CN110319839A - A kind of intelligent navigation APP system suitable for polar region ice navigation - Google Patents
A kind of intelligent navigation APP system suitable for polar region ice navigation Download PDFInfo
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Abstract
The invention discloses a kind of intelligent navigation APP systems suitable for polar region ice navigation, including subscriber information management module, sea ice information analysis display module, destination enquiry module and SIM system information management module.This system user interface ease in use provides the ice condition information in polar region sea area for ship.Destination latitude coordinates only need to be inputted, the shortest path that can be navigated by water can be obtained, reduce the risk involved in ice navigation.Wherein, Ice Conditions Analysis and various dimensions display technology, data mining and extractive technique, multi-objective optimization algorithm, the safety of ship analytical technology based on data-driven etc. provide support for the normal operation of system.
Description
Technical field
The present invention relates to intelligent navigational fields, more particularly to a kind of intelligent navigation APP suitable for polar region ice navigation
System.
Background technique
In recent years, the problems such as global climate increasingly warms, and south poles sea ice is caused to melt, sea-level rise.At the same time,
In summer, the condition in polar region sea area has been able to satisfy the normal pass of ship.With the development of ice-breaking technology, marine technology, I
State is reached the voyage of North America east bank by " northwest course line ", will substantially be shortened by the voyage that " northeast course line " reaches Europe, is saved
The transportation cost of ship is saved.Polar region mining deposits abundant, the scientific investigation team that attract various countries comes to explore, in recent years, more
Start to drive towards polar region sea area come more ships.
Currently, lacking since map open platform Baidu map, Google Maps, Mapbox are defaulted as Mercator projection
The projection of polar region, developer lack polar region sea area map data mining platform, and no APP is shown and divided to polar region sea area ice condition information
Analysis prediction, crewman can not be clearly understood that ice concentration and depth information around ship.It is suitable for and polar region due to lacking
The navigation in sea area, path planning system, ship are selected polar region ice navigation Intermediate Course largely according to navigator's
Experience is completed, and the safety of navigation cannot be ensured effectively.Research is suitable for the intelligent navigation APP of polar region ice navigation
The top priority of system is collected including ice concentration, the sea areas such as sea ice thickness ice condition information, by ice condition data and electron sea
Figure additive fusion provides surrounding sea ice condition information for ship in real time.Destination path is planned on this basis, thus really
Protect the passage normally and efficiently of ship.Any support ice formation path planning, at the same it is reliable in view of being limited on physics and operation
Tool is all popular in maritime world.So being suitable for a kind of intelligent navigation APP system suitable for polar region ice navigation to rear
The development of continuous work has great significance.
Summary of the invention
The present invention is analyzed by polar region ice condition data and Multidimensional Comprehensive display research, and the ship to travel in polar region, which provides, works as
The preceding and following sea area ice condition information.The ice condition data in sea area analysis shows that on the basis of, severe sea condition and ice navigation are carried out
Safety analysis is studied is using the method for ice formation course line multi-objective optimization algorithm by the support of data mining and extractive technique
User provides the optimal feasible path for leading to destination, provides convenience for arctic navigation.The analysis and research of mass data, prediction
Ice condition provides the optimal path of future time section, provides selection for the trip planning of ship.
