CN111724473A - Method for drawing ship distance line in real time based on reality augmentation system - Google Patents
Method for drawing ship distance line in real time based on reality augmentation system Download PDFInfo
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- 230000003416 augmentation Effects 0.000 title claims abstract description 7
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- 238000005259 measurement Methods 0.000 claims description 10
- 230000014509 gene expression Effects 0.000 claims description 9
- 230000009429 distress Effects 0.000 claims description 4
- 230000009466 transformation Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 description 5
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Abstract
The invention provides a method for drawing a ship distance line in real time based on a reality augmentation system, which establishes a model through 3D modeling; converting the longitude and latitude data into three-dimensional coordinates and placing the model in a display range; simplifying the three-dimensional coordinates into two-dimensional coordinates, establishing a line drawing area by taking the target ship as a center, selecting a plurality of representative points on the outer contour, and drawing calibration lines which respectively pass through the representative points and are parallel to the X axis; and drawing four measuring lines by taking the outer contours of other ships as a reference, solving the coordinates of intersection points of the calibration lines and the measuring lines after the other ships enter the line drawing area, converting the two-dimensional coordinates into three-dimensional coordinates, and drawing distance lines connecting the representative points and the intersection points through a line drawing function of a three-dimensional map. The invention realizes real-time drawing, does not need to manually select two points in a three-dimensional map, has followability and real-time performance, has higher drawing precision of the distance line through the analysis of AIS information and the accurate transformation of the ship size, and has higher drawing precision compared with the ship representation in the electronic chart.
Description
Technical Field
The invention relates to the field of intelligent ship auxiliary driving, in particular to a method for drawing a ship distance line in real time based on a reality augmentation system.
Background
The intelligent ship is a development trend of modern ships, and the modern ships develop towards an intelligent and efficient direction in multiple aspects of information perception, communication navigation, energy efficiency control, state monitoring and fault diagnosis, danger early warning and rescue and the like.
The existing electronic chart can measure the distance between two points by manually selecting a target point, the position of a ship is constantly changed in actual navigation, the distance measured by manually selecting the two points cannot accurately reflect the real-time distance between the two points, and the existing distance measuring mode is basically realized by selecting the target point on a two-dimensional map.
The measuring method used on the two-dimensional map is not suitable for a three-dimensional interface, for large and medium-sized ships, a large number of visual field blind areas exist in the real sailing process, which cannot be expressed in the two-dimensional map, and the three-dimensional map can present the state of the ship in a three-dimensional mode, but cannot present the distance between the ship and other ships in real time, so that a method capable of presenting the actual distance between the ship and other ships in the three-dimensional map in real time is needed, so that the visual effect can be provided intuitively, and the distance value between the current ship and other ships can be known in real time.
Disclosure of Invention
The invention aims to provide a method for drawing distance lines between ships in real time in a three-dimensional map by performing three-dimensional conversion by using known longitude and latitude.
Specifically, the invention provides a method for drawing a ship distance line in real time based on a reality augmentation system, which comprises the following steps:
200, acquiring longitude and latitude data of a target ship and other ships, converting the longitude and latitude data into three-dimensional coordinates to form a three-dimensional map, drawing a display range by taking the target ship as an original point of the three-dimensional map, calling models of the other ships positioned in the display range, and placing the models on the three-dimensional map according to the actual states of the other ships;
In an embodiment of the present invention, the universal invocation format refers to an obj format file that can be invoked by OpenGL.
In one embodiment of the present invention, in step 200, the latitude and longitude data is obtained from an AIS system or an electronic chart of the target vessel.
In one embodiment of the present invention, in the step 200, the process of converting the latitude and longitude data into three-dimensional coordinates includes:
and converting longitude values in the longitude and latitude into x values, converting latitude values into z values, and converting height values of the corresponding models into y values.
In one embodiment of the present invention, in the step 300, the process of simplifying the three-dimensional coordinates in the three-dimensional map into two-dimensional coordinates includes:
the y value in the three-dimensional coordinate is abandoned, and the x value is directly used as the x value in the two-dimensional coordinate, and the z value is used as the y value in the two-dimensional coordinate.
