CN111780760A - Ship route simulation test method based on ocean voyage meteorological timeliness - Google Patents
Ship route simulation test method based on ocean voyage meteorological timeliness Download PDFInfo
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Abstract
The invention discloses a ship route simulation test method based on ocean navigation weather timeliness, which comprises the following steps: 101. dynamically adding weather information and weather influence areas corresponding to a weather timeliness model in the course of the route simulation of the intelligent ship according to the pre-constructed weather timeliness model; 102. determining whether the navigation path of the intelligent ship needs to be changed in the weather influence area or not according to the basic parameters, the operation parameters and the navigation path of the intelligent ship; 103. if the navigation path of the intelligent ship needs to be changed, the navigation path of the intelligent ship is re-planned in combination with the weather influence area; repeating the steps 101 and 102 according to the re-planned navigation path until the last safe-driving navigation path is selected. The method effectively realizes optimization and dynamic adjustment of the route test of the intelligent ship by combining the simulated meteorological environment, and reduces the test cost.
Description
Technical Field
The invention relates to the field of intelligent ship testing, in particular to a ship route simulation testing method based on ocean navigation weather timeliness.
Background
The method is characterized in that the test of the route planning is one of the precondition of marine intelligent ship navigation, along with the continuous progress of the technology, the route test requirement of the intelligent ship is continuously increased, a meteorological mathematical model related to time is constructed, the intelligent ship route planning is carried out in the simulation test environment for simulating the ocean navigation of the ship by combining the weather timeliness, and the construction of the simulation test environment for the intelligent ship route planning based on the ocean navigation weather timeliness plays an important role in the ship navigation planning. Many route planning algorithms replace manual setting of navigation path points to automatically generate routes, are limited by dynamic changes of marine meteorological environments along with time, are difficult to timely bring meteorological changes into the restriction conditions of route planning, and can cause the problem of reduction of ship navigation safety in the actual navigation process.
Therefore, how to carry out ship route simulation test based on the ocean-going navigation weather timeliness becomes a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a ship route simulation test method based on the timeliness of ocean-going weather, which optimizes and dynamically adjusts the route test of an intelligent ship by combining with a simulated weather environment to realize the test accuracy.
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, the invention provides a ship route simulation test method based on ocean-going weather timeliness, which comprises the following steps:
101. dynamically adding weather information and weather influence areas corresponding to a weather timeliness model in the course of the route simulation of the intelligent ship according to the pre-constructed weather timeliness model;
102. determining whether the navigation path of the intelligent ship needs to be changed in the weather influence area or not according to the basic parameters and the operation parameters of the intelligent ship and the navigation path of the current simulation test;
103. if the navigation path of the current simulation test needs to be changed, the navigation path of the intelligent ship is re-planned in combination with the weather influence area;
and according to the re-planned navigation path, repeating the steps 101 and 102 to perform route analysis on the re-planned navigation path, and selecting the navigation path for the intelligent ship to safely run in the simulation test environment.
Optionally, before 101, the method further comprises:
100. and constructing a weather timeliness model influencing part or all areas of the sailing path according to the sailing path to be simulated and tested of the intelligent ship.
Optionally, the method further comprises:
in step 101, the weather information and the weather influence area are periodically updated according to the weather change in the weather timeliness model.
Optionally, the weather information and weather-affected area updated periodically includes: the method comprises the following steps of (1) determining the midpoint position of a weather influence area, the radius information of the weather influence area, weather intensity, a movement direction and a movement speed;
the update period is 1-5 s.
Optionally, the 100 comprises:
100-1, determining the range of route planning according to the starting point and the end point of a navigation path of the current simulation test;
100-2, selecting a weather influence area according to the range of the route planning;
100-3, identifying the movement speed of the meteorological influence area by adopting a wind speed model;
and 100-4, fusing all weather influence areas in the air route planning range to obtain a weather timeliness model F of the weather influence areas.