Userspersonal information's data of the information management module storage subscriber information module of system, sea ice information analysis module
Ice concentration, ice concentration thickness data, the course data of destination enquiry module；Pass through user when new user's registration
Information management is submitted, and SIM system information management module is passed to, and saves personal information, and personal information maintenance module can be used in user
It modifies to personal information, modified data is transmitted to SIM system information management module；After logining successfully, system information
The longitude and latitude data of user position are passed to sea ice information analysis display module by management module, pass through ice condition display module
User obtains sea ice information around current location, while start-stop point and course data are passed to SIM system information management module；System
System information management module is managed the data information of system, and the individual subscriber of subscriber information module transmitting is updated including saving
Information updates sea ice information on time, and the data of update are passed to sea ice information analysis display module, receives to save mesh
Ground enquiry module course data；Sea ice information analysis display module, the sea ice received in SIM system information management module are intensive
Degree, sea ice thickness information receive position display module user current location by processing, transmit user current location sea ice information
User is shown to subscriber information management module；Ice prediction module predicts ice condition information, and prediction data is passed to
SIM system information management module；Destination enquiry module, by ice formation course line multi-objective optimization algorithm, optimization aim includes sailing in the wind
Danger, distance to go, navigation energy consumption, hours underway, in conjunction with voyage plan, ship's manoeuverability, navigation area real-time ice condition information,
Middle or short term Weather Forecast Information, the Ship's Optimum Route under the conditions of Dynamic Programming difference preference；The sea ice information analysis shows mould
The ice prediction submodule combined destination enquiry module of block obtains the navigable optimal path of future time；The path is shown
Module shows user query path, carries out decision operation by system and shows optimal path, while the specific sail information of ship
It is saved in system database, provides data reference for the path planning algorithm of system.
System is defined projection to complete polar region map picture using ArcGIS, by picture and spatial positional information pair
It answers, projection setting is carried out with EPSG:3571, it is to figure layer point of addition point geographic position name is corresponding with longitude and latitude, simultaneously
The precision for correcting longitude and latitude stops addition when longitude and latitude error is less than 0.0001 degree, the production of polar region base map is completed, with service
Polar stereographic projection polar plot address in device, polar stereographic projection map overlay is shown in platform.
Ice concentration, the sea ice thickness data file of FTP downloading are normalized, y=(x-MinValue)/
(MaxValue-MinValue), x, y are respectively to convert the maximum value that forward and backward value MaxValue, MinValue is respectively sample
And minimum value, data are converted into the decimal between (0,1), adverse effect caused by unusual sample data is eliminated, data is limited
It is scheduled on the range being easily processed, output result is corresponding with rgb value, ice concentration and sea ice thickness are indicated with color saturation
Size.Ergodic Matrices, by the corresponding ice concentration and sea ice depth rgb value label of representing of longitude and latitude in polar stereographic projection base map
In.
On the basis of sea ice information is merged and shown, path planning is carried out in conjunction with meteorological condition, uses ice formation course line Q-
Learning nitrification enhancement carries out flight course planning to destination, is first abstracted an ambient condition and turns to following expression:
S=(Xg, Xo1, Xo2, Xo3, Xo4)
Wherein, s is an ambient condition in environment space, XgIndicate the orientation situation of the ship target point to be reached,
Xo1, Xo2, Xo3, Xo4For the obstacle information in front of ship, by the distribution of obstacles situation within the scope of 120 ° in front of ship according to angle
Degree is separated into four quantity of state X with distanceo1,Xo2,Xo3,Xo4, wherein angle is with course for 0 ° of benchmark, and barrier and ship connect
Angle of the line relative to course, Xo1,Xo2,Xo3,Xo4The angular range of representative is [- 60 °, -30 °] respectively, [- 30 °, 0 °], [0 °,
30 °], ship movement is reduced to straight line, is advanced with the course for being located at 30 ° on the left of ship's head, to be located at ship by [30 °, 60 °]
30 ° of course is advanced on the right side of first direction, static, respectively corresponds the serial number of 1-5, and the speed of navigation is according to the property of ship polar region environment
Energy model calculates, and the execution time acted each time is fixed；Excitation function is set, when the behavior of ship make itself and target point away from
From approaching, excitation function is awarded, maximum value of awarding when reaching target point.When ship close to can not ice-breaking area
When, penalty value is returned, and when ship and a certain high ice concentration region are bumped against, excitation function should return to one and greatly punish
Penalties guarantees that ship avoids colliding with the region；Movement selection is carried out using ε-greedy strategy, ship is in current ambient conditions
Under there is the probability of ε to randomly choose a movement, and the movement value function for having the probability selection of 1- ε to make current ambient conditions is maximum
Movement, wherein ε be a lesser constant.