In one embodiment of the present invention, in step 300, the line drawing area is a rectangular plane, the width of the line drawing area is the length of the target ship, the length of the line drawing area is at least 2 times of the minimum distress distance of the target ship, and the minimum distress distance is at least greater than the width of the target ship.
In an embodiment of the present invention, the number of the representative points in step 300 is seven, wherein one of the representative points is arranged at the bow of the target ship, three of the representative points are symmetrically arranged from the bow to the stern at left and right sides at intervals, and each of the calibration lines simultaneously passes through two symmetrical representative points.
In one embodiment of the present invention, in step 400, when the ship heading of the target ship and other ships is 0,90,180,270 degrees, the expressions of the calibration line and the measurement line need to be calculated separately to solve the problem that the expressions do not hold.
In an embodiment of the present invention, the method further includes a comparing step, in which storage spaces corresponding to the number of the end points are created, information of distance values between one of the start points and the corresponding end point is stored in each storage space, other ships in a display range are traversed during the navigation of the target ship, distances from intersection points of the measurement lines of the other ships and the calibration line to the corresponding start points are calculated, and then the new distance values corresponding to the corresponding storage spaces are replaced when the new distance values are smaller than the originally stored distance values.
In one embodiment of the present invention, when a plurality of other ships appear in the display range, the step 400 is repeated to calculate the distance values to the target ship, respectively, and then the corresponding shortest distance values are stored in the storage space.
The invention realizes real-time drawing without manually selecting two points in a three-dimensional map, has followability and real-time property, and has higher drawing precision of distance lines and accurate transformation of ship dimensions through the analysis of AIS information or an electronic chart, and higher drawing precision compared with ship representation in the chart.
According to the invention, the distance line is drawn on the 3D interface through the AIS system or the electronic chart, so that more modes are provided for the berthing and sailing safety of the ship. The method can be realized in a 3D interface, the display effect is better, the reality sense is better, and meanwhile, the visual observation effect can be provided for emergency risk avoidance.
Drawings
FIG. 1 is a schematic diagram of the steps of a method for mapping ship distance lines in accordance with one embodiment of the present invention;
FIG. 2 is a schematic illustration of a three-dimensional coordinate system being converted to a two-dimensional coordinate system in one embodiment of the invention;
FIG. 3 is a schematic diagram of a rendering area structure according to an embodiment of the present invention;
FIG. 4 is a schematic representation of representative point and calibration line positions for one embodiment of the present invention;
FIG. 5 is a schematic illustration of the positions of the other vessel and the target vessel in one embodiment of the present invention;
FIG. 6 is a flow chart of a method implementation process of one embodiment of the present invention.
Detailed Description
The following is a detailed description of a process of generating a three-dimensional map by using known latitude and longitude information, and simultaneously representing an actual distance value between a target ship and another ship in the three-dimensional map.
As shown in fig. 1, in an embodiment of the present invention, a method for real-time rendering a ship distance line based on a reality augmentation system is disclosed, which includes the following steps:
the 3D modeling software may be any existing software where the model has at least profile data scaled down from the actual corresponding vessel true dimension so that an accurate model can be displayed in the three-dimensional map at a later time and an accurate distance value can be calculated.
The universal calling format in this embodiment refers to a file stored in an obj format, so that OpenGL can read the file conveniently.
200, acquiring longitude and latitude data of a target ship and other ships, converting the longitude and latitude data into three-dimensional coordinates to form a three-dimensional map, drawing a display range by taking the target ship as an original point of the three-dimensional map, calling models of the other ships positioned in the display range, and placing the models on the three-dimensional map according to the actual states of the other ships;
the longitude and latitude data can be acquired through an AIS system of the target ship, and meanwhile, information such as types, courses, sizes and the like of other ships entering a display range can also be acquired.
The process of converting the longitude and latitude data into three-dimensional coordinates comprises the following steps:
reading obj files containing all ship models in OpenGL, creating a vertex cache object (VBO) and an index cache object (EBO), and storing data required by ship drawing in a video memory in advance;
converting a longitude and latitude coordinate system into an OpenGL coordinate system, wherein the longitude is converted into an x value, the latitude is converted into a z value, and the y value is an altitude value of the ship model and is irrelevant to the longitude and latitude; in the OpenGL coordinate system, the positive direction of the x axis is parallel to the horizontal right of the screen, the positive direction of the y axis is parallel to the vertical upward of the screen, and the positive direction of the z axis is perpendicular to the outward of the screen.