Optionally, the weather timeliness model F of the weather-affected area is:
wherein the content of the first and second substances,
PiAs a starting point for the movement of the weather-affecting zone, Pi+1Is a target point for the movement of the weather-affected area,
p (A) is the probability of event A, which is "weather affecting area (A1) is located at a certain position within the circle";
line segment P formed by connecting starting point and target point in meteorological influence areaiPi+1And the included angle between the Y axis and the y axis in the plane rectangular coordinate system is theta.
Optionally, the 102 comprises:
102-1, acquiring the danger degree (D) of the intelligent ship passing through a weather influence area according to the navigation path of the intelligent ship according to the basic parameters, the operation parameters and the navigation path of the current simulation test;
102-2, determining whether the navigation path of the intelligent ship needs to be changed according to the danger degree (D).
Optionally, degree of danger
e is the weather early warning level of the corresponding segment of the navigation path, d (P)i,Pi+1) The length of the leg of the weather-affecting zone effect representing the early warning level.
Optionally, before the ship route simulation test, the method further comprises:
and generating an airway simulation test platform/test system of the intelligent ship based on the visual weather information and the electronic chart data.
In a second aspect, an embodiment of the present invention further provides an intelligent ship route simulation testing apparatus, including: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the ocean going weather timeliness based vessel route simulation test method of any one of the first aspect above.
The invention has the beneficial effects that:
the method automatically builds a global airway planning test environment in the three-dimensional scene, optimizes and dynamically adjusts the airway test of the intelligent ship according to the simulated meteorological environment, realizes the test of the airway path, and ensures the integrity of the test.
The method of the invention uses a three-dimensional scene generated based on weather visual simulation and electronic chart data as an airway planning platform, simulates time-varying weather in a simulation test environment, constructs a weather mathematical model (namely a weather timeliness model) related to time, and combines the timeliness of the weather in the simulation test environment for simulating the ocean navigation of ships to carry out intelligent ship airway planning, so that the automatically planned airway can be visually judged in an almost real environment, and the problems in the airway can be found.
The method combines the mathematical model to adjust the air route for a plurality of times according to the weather environment condition changing at any moment, thereby increasing the flexibility of the air route planning function. The intelligent ship global route planning simulation test environment based on meteorological simulation enables the obtained route to be optimized and flexibly adjusted according to actual requirements, and can meet the overall requirement of high efficiency and reasonability.
Drawings
Fig. 1 is a schematic flowchart of a ship route simulation test method based on ocean-going weather timeliness according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a ship route simulation test method based on the timeliness of ocean-going weather according to an embodiment of the present invention;
fig. 3A to fig. 3C are schematic diagrams respectively illustrating the construction of a weather timeliness dynamic data model according to an embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, fig. 1 is a schematic flow chart of a ship route simulation test method based on ocean-going weather timeliness according to an embodiment of the present invention, where the method of the present embodiment includes the following steps:
101. dynamically adding weather information and weather influence areas corresponding to a weather timeliness model in the course of the route simulation of the intelligent ship according to the pre-constructed weather timeliness model;
102. determining whether the navigation path of the intelligent ship needs to be changed in the weather influence area or not according to the basic parameters and the operation parameters of the intelligent ship and the navigation path of the current simulation test;
103. if the navigation path of the current simulation test needs to be changed, the navigation path of the intelligent ship is re-planned in combination with the weather influence area;
and according to the re-planned navigation path, repeating the steps 101 and 102 to perform route analysis on the re-planned navigation path, and selecting the navigation path for the intelligent ship to safely run in the simulation test environment.
In practical applications, before the foregoing step 101, the method may further include the following step 100:
100. and constructing a weather timeliness model influencing part or all areas of the sailing path according to the sailing path to be simulated and tested of the intelligent ship.
Thus, based on the weather timeliness model constructed in step 100, in step 101, the weather information and the weather-affected area can be periodically updated according to the change of the weather in the weather timeliness model.
The weather information and weather-affected area updated periodically in this embodiment may include: the position of the midpoint of the weather-affected area, the radius information of the weather-affected area, the weather intensity, the movement direction, the movement speed and the like are adjusted according to actual needs. In practical applications, the update period may be 1-5 s.
