CN115983512A - Specific area-oriented electronic chart display and application platform - Google Patents
Specific area-oriented electronic chart display and application platform Download PDFInfo
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Abstract
The invention discloses an electronic chart display and application platform facing a specific area, which comprises an electronic chart analysis and display unit, a route planning unit and an electronic chart platform design unit; the electronic chart analyzing and displaying unit comprises an S-57 file analyzing and displaying module and a specific event point layer designing and loading module; the route planning unit comprises an environment modeling module and an IPRM algorithm module; the environment modeling module determines a navigable area and an unviable area and outputs navigation environment information to the IPRM algorithm module; an IPRM algorithm module plans a safe air route according to the navigation environment and the input longitude and latitude information of the origin-destination point; the electronic chart platform design unit comprises a platform architecture module and a functional module. The invention not only can realize the standardized display of the electronic chart, but also can dynamically display the specific event points on the chart, and also can inquire the specific information and design the safe air route in the specific area, thereby providing the safety guarantee for the navigation of ships in the specific area.
Description
Technical Field
The invention relates to the field of electronic chart and path planning, in particular to an electronic chart display and application platform facing to a specific area.
Background
Waterway transportation using ships as carriers plays an important role in the development of social economy. However, specific events in specific areas occur frequently every year, and the safety of ship navigation is seriously influenced. At present, the electronic chart system which undertakes the work of the navigation planning main body does not take the specific areas into consideration, cannot provide some specific information for the navigation ship, and is difficult to effectively ensure that the ship safely passes through the specific areas. The technology of specific information real-time query and route planning facing to specific areas based on the electronic chart is one of key technologies for realizing safe navigation of ships.
M.h. overlars et al (branch B and Pannell G, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces", journal of Open relations Data) propose a Probabilistic Roadmap algorithm (PRM) that uses a random sampling Method to create a path network map in an environment, converts a continuous space into a discrete space, and then plans a path on the path network map. However, the result of designing the ship route by using the algorithm depends on the number and the utilization rate of the route sampling points, and the obtained route has more inflection points and the route at the inflection points is not smooth enough, so that the method is not suitable for actual ship navigation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the electronic chart display and application platform facing the specific area, which can analyze and read any electronic chart file, can also match and display specific global event points and the latitude and longitude ranges of the electronic chart, realizes the query of specific information, and autonomously plans the safe course according to the origin-destination coordinates of the ship, so that the navigation safety of the ship in the specific area is obviously improved.
The technical scheme adopted by the invention is as follows:
an electronic chart display and application platform facing to a specific area, comprising: the electronic chart analysis and display unit, the air route planning unit and the electronic chart platform design unit;
the electronic chart analyzing and displaying unit comprises an S-57 file analyzing and displaying module and a specific event point layer designing and loading module; the S-57 file analysis display module and the specific event point layer design and loading module respectively realize standardized display of the S-57 file in an S-52 standard and symbolic display of specific event points on the chart; adding an electronic chart of a specific event point layer and outputting the electronic chart to a route planning unit;
the route planning unit comprises an environment modeling module and an IPRM algorithm module; the environment modeling module performs rasterization gray processing on the electronic chart added with the specific event point layer, determines a navigable area and an unviable area, and outputs navigation environment information to the IPRM algorithm module; an IPRM algorithm module plans a safe air route according to the navigation environment and the input longitude and latitude information of the origin-destination point;
the electronic chart platform design unit comprises a platform architecture module and a functional module; the platform architecture module carries out integral design on a platform and determines an operation interface; and after the platform architecture module event is triggered, the functional module realizes the analysis display, the dynamic update of global specific information, the display and the query of any S-57 file and the planning of a specific regional air route.
Further, the S-57 file analysis display module is used for reading and analyzing a file with a suffix of.000, transferring the file into an ESRI ShapeFile file, performing standardized rendering by utilizing a built SVG format chart symbol library, and converting a geographical coordinate system into a computer screen coordinate system according to the mercator projection to realize standardized display of the chart; the symbol types of the SVG format chart symbol library are divided into points, lines and planes.