Risk reminding module uses safety of ship analytical technology, provides navigation risk to vessel underway oceangoing ship using Bayesian network
It reminds, node is to cause ship that the factor of accident occurs in arctic navigation, is obtained by expert investigation and historical empirical data
The dependence between node is taken, correlation analysis is carried out to bivariate using Pearson product-moment correlation coefficient method, makes node
Correlation among nodes analysis is completed, arctic navigation risk bayesian network structure figure is constructed, provides sailing in the wind to vessel underway oceangoing ship
It reminds danger.
Detailed description of the invention
Fig. 1 should be suitable for a kind of the general frame of intelligent navigation APP system suitable for polar region ice navigation.
The technical solution of Fig. 2 system illustrates.
Specific embodiment
A specific embodiment of the invention is further illustrated with reference to the accompanying drawing.
As shown in Figure 1, a kind of intelligent navigation APP system suitable for polar region ice navigation that this example is implemented, Yong Hufen
For ordinary user and administrator.Ordinary user includes user's registration function, user's login function, position display function, a
People's maintenance of information function checks place ice concentration informational function, search destination function and checks optimal path function.
Administrator includes subscriber information management function, sea ice data management function, route information management function.Fig. 2 is related to this
The main functional modules of invention and corresponding selection of technical scheme.
As shown in Figure 1, userspersonal information's data of the information management module storage subscriber information module of system, sea ice letter
Cease ice concentration, the ice concentration thickness data of analysis module, the course data of destination enquiry module；New user's registration
When submitted by subscriber information management, pass to SIM system information management module, save personal information, personal letter can be used in user
Breath maintenance module modifies to personal information, and modified data are transmitted to SIM system information management module；It is logining successfully
Afterwards, the longitude and latitude data of user position are passed to sea ice information analysis display module by SIM system information management module, are passed through
Ice condition display module user obtains sea ice information around current location, while start-stop point and course data are passed to system information
Management module；SIM system information management module is managed the data information of system, including saves and update subscriber information module biography
The userspersonal information passed updates sea ice information on time, and the data of update are passed to sea ice information analysis and show mould
Block receives the course data for saving destination enquiry module；Sea ice information analysis display module receives SIM system information management module
In ice concentration, sea ice thickness information, receive position display module user current location by processing, transmitting user is current
Position sea ice information is shown to user to subscriber information management module；Ice prediction module predicts ice condition information, will be pre-
Measured data passes to SIM system information management module；Destination enquiry module optimizes mesh by ice formation course line multi-objective optimization algorithm
Mark includes navigation risk, distance to go, navigation energy consumption, hours underway, in conjunction with voyage plan, ship's manoeuverability, navigation area
Real-time ice condition information, middle or short term Weather Forecast Information, the Ship's Optimum Route under the conditions of Dynamic Programming difference preference；The sea ice letter
Breath is analysis shows that the ice prediction submodule combined destination enquiry module of module obtains the navigable optimal path of future time；
The path display module shows user query path, carries out decision operation by system and shows optimal path, while ship
Specific sail information is saved in system database, provides data reference for the path planning algorithm of system.
As shown in Fig. 2, ice condition display module is defined projection to complete polar region map picture using ArcGIS, make picture
With spatial positional information, projection setting is carried out with EPSG:3571, by the method for point of addition point by geographic position name
It is corresponding with longitude and latitude, stop addition when inspection data longitude and latitude error is less than 0.0001 degree, completes the calibration of longitude and latitude precision.With
Polar stereographic projection polar plot address in server, polar stereographic projection map overlay is shown in platform.Sea ice information data is carried out
Normalized, y=(x-MinValue)/(MaxValue-MinValue), x, y are respectively to convert forward and backward value
MaxValue, MinValue are respectively the maximum value and minimum value of sample, and data are converted into the decimal between (0,1), processing
Result afterwards is corresponding with rgb value, and the saturation degree of color indicates the size of ice concentration and sea ice thickness.Data are corresponding
Color mark is in polar stereographic projection base map.