In order to better understand the process of establishing the weather timeliness model in the above step 100, the following detailed description is made on establishing the weather timeliness model, and specifically, the following sub-steps may be included:
100-1, determining the range of route planning according to the starting point and the end point of a navigation path of the current simulation test;
100-2, selecting a weather influence area according to the range of the route planning;
100-3, identifying the movement speed of the meteorological influence area by adopting a wind speed model;
100-4, fusing all weather influence areas in the air route planning range to obtain a weather timeliness model F of the weather influence areas,
in the embodiment, the meteorological data is updated once every short time, the change of the meteorological influence area is detected in real time, and the characteristic that the meteorological changes along with time and time is reflected. Meanwhile, the airway is adjusted for many times by combining the mathematical model according to the weather environment condition changing at any moment, so that the flexibility of the airway planning function is improved. The intelligent ship global route planning simulation test environment based on meteorological simulation enables the obtained route to be optimized and flexibly adjusted according to actual requirements, can meet high-efficiency and reasonable overall requirements, and solves the problem that the route planned by the existing intelligent algorithm cannot completely meet ship navigation.
Fig. 2 is a schematic flow chart of a ship route simulation test method based on the timeliness of ocean-going weather according to an embodiment of the present invention, and as shown in fig. 2, the method of the present embodiment can be described through the following steps;
step 201, detecting a meteorological influence area;
in ocean voyage, the position of the midpoint of the weather-affected area, the radius of the area, the weather intensity, the movement direction, the movement speed and the like may change due to the long voyage time, and the relevant data is updated every 5 seconds to grasp the change of the weather condition at all times.
Step 202, analyzing the influence degree of weather on a ship;
according to the weather timeliness model and the parameter conditions of the weather influence area pre-detected in step 201, the length of the ship route in the weather influence area is preset, the destruction strength of the weather influence area and the basic parameters (such as the limiting factors of ship performance, striking bearing capacity and the like) of the ship are fully considered, and whether the ship route is changed according to the position of the weather influence area is judged.
Step 203, constructing a weather timeliness model of the diversion path;
according to the step 202, if the ship route needs to be changed to avoid the weather influence area, the relevant data is updated every 5 seconds, and a mathematical model of the influence of the weather environment on the intelligent ship route planning is constructed by combining a mathematical model of weather influence area prediction according to the characteristic of continuous movement and change of the weather area.
In step 204, the conditions that may be encountered by the vessel after the change of course are analyzed.
After the ship changes the course, the range and the motion condition of the weather influence area are still changed in real time, the relevant data are updated every 5 seconds, the change of the weather area is detected in real time, the ship possibly meets the weather influence area again, if the ship meets the weather influence area again, the step 202 and the step 203 are repeated to analyze the course, whether the navigation path of the current simulation test is adjusted or not is determined, and the ship safely runs in the intelligent ship global course planning simulation test environment based on weather simulation until the terminal is reached.
The process for constructing the meteorological timeliness dynamic mathematical model in fig. 1 and 2 is described in detail with reference to fig. 3A to 3B.
The first step is as follows: construction of meteorological timeliness dynamic mathematical model
Preparation work: as shown in fig. 3A, a rectangular plane coordinate system is established, and a starting point and an ending point of a navigation path (i.e. a currently tested navigation path) are set, where the starting point is B0End point is BeWith B0BeMake a circle 1 for the diameter (i.e. with B)0BeThe outermost great circle of diameter), the range of circle 1 is the range of the route plan. The weather affecting area A1 is considered to be circular in shape with a midpoint Pi(xi,yi) Radius riThe direction and speed of movement being
Arranged during a certain voyage, PiAs a starting point for the movement of the weather-affecting zone, Pi+1Is a target point for the movement of the weather-affected area,
indicating weather-affecting zone from PiTo Pi+1Displacement and direction of motion.
Let "the weather-affected area a1 is located at a certain position within the circle 1" be the event a, and calculate the probability p (a) of the event a.