Further, the S-57 file analysis display specifically comprises the following steps:
s1, analyzing, reading and transferring an electronic chart file into a ShapeFile file based on a GDAL library;
the process of analyzing and reading the electronic chart comprises the following steps: 1. registering all drivers, and then creating a driver object for reading the electronic chart file; 2. opening an electronic chart file by using a driving object to acquire an electronic chart data source, and then acquiring the number of chart layers and a current chart layer object in the data source; 3. circularly reading each feature element in the image layer, and then obtaining an attribute table of the feature elements; 4. acquiring attribute information of an attribute column OField, an attribute column name/data type and a characteristic element; 5. instantiating a geometric object in the characteristic element, and then acquiring spatial information containing latitude and longitude of the geometric object and a water depth value; 6. after all the feature elements in the current layer are read, repeating the steps to traverse all the layers of the electronic chart;
the process of transferring the electronic chart into ShapeFile comprises the following steps: 1. registering all drivers, and then creating a driving object of ESRI ShapeFile; 2. creating a data source DataSource, then establishing an ESRI ShapeFile coordinate system SRS, and setting the ESRI ShapeFile coordinate system as a geographic coordinate system; 3. creating a point/three-dimensional point/line/surface map layer, wherein the three-dimensional point map layer is used for storing attribute information and spatial information of a characteristic element, namely a water depth point in the electronic chart; 4. creating a characteristic element and a geometric element, and associating attribute information of the characteristic element with a geometric object; 5. repeating the steps to sequentially establish ESRI ShapeFile to store the information of the corresponding layer in the electronic chart, and finally realizing the transfer of all layers of the electronic chart;
s2, reconstructing the S-52 drawing instruction into an SVG primitive to create an electronic chart symbol library, and simultaneously designing a point, line and surface layer rendering and a water depth point layer labeling implementation method, wherein the transcribed ShapeFile file is rendered in a sub-image layer manner based on the symbol library;
the point diagram layer rendering process comprises the following steps: 1. acquiring a layer name and a geometric type; 2. judging whether the layer is a point diagram layer or not, and searching a corresponding symbol in a symbol library; 3. if the matched symbol exists, the corresponding SVG symbol is obtained, and if the matched symbol does not exist, the corresponding SVG symbol is not rendered; 4. creating a point symbol rendering style, deleting a default rendering style, adding a symbol in the point symbol rendering style, and acquiring a rendering rule through feature element attribute information in a layer; 5. if no special rendering rule exists, a single renderer is constructed, all the features in the layer are rendered in the renderer, the layer is refreshed, and symbolic rendering is achieved; 6. aiming at the layer needing to be marked or having a rendering rule, a rule renderer is constructed, the corresponding rendering rule is transmitted, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed;
the line graph layer rendering process comprises the following steps: 1. acquiring a layer name and a geometric type; 2. judging whether the graph layer is a line graph layer or not, and searching a corresponding symbol in a symbol library; 3. if no matched symbol exists, determining the rendering style of the line graph layer through the attribute information of the feature objects in the layer, and storing the specific information into a style dictionary; recording the rendering style of the offline layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, refreshing the layer and realizing simple rendering; 4. if the corresponding symbol exists, setting the SVG symbol rendered by the line graph layer, performing symbolic rendering and refreshing the layer; 5. if a rendering rule needs to be set, a regularized renderer is constructed, the rendering rule of the line layer is input, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed;
the surface layer rendering process is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the image layer is a surface image layer or not, searching a corresponding symbol in a symbol library, and if the matched symbol exists, acquiring a corresponding SVG symbol; 3. acquiring a layer rendering rule through feature element attribute information in the layer, if no rendering rule exists, constructing a single renderer, creating a surface layer rendering pattern, transmitting a corresponding SVG symbol, performing symbolic rendering on all features in the layer, and refreshing the layer; 4. if the rendering rule exists, a rule renderer is constructed, the feature elements in the layer are traversed, the layer is rendered regularly, and the layer is refreshed; 5. if no matched surface symbol exists, the layer is filled in a non-filling/single filling/multicolor filling mode, a renderer is built similarly, then a filling layer is built, filling patterns, filling colors, boundary line colors and patterns are set, and the corresponding patterns are transmitted to the renderer; 6. if the layer is not filled or is filled singly, constructing a single renderer to render all the features in the layer, and refreshing the layer; 7. if the color is filled in multiple colors, a rule renderer is constructed, a surface layer rendering rule is obtained and transmitted, the rule is traversed, and the feature elements of the matching rule are rendered according to the style in the renderer;
the rendering process of the water depth point diagram layer comprises the following steps: 1. obtaining the layer name, and judging whether the layer is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting the filling colors and the boundary lines of all the features of the water depth point map layer as non-filling and non-solid lines; 3. constructing a single renderer, rendering all the features of the water depth map layer in a style in the renderer, and refreshing the map layer; 4. creating a marker and a text container of the water depth point map layer, and setting a marked font style and a font color; 5. acquiring and setting a marking pattern of the water depth point image layer, and traversing all the features of the water depth point image layer for marking;
s3, transforming the geographical coordinate system of the electronic chart into a coordinate system which can be displayed on a computer screen through the Motto projection; the transformation method from longitude and latitude coordinates (X, Y) under the geographic coordinate system to coordinates (B, L) under the mercator coordinate system is as follows:
the transformation formula of the mercator projection coordinate is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 Is a reference longitude line, R 0 Radius as a reference latitude;
in the formula ,N0 The method represents the prime-unitary curvature radius on the earth sphere of a geographic coordinate system, and the calculation formula is as follows:
then, the inverse mercator projection transform is formulated as:
wherein ,
is a reference latitude line; c is the radius of the earth; e is the first eccentricity of the earth; EXP is the natural logarithmic base.