As shown in Fig. 2, ice prediction module uses data mining statistical learning technology, ice condition data are compiled, it will be through
Latitude matrix is corresponding with ice condition data, establishes model using causal influence network algorithm:
Wherein, Y represents certain month to be predicted sea ice density or depth,It indicated before month to be predicted K months i-th
J-th of Climatic of observation point, Climatic be sea surface temperature, sea-level pressure, ocean surface wind speed,ForRecurrence
Coefficient, Z-kIndicate k months ice concentrations or thickness, q before month to be predicted-kFor Z-kRegression coefficient, O indicate the data moon
Number amount, M are grid data number, and N indicates the Climatic quantity, and ε is constant；Prediction data is compared with truthful data
It is right, prediction accuracy is stepped up, the predictive information of ice condition is provided.
As shown in Fig. 2, flight course planning module multiple-objection optimization Q-Learning nitrification enhancement navigates to destination
Line gauge is drawn, and is first abstracted an ambient condition and is turned to following expression:
S=(Xg, Xo1, Xo2, Xo3, Xo4)
Wherein, s is an ambient condition in environment space, XgIndicate the orientation situation of the ship target point to be reached,
Xo1, Xo2, Xo3, Xo4For the obstacle information in front of ship, by the distribution of obstacles situation within the scope of 120 ° in front of ship according to angle
Degree is separated into four quantity of state X with distanceo1,Xo2,Xo3,Xo4, wherein angle is with course for 0 ° of benchmark, and barrier and ship connect
Angle of the line relative to course, Xo1,Xo2,Xo3,Xo4 angular ranges represented are [- 60 °, -30 °] respectively, [- 30 °, 0 °],
Ship movement is reduced to straight line, is advanced with the course for being located at 30 ° on the left of ship's head, with position by [0 °, 30 °], [30 °, 60 °]
30 ° of course is advanced on the right side of ship's head, static, respectively corresponds the serial number of 1-5, the speed of navigation is according to ship polar region environment
Performance model calculate, and the execution time acted each time is fixed；Excitation function is set, when the behavior of ship makes itself and target
Point distance is close, and excitation function is awarded, maximum value of awarding when reaching target point.When ship is close to can not ice-breaking
When regional, penalty value is returned, and when ship and a certain high ice concentration region are bumped against, excitation function should return to a pole
Big penalty value guarantees that ship avoids colliding with the region；Movement selection is carried out using ε-greedy strategy, ship is in current environment
There is the probability of ε to randomly choose one under state to act, and the movement value function for thering is the probability selection of 1- ε to make current ambient conditions
Maximum movement, wherein ε is a lesser constant.
As shown in Fig. 2, risk reminding module uses safety of ship analytical technology, vessel underway oceangoing ship is mentioned using Bayesian network
It is reminded for navigation risk, node is the factor for causing ship that accident occurs in arctic navigation, is passed through by expert investigation and history
Data are tested to obtain the dependence between node, correlation point is carried out to bivariate using Pearson product-moment correlation coefficient method
Analysis, production node complete correlation among nodes analysis, arctic navigation risk bayesian network structure figure are constructed, to vessel underway oceangoing ship
Navigation risk is provided to remind.
The succinct function of system interface is simple, only need to input destination coordinate or best road that place name can be navigated by water
Line, the data repository of foundation update sea area ice condition data and navigation channel information data on time, provide for the stable operation of system
It ensures.
It should be noted that specific embodiment of the present invention illustrates inventive principle and the scope of application.But it is unlimited
In a kind of embodiment, under the exploration of experimental spirits, according to other solutions that the invention occurs, the invention is belonged to
Protection scope.
