.Association process event that is semantic and special topic semanteme is the reason causing subject element generation state to change, and it constitutes the change of space-time object within its period of motion to the continuous driving of key element state.The procedural semantics of navigation environment thematic factor motion change by the abstract expression of event and with the associating of special topic semanteme, reflect the physical essence of navigation environment key element dynamic changing process and the impact on boats and ships visual navigation.
Under representing that terrain and its features, hydrologic condition, aids to navigation, risk object are integrated into unified Spatial-Temporal Frame by research towards the navigation environment of boats and ships visual navigation, model is represented by the navigation environment built towards visual navigation, achieve the data value maps of navigation environment under virtual reality technology, have expressed change in time and space and the coupling thereof of navigation environment subject element.
Above embodiment is only for illustration of design philosophy of the present invention and feature, and its object is to enable those skilled in the art understand content of the present invention and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So all equivalent variations of doing according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (1)
1., towards a navigation environment visable representation method for boats and ships visual navigation, it is characterized in that: it comprises the following steps:
S1, set up geometrical layers:
Comprise the geometric model of navigation environment and subject element, initial position and state, the movement capturing data of boats and ships, movement navigation dot position information, first abstract is point, line, surface, body 4 class, and forms some parents according to the assemblage characteristic of different key element;
S2, set up Physical layer:
For the physics law representing the physical characteristics of subject element in navigation environment He should follow, these physical characteristicss and rule are applied to the expression of complex behavior; By LOD technology, detail expression is carried out to the object in navigation environment, on the basis retaining subject element principal character, improve rendering speed, reduce the computing cost of real-time rendering; When frame rate is constant, improve the role's number in navigation environment;
S3, state layer when setting up:
Based on Time Density, the temporal feature of navigation environment and subject element is summarized as state and process, for the feature of dynamic object movement locus continuous gradation in navigation environment, the time domain of research is appointed as continuous model; State and process are a pair key concept corresponding to moment and time period, and dynamic key element is called state sometime in its cycle of activity, and whole cycle of activity or territory sometime are wherein called process;
Definition 1: the life cycle T=[t of dynamic object
0, t
n], TR is the time domain of field, for any one moment t
ithree element complex F=f (x, y, z, the t of T
i), be called that dynamic object is at t
ithe state in moment;
Definition 2: the life cycle T=[t of dynamic object
0, t
n], TR is the time domain of field, for any one time domain [t
i, t
j] quaternion functions F=f (x, y, z, the t) (t [t of T
i, t
j]), be called that dynamic object is at time domain [t
i, t
j] in process;
In dynamic object cycle of activity, the state of any time or the process of a period of time are arbitrarily realized by matching and interpolation;
S4, set up semantic layer:
Comprise 3 classes, be respectively special topic semanteme, Spatial Semantics and procedural semantics;
Special topic semanteme comprises navigation environment mesorelief atural object, hydrologic condition, aids to navigation and threat target and the relation that intercouples thereof;
Spatial Semantics comprises the position in space, direction and speed, with special topic semanteme by entity associated, is describes the spatial relationship of each subject element and the approach of implementation space analysis;
The time course semanteme of the dynamic object of mechanical periodicity is divided into generation stage, developing stage, stabilization sub stage, decling phase and extinction stage by procedural semantics;
Association process event that is semantic and special topic semanteme is the reason causing subject element generation state to change, and it constitutes the change of space-time object within its period of motion to the continuous driving of subject element state; The procedural semantics of navigation environment subject element motion change by the abstract expression of event and with the associating of special topic semanteme, reflect the physical essence of navigation environment key element dynamic changing process and the impact on boats and ships visual navigation.
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Cited By (5)
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