And the longitude and latitude information of the target ship is used as a central point, namely a point (0, 0, 0), drawn by the three-dimensional coordinate. The relative positions of other ships in the three-dimensional map can be determined by calculating the latitude and longitude difference between the other ships and the target ship.
The latitude and longitude data may be obtained from the target vessel's AIS system or from an electronic chart, which may be a chart of the target vessel's independent installation.
After the relative positions of other ships are determined, the AIS system is used for selecting ship models corresponding to other ships from the obj file, and according to the size information of other ships obtained from the AIS system, the ship models built in advance are subjected to size transformation, namely scaling operation is carried out on values of the ship models in the x direction, the y direction and the z direction.
And meanwhile, according to ship bow direction information in the AIS system, the ship model performs left-right rotation around the center point of the ship model to simulate the real course of other ships, and finally, the converted ship is drawn at a corresponding position.
In the above process, if the obj file does not have a model of a certain ship, the approximate ship model can be selected through the contour drawn by the latitude and longitude lines, and then the ship model is changed in corresponding proportion according to the size obtained by the contour, so as to obtain the ship model with the same real proportion as other ships as far as possible.
In addition, the ship model with approximate shape can be directly selected according to the types of other ships instead, and the size of the ship model is not changed and only scaling is carried out.
the process of simplifying the three-dimensional coordinates in the three-dimensional map into two-dimensional coordinates is as follows:
the y value in the three-dimensional coordinate is abandoned, and the x value is directly used as the x value in the two-dimensional coordinate, and the z value is used as the y value in the two-dimensional coordinate. That is, as shown in fig. 2, the OpenGL coordinate system is directly transformed into the rectangular planar coordinate system xOy without considering the influence of the y value. If a certain point coordinate in OpenGL is (1, 2, 3), it is (1, 3) after simplification, and after conversion to the rectangular coordinate system xOy, the point coordinate value is (1, -3).
As shown in fig. 3, the line drawing area 11 is a rectangular plane, the width W1 of the line drawing area 11 is the length L2 of the target ship, the length L1 of the line drawing area 11 is at least 2 times the minimum risk avoiding distance R of the target ship 1, and the minimum risk avoiding distance R is at least greater than the width W2 of the target ship 1.
In the present embodiment, the R value is defined by the minimum risk avoidance distance of the target ship 1, but in other embodiments, the R value may be set to any value as long as it is larger than the width W2 of the target ship 1.
As shown in fig. 4, the representative point 12 needs to be able to represent the outer contour of the target ship 1 while serving as the starting point of the distance line to obtain the true distance between the side of the target ship 1 and the side of another ship. Therefore, in the present embodiment, seven representative points 12 are provided, in which one is provided at the bow of the target vessel 1, three are provided symmetrically and at intervals from the bow to the stern, that is, six points located at both sides of the target vessel 1 are symmetrical, and each of the calibration lines L1, L2, L3, and L4 passes through two symmetrical representative points 12 (except for the bow).
The position and number of the representative points 12 can also be adapted if the hull of the target vessel 1 is large in size or special in shape. In addition, the line drawing area always takes the target ship as the center and synchronously turns along with the turning of the target ship.
As shown in fig. 5, the measurement lines L5, L6, L7, and L8 are straight lines drawn with the outermost edges of the other ship 2 in the four directions of fore-aft, left-right, and right as base points, and the four measurement lines L5, L6, L7, and L8 intersect perpendicularly to form a rectangle enclosing the other ship 2.
When the other vessel 2 enters the plot of the target vessel 1, the measurement line intersects the calibration line to produce an intersection point, which is an endpoint relative to each starting point. When acquiring the end point coordinates, the expressions of eight straight lines including the measurement line and the calibration lines L1, L2, L3, L4, L5, L6, L7, and L8 are first calculated in a rectangular coordinate system, and intersection point coordinates of the calibration lines L1, L2, L3, and L4 and the measurement lines L5, L6, L7, and L8 are then calculated, so that the end point coordinates of each representative point 12 (starting point) are obtained, wherein the total number of intersection points is 16.