Claims (3)
1. a kind of intelligent navigation APP system suitable for polar region ice navigation, characterized by comprising: subscriber information management mould
Block, sea ice information analysis display module, destination enquiry module and SIM system information management module；The subscriber information management
Module includes: user registration module, user log-in block, position display module and personal information maintenance module；The sea ice
Information analysis display module includes: sea area ice condition display module and sea area Ice Conditions Analysis module and sea area ice prediction module；
The destination enquiry module includes: that longitude and latitude enquiry module, placename-querying module, path display module and security risk are reminded
Module；The SIM system information management module includes: user data management module, sea ice data management module, course data pipe
Manage module；Userspersonal information's data of subscriber information module, ice concentration, the ice concentration of sea ice information analysis module
Thickness data, the course data of destination enquiry module are stored in SIM system information management module；User's registration submits information,
By subscriber information management module, SIM system information management module is passed to, user information is saved；In subscriber information management module
Personal information maintenance module modifies to userspersonal information, and modified data are transmitted to SIM system information management module；
After user logins successfully, the longitude and latitude data of user position are passed to sea ice information analysis and shown by SIM system information management module
Show module, display module user obtains sea ice information around current location by ice condition；Start-stop point and course data are passed simultaneously
Pass SIM system information management module；SIM system information management module saves the userspersonal information for updating subscriber information module transmitting,
Sea ice information is updated on time, the data of update are passed into sea ice information analysis display module, receives destination inquiry
The course data of module, is managed it；Sea ice information analysis display module, obtains sea ice from SIM system information management module
Closeness, sea ice thickness information get the bid in base map after processing and show sea ice information, receive position display module user's present bit
It sets, transmitting user current location sea ice information gives subscriber information management module, and ice prediction module predicts ice condition information,
Prediction data is passed into SIM system information management module；Destination enquiry module, it is excellent by ice formation course line multi-objective optimization algorithm
Changing target includes navigation risk, distance to go, navigation energy consumption, hours underway, in conjunction with voyage plan, ship's manoeuverability, cruising ground
The real-time ice condition information in domain, middle or short term Weather Forecast Information, the Ship's Optimum Route under the conditions of Dynamic Programming difference preference；The sea
It is navigable optimal that the ice prediction submodule combined destination enquiry module of ice information analysis display module obtains future time
Path；The path display module shows user query path, carries out decision operation by system and shows optimal path, simultaneously
The specific sail information of ship is saved in system database, provides data reference for the path planning algorithm of system.
2. the intelligent navigation APP system according to claim 1 suitable for polar region ice navigation, which is characterized in that sea ice
Information analysis display module merges display methods using polar region sea ice, comprising the following steps:
Step 1: making the map with polar region sea ice information；
Step 2: flight course planning being carried out to destination using ice formation course line Q-Learning nitrification enhancement, constructs Bayesian network
Network provides navigation risk for ship and reminds；Bayesian network is constructed the following steps are included: to lead to ship thing in arctic navigation
Therefore factor be node, construct complete Bayesian network, using Bayesian network to vessel underway oceangoing ship provide navigation risk remind,
Dependence between node is obtained by historical data or the method for expert investigation, while using Pearson product-moment correlation coefficient method
Correlation analysis is carried out to bivariate, after completing node and correlation analysis, constructs arctic navigation risk Bayesian network
Structure chart；
Step 1 the following steps are included:
Step 11: projection is defined to polar region map picture, picture is corresponding with spatial positional information, come with EPSG:3571
Projection setting is carried out, it is to figure layer point of addition point that geographic position name is corresponding with longitude and latitude, while the precision of longitude and latitude is corrected,
Stop addition when longitude and latitude error is less than 0.0001 degree；