Formula 1:
secondly, the speed and the direction of the movement of the meteorological influence area are close to the wind speed and the direction of the wind, so that the speed of the movement of the meteorological area is represented by using a wind speed model. The wind speed refers to the distance of air moving in the horizontal direction in unit time, the change along with time and space is random, and the instantaneous wind speed is composed of the average wind speed and the pulsating wind speed, namely
Formula 2:
where v (t) is the instantaneous wind speed, which is the true wind speed at a point in space;
is the average wind speed; v' (t) is the pulsating wind speed.
Wind speed
The model can be expressed by a series of harmonic sums with frequencies of 0.1-10 Hz, namely
Formula 3:
in the formula (I), the compound is shown in the specification,
denotes the mean wind speed, AkRepresenting the amplitude of the k harmonic, omegakFor the frequency of the k-th harmonic,
is the gust wind speed. The gust wind speed can be represented by equation 4.
Formula 4:
in the formula
Is the gust amplitude m/s, omegagIs the angular velocity of a gust, omegag＝2π/Tg。
③ calculating weather affecting area A from PiTo Pi+1Displacement and direction of movement, direction and
the same is true.
Formula 5:
④ D represents the danger level of ship driving according to the set route in the weather influence area, e is the weather early warning level of the section, and is divided into first, second, third and fourth levels according to the emergency degree, development situation and possible harm degree of the emergency, wherein the first level is the highest level, D (P is the highest level)i,Pi+1) The length of the leg of the weather-affecting zone effect representing the level. The risk level of crossing the weather affected zone at a certain leg along a given route is calculated as shown in fig. 3B.
Formula 6:
⑤ let line segment PiPi+1The included angle between the y axis and the x axis is theta, and the x coordinate and the y coordinate of the target point of the meteorological influence area can be calculated according to the results obtained by the formulas so as to determine tiAnd (3) setting the position F of the weather influence area after the time in the airway range circle 1 to obtain a weather influence area movement mathematical model F.
Formula 7:
formula 8:
the second step is that: intelligent ship global route planning based on meteorological timeliness simulation
As shown in fig. 3C: in the existing plane rectangular coordinate system, the shape of the meteorological influence area A is regarded as a circle, and the midpoint is Pi(xi,yi) Radius ri. The position of the intelligent ship on the aeronautical path is Bi，BiIs a point on circle a.
Therefore, the simulation test environment is constructed by utilizing the reasonably constructed mathematical model, so that the route planning function of the simulation system is more convenient and efficient, and the route meeting the economical efficiency and the safety is obtained.
Because the three-dimensional simulation test scene is more visual compared with the electronic chart, the quality of the airway under the three-dimensional scene can be more easily judged, and the complexity of airway analysis is reduced.
The method provided by the embodiment of the invention takes a three-dimensional scene generated based on weather visual simulation and electronic chart data as an airway planning platform, simulates time-varying weather in a simulation test environment, constructs a weather mathematical model related to time, and combines the timeliness of the weather to plan the airway of the intelligent ship in the simulation test environment for simulating the ocean navigation of the ship, so that the automatically planned airway can be visually judged in a nearly real environment, and the problems in the airway can be found. The air route is adjusted for many times by combining the mathematical model according to the weather environment condition changing at any moment, so that the flexibility of the air route planning function is improved. The intelligent ship global route planning simulation test environment based on meteorological simulation enables the obtained route to be optimized and flexibly adjusted according to actual requirements, and can meet the overall requirement of high efficiency and reasonability.
According to another aspect of the embodiments of the present invention, an embodiment of the present invention further provides an intelligent ship route simulation testing apparatus, which includes: a memory, a processor and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor implementing the steps of the ocean going weather timeliness based vessel route simulation test method according to any of the first aspects above.
The testing apparatus of this embodiment may be a computer device or a server, and may include: at least one processor, at least one memory, at least one network interface, and other user interfaces. These components are coupled together by a bus system. It will be appreciated that a bus system enables connection communication between these components. The bus system includes a power bus, a control bus, and a status signal bus in addition to a data bus. The user interface may include a display, a keyboard, or a pointing device (e.g., a mouse, trackball, or touch pad, among others.
In some embodiments, the memory stores elements, executable units or data structures, or a subset thereof, or an expanded set thereof as follows: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs include various application programs.