In addition, the situation that the straight line expression does not hold is considered, namely the target ship 1 and the other ships 2 need to be considered separately when the bow directions are four special values of 0,90,180 and 270.
When determining the terminal point, it is necessary to determine in advance whether the other ship 2 is on the left side or the right side of the target ship 1, and then determine whether the terminal point is on the left side or the right side of the target ship 1; and further judging which calibration line is intersected with the end point, and finally calculating the position coordinate of the end point. If no other vessel enters the line drawing area 11, it is not considered.
Further, the coordinate calculation of the intersection point may be started on the condition that another ship 2 enters the line drawing area 11 or approaches a certain range of values.
The method for converting the two-dimensional coordinate into the three-dimensional coordinate is the reverse operation of converting the three-dimensional coordinate into the two-dimensional coordinate, the x and the y in the two-dimensional coordinate are substituted into the x and the z in the three-dimensional coordinate, and then the model height of other ships 2 is added as the y value, so that the three-dimensional coordinate of other ships can be obtained.
The line drawing function of the three-dimensional map in this step is the line drawing function in OpenGL. The distance value is displayed on the three-dimensional map, and a special distance display frame can be created in an AIS system or an electronic chart to display the distance value between the target ship and other ships in real time.
According to the scheme, real-time drawing is achieved, two points do not need to be manually selected, the following performance and the real-time performance are achieved, the obtained distance line is higher in drawing precision through analysis of AIS information or an electronic chart and accurate transformation of ship sizes, and compared with ship shapes in the chart, the drawing precision is higher.
According to the scheme, the AIS system is used for drawing the distance line on the 3D interface, and more modes are provided for ship berthing and sailing safety. And the method is realized in a 3D interface, so that the display effect is better and the reality is more.
In the present embodiment, the distance measurement is performed by selecting representative points at the bow and the side of the target ship, but in other embodiments, the distance measurement may be performed by using the above steps if the distance between the stern of the target ship and another ship needs to be measured.
Further, in an embodiment of the present invention, a comparison step may be established to enable the target ship to always display the currently shortest distance value with respect to each representative point, and the specific steps are as follows:
firstly, creating a storage space to store 8 effective end points corresponding to 7 representative points (starting points) respectively;
when a ship enters a line drawing area, the intersection point of the measuring line of the ship and the calibration line of the target ship is used as terminal point information, the obtained distance values of 8 terminal points are stored in corresponding storage spaces, the distance value in the storage space corresponding to the corresponding terminal point is updated at any time along with the change of the distance between the ship and the target ship, and the updating can be performed only when the new distance value is smaller than the original distance value.
When a plurality of ships enter an area needing to be measured simultaneously, the coordinate values of the end points of the intersection of the measuring lines of each ship and the target ship are calculated respectively, and only the shortest distance values corresponding to the starting points are written into the storage space.
Traversing all ships appearing in a line drawing area in an AIS system or an electronic chart once to obtain the coordinates of the nearest distance line end point in the line drawing area, wherein the coordinate points are calculated in a rectangular coordinate system, and drawing is needed in an OpenGL coordinate system during drawing, so that the values in the rectangular coordinate system are needed to be converted into the OpenGL coordinate system.
The method is further illustrated by way of example below, as shown in fig. 6.
The target ship acquires information in a line drawing area at any time by using an AIS system or an electronic chart on the ship in the sailing process, when other ships appear in the line drawing area, the AIS system marks the position and contour information of the other ships by using longitude and latitude information, the types and the sizes of the other ships can be determined by analyzing the longitude and latitude information of the other ships, and then a corresponding model is selected from a model base or a real-time model is directly drawn according to the longitude and latitude information. And determining the measuring lines of other ships by using the model, and calculating the coordinates of the intersection points (terminal points) of each calibration line in the drawing area of the target ship and the measuring lines of other ships.
In the above process, the longitude and latitude conversion of the three-dimensional coordinate, the conversion of the three-dimensional coordinate into the two-dimensional coordinate, and the conversion of the two-dimensional coordinate into the three-dimensional coordinate are required.