Step 12: base map is published to server by production polar stereographic projection vector base map；
Step 13: using map overlay method, polar stereographic projection polar plot address in invoking server, by polar stereographic projection map overlay
It is shown in platform, hundred-mark system sea ice density corresponding with longitude and latitude matrix and sea ice thickness data is carried out at following normalization
Reason: y=(x-MinValue)/(MaxValue-MinValue), x, y are respectively to convert forward and backward value, MaxValue,
MinValue is respectively the maximum value and minimum value of sample, and data are converted into the decimal between (0,1), by output result conversion
For rgb value, the size of ice concentration and sea ice depth is represented using the saturation degree of color, loops through longitude, latitude, sea ice
Closeness, sea ice matrix of depths, every time traversal by longitude and latitude it is corresponding represent ice concentration and sea ice depth rgb value label exist
In polar stereographic projection base map；
Step 2 the following steps are included:
Step 21: a underway ambient condition is abstracted and turns to following expression:
S=(Xg, Xo1, Xo2, Xo3, Xo4) wherein, s is an ambient condition in navigation environment space, XgIndicate that ship will reach
Target point orientation situation, Xo1, Xo2, Xo3, Xo4For the obstacle information in front of ship, the movement of ship is reduced to straight line
Advance, straight line retreats, and is advanced with the course for being located at 30 ° on the left of ship's head, to be located on the right side of ship's head before 30 ° of course
Into, it is static, the serial number of 1-5 is respectively corresponded, the speed of navigation is calculated according to the performance model of ship polar region environment, and is moved each time
The execution time of work is fixed；
Step 22: setting excitation function, when the behavior that ship is made makes closer at a distance from target point, excitation function 2 is answered
This is awarded, guarantee ship can be constantly close to target point, and when reaching target point in subsequent exploration, excitation letter
Number should return to a great reward value, and during ship's navigation, not allowing to navigate by water is being more than the height sea of ship ice-breaking capacity
Ice concentration region, when ship is close to these regions, excitation function should return to a penalty value, and when ship and certain
When one high ice concentration region is bumped against, excitation function should return to a very big penalty value, guarantee the heuristic process later
In, ship avoids colliding with the region as far as possible；
Step 23: movement selection being carried out using ε-greedy strategy, ship has the probability of ε to randomly choose under current ambient conditions
One movement, and the maximum movement of movement value function for thering is the probability selection of 1- ε to make current ambient conditions, wherein ε is one
Lesser constant.Intelligent navigation APP system according to claim 1 suitable for polar region ice navigation, which is characterized in that
By studying ice formation course line multi-objective optimization algorithm, when optimization aim includes navigation risk, distance to go, navigation energy consumption, navigation
Between etc., in conjunction with voyage plan, ship's manoeuverability, the real-time ice condition information of navigation area, middle or short term Weather Forecast Information, dynamic is advised
Draw the Ship's Optimum Route under the conditions of difference preference.
3. the intelligent navigation APP system according to claim 1 suitable for polar region ice navigation, which is characterized in that with
The factor for leading to marine incident when arctic navigation is node, further constructs complete Bayesian network, utilizes Bayesian network
Navigation risk being provided to vessel underway oceangoing ship to remind, the dependence between node is obtained by historical data or the method for expert investigation,
Correlation analysis is carried out to bivariate using Pearson product-moment correlation coefficient method simultaneously, complete node and correlation analysis it
Afterwards, arctic navigation risk bayesian network structure figure is constructed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460934A (en) * | 2022-01-05 | 2022-05-10 | 武汉理工大学 | Visual guidance method, system and device for navigation of icebreaker and storage medium |
| CN116206463A (en) * | 2023-03-06 | 2023-06-02 | 吉林大学 | Public road operation vehicle dispatch system |
-
2019
- 2019-08-02 CN CN201910710770.8A patent/CN110319839A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460934A (en) * | 2022-01-05 | 2022-05-10 | 武汉理工大学 | Visual guidance method, system and device for navigation of icebreaker and storage medium |
| CN114460934B (en) * | 2022-01-05 | 2023-08-15 | 武汉理工大学 | Visual guidance method, system and device for ice breaker navigation and storage medium |
| CN116206463A (en) * | 2023-03-06 | 2023-06-02 | 吉林大学 | Public road operation vehicle dispatch system |
| CN116206463B (en) * | 2023-03-06 | 2024-04-26 | 吉林大学 | Public road operation vehicle dispatch system |
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