In an embodiment of the present invention, the processor is configured to execute the method steps provided in the first aspect by calling a program or an instruction stored in the memory, specifically, a program or an instruction stored in an application program.
The method disclosed by the embodiment of the invention can be applied to a processor or realized by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software.
From this, the testing arrangement of this embodiment can realize setting up whole route planning test environment in three-dimensional scene automatically, according to mathematical model prediction and simulation meteorological environment, optimizes and dynamic adjustment intelligent ship route test, at the realization in-process, has not only considered the intensity in meteorological influence area to the dangerous degree that boats and ships travel in meteorological area, has considered the length with the flight section of meteorological area coincidence moreover, has improved route planning's security.
The above description of the embodiments of the present invention is provided for the purpose of illustrating the technical lines and features of the present invention and is provided for the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (10)
1. A ship route simulation test method based on ocean navigation weather timeliness is characterized by comprising the following steps:
101. dynamically adding weather information and weather influence areas corresponding to a weather timeliness model in the course of the route simulation of the intelligent ship according to the pre-constructed weather timeliness model;
102. determining whether the navigation path of the intelligent ship needs to be changed in the weather influence area or not according to the basic parameters and the operation parameters of the intelligent ship and the navigation path of the current simulation test;
103. if the navigation path of the current simulation test needs to be changed, the navigation path of the intelligent ship is re-planned in combination with the weather influence area;
and according to the re-planned navigation path, repeating the steps 101 and 102 to perform route analysis on the re-planned navigation path, and selecting the navigation path for the intelligent ship to safely run in the simulation test environment.
2. The method of claim 1, wherein prior to 101, the method further comprises:
100. and constructing a weather timeliness model influencing part or all areas of the sailing path according to the sailing path to be simulated and tested of the intelligent ship.
3. The method of claim 1, further comprising:
in 101, the weather information and weather affected area are periodically updated according to weather changes in the weather timeliness model.
4. The method of claim 3, wherein the periodically updated weather information and weather-affecting areas comprise: the method comprises the following steps of (1) determining the midpoint position of a weather influence area, the radius information of the weather influence area, weather intensity, a movement direction and a movement speed;
the update period is 1-5 s.
5. The method of claim 2, wherein the 100 comprises:
100-1, determining the range of route planning according to the starting point and the end point of a navigation path of the current simulation test;
100-2, selecting a weather influence area according to the range of the route planning;
100-3, identifying the movement speed of the meteorological influence area by adopting a wind speed model;
and 100-4, fusing all weather influence areas in the air route planning range to obtain a weather timeliness model F of the weather influence areas.
6. The method of claim 5, wherein the weather timeliness model F for the weather-affected zone is:
wherein the content of the first and second substances,
PiAs a starting point for the movement of the weather-affecting zone, Pi+1Is a target point for the movement of the weather-affected area,
p (A) is the probability of event A, which is "weather affecting area (A1) is located at a certain position within the circle";
line segment P formed by connecting starting point and target point in meteorological influence areaiPi+1And the included angle between the Y axis and the y axis in the plane rectangular coordinate system is theta.
7. The method of claim 6, wherein the 102 comprises:
102-1, acquiring the danger degree (D) of the intelligent ship passing through a weather influence area according to the navigation path of the intelligent ship according to the basic parameters, the operation parameters and the navigation path of the current simulation test;
102-2, determining whether the navigation path of the intelligent ship needs to be changed according to the danger degree (D).
8. The method of claim 7, wherein:
degree of danger
e is the weather early warning level of the corresponding segment of the navigation path, d (P)i,Pi+1) The length of the leg of the weather-affecting zone effect representing the early warning level.
9. The method of any one of claims 1 to 8, wherein prior to the ship route simulation test, the method further comprises:
and generating an airway simulation test platform of the intelligent ship based on the visual weather information and the electronic chart data.
10. The utility model provides an intelligent boats and ships route simulation testing arrangement which characterized in that includes: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the ocean voyage weather timeliness based vessel route simulation test method of any one of claims 1 to 9 above.
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