And then converting the acquired intersection point coordinates and representative point (starting point) coordinates into OpenGL, drawing a connecting line between the representative point and the terminal point on each calibration line by utilizing OpenGL, and simultaneously marking corresponding distance values, namely displaying the actual distance values of the outer contour of the target ship and the side edges of other ships in real time in a three-dimensional map.
When a plurality of other ships appear in the display range at the same time, the actual distance value is calculated in the same way, and the shortest distance value corresponding to each calibration line is stored in the storage space, so that risk avoidance decision data are provided for the AIS.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A method for drawing a ship distance line in real time based on a reality augmentation system is characterized by comprising the following steps:
step 100, building models of various existing ships in real proportion through 3D modeling, and then storing the models as a universal calling format;
200, acquiring longitude and latitude data of a target ship and other ships, converting the longitude and latitude data into three-dimensional coordinates to form a three-dimensional map, drawing a display range by taking the target ship as an original point of the three-dimensional map, calling models of the other ships positioned in the display range, and placing the models on the three-dimensional map according to the actual states of the other ships;
step 300, simplifying three-dimensional coordinates in a three-dimensional map into two-dimensional coordinates, establishing a drawing area for calculating the actual distance between each part of the outer contour and other ships by taking a target ship as a center, selecting a plurality of representative points on the outer contour, drawing calibration lines which respectively pass through the representative points and are parallel to an X axis, and taking the intersection point of the two calibration lines as the starting point of the distance;
step 400, drawing four vertically intersected measuring lines by taking the outer contour of other ships as a reference, solving the expressions of the calibration line and the measuring lines after the other ships enter a line drawing area, taking the intersection point between the calibration line and the measuring lines as the end point of the distance, converting the two-dimensional coordinates into three-dimensional coordinates, and drawing each distance line connecting the starting point and the end point through a line drawing function of the three-dimensional map, thereby displaying the actual distance values of the other ships and the target ship on the three-dimensional map.
2. The method of claim 1,
the universal calling format refers to an obj format file which can be called by OpenGL.
3. The method of claim 1,
in step 200, the latitude and longitude data is obtained from an AIS system of the target vessel or an electronic chart.
4. The method of claim 1,
in the step 200, the process of converting the longitude and latitude data into the three-dimensional coordinates is as follows:
and converting longitude values in the longitude and latitude into x values, converting latitude values into z values, and converting height values of the corresponding models into y values.
5. The method of claim 1,
in step 300, the process of simplifying the three-dimensional coordinates in the three-dimensional map into two-dimensional coordinates is as follows:
the y value in the three-dimensional coordinate is abandoned, and the x value is directly used as the x value in the two-dimensional coordinate, and the z value is used as the y value in the two-dimensional coordinate.
6. The method of claim 1,
in step 300, the line drawing area is a rectangular plane, the width of the line drawing area is the length of the target ship, the length of the line drawing area is at least 2 times of the minimum distress distance of the target ship, and the minimum distress distance is at least greater than the width of the target ship.
7. The method of claim 1,
seven representative points are provided in the step 300, wherein one of the representative points is provided at the bow of the target ship, three representative points are provided at intervals and are symmetrical from the bow to the stern, and each calibration line simultaneously passes through two symmetrical representative points.
8. The method of claim 1,
in the step 400, when the ship heading of the target ship and other ships is 0,90,180, and 270 degrees, the expressions of the calibration line and the measurement line need to be calculated separately to solve the problem that the expressions are not satisfied.
9. The method of claim 1,
the method also comprises a comparison step, namely firstly creating storage spaces corresponding to the number of the end points, respectively storing distance value information of one start point and the corresponding end point in each storage space, continuously traversing other ships in a display range in the navigation process of the target ship, calculating the distance from the intersection point of the measuring line and the calibration line of the other ships to the corresponding start point, and then replacing when the new distance value corresponding to the corresponding storage space is smaller than the originally stored distance value.
10. The method of claim 9,
when a plurality of other ships appear in the display range, the step 400 is repeated to respectively calculate the distance value between the ship and the target ship, and then the corresponding shortest distance value is stored in the storage space.
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