Further, the specific event point layer designing and loading module comprises specific event information acquisition, target object mark and attribute design and specific event point layer creation and symbolization display; the specific event information acquisition comprises specific event information occurring in a specific water area, and dynamic arrangement and updating are carried out; the target object mark and attribute design conforms to the IHO standard and meets the visualization of specific event information in the chart; the specific event point layer is created and symbolized to display, the place where the specific event of the specific water area occurs is matched with the latitude and longitude range of the electronic chart, and the specific event in the water area range of the chart is loaded and displayed on the chart.
Further, the method for matching the place where the specific event occurs with the latitude and longitude range of the electronic chart comprises the following steps:
s1, loading an electronic chart file, acquiring Geometry contained in a layer of the electronic chart file, and acquiring a coverage cover of the whole electronic chart by calling a Geometry function and a getEnvelope () function;
s2, loading a specific event point file, and initializing operation, namely traversing all the feature objects of the layer, and setting the value of the isshow attribute field of all the feature objects to be 0;
s3, traversing all the feature objects contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring a geometry corresponding to each feature object;
s4, acquiring the longitude and latitude of the geometric element through geometry.GetX () and geometry.GetY () functions, comparing the longitude and latitude with cover, and judging whether the longitude and latitude are in a longitude and latitude range;
s5, if the geometry is in the latitude and longitude range, setting the isshow field value of the feature as 1, otherwise, setting the isshow field value of the feature as 0;
and S6, setting a display rule function, and regularly rendering the specific event point layer to realize loading and displaying of the target object sign in the electronic chart coverage range.
Further, the environment modeling module searches layers which are useful for path planning from the restored ShapeFile file, including land areas and coastlines, and performs rasterization and gray processing on the layers, wherein the land areas are black non-navigable areas, and the water areas are gray navigable areas; then selecting a specific event point, randomly generating a virtual specific activity point by using Gaussian mixture distribution with the specific event point as a center, and representing the virtual specific activity point by using a convex polygon by using a convex hull algorithm so as to effectively predict an activity danger area and regard the activity danger area as an inaudible area; and (3) re-dividing the grid network into the electronic chart of the superimposed danger area to realize grid method environment modeling, simultaneously storing the boundary longitude and latitude information of the non-navigable area in the established environment model, and inputting the boundary longitude and latitude information into the IPRM algorithm module for route planning.
Further, the convex hull algorithm is a Graham Scan algorithm.
Further, the IPRM algorithm consists of an improved learning phase and an enhanced exploration phase;
in an improved learning stage, detecting the positions of sampling points in a rasterized environment information model, and if the sampling points fall in a navigable area, adding the sampling points into a ship non-directional navigation network diagram; if the sampling point is in the non-navigable area, generating a new sampling point by using a sampling point resetting function SPR to replace the sampling point in the non-navigable area; where SPR satisfies the following equation:
wherein x and y represent position coordinates, v represents the sampling point position of the non-navigable area, B represents a new sampling point position, and z represents a radius; taking the original sampling point as the center of a circle, and taking an appropriate radius z as a dotted line circle, wherein the sampling point on the dotted line circle, which belongs to the navigable area of the ship, replaces the sampling point in the non-navigable area;
in the enhanced exploration stage, a Dijkstra search algorithm is adopted to search out a shortest collision-free route from a non-directional ship chart, a D-P algorithm is adopted to extract key track points KTP in the route, the KTP are sequentially connected to form an initial optimized route so as to reduce the steering times in the navigation process of the ship, and an Euler spiral is used for fitting the smooth initial optimized route to obtain a designed route in a specific area;
the steps of obtaining the initial optimized route by using the D-P algorithm are as follows: 1. determining a threshold value according to navigation environment information of a specific area and the number of track points of an initial course
Connecting the starting point and the target point of the route to form a line segment L, wherein the line segment L is used as a chord of the initial route; 2. calculating the distances from all track points except the starting point and the destination point to the line segment L, acquiring the track point farthest away from the line segment L and judging whether the track point is the threshold value or not in the step 1>
Comparing; 3. if the distance is less than the threshold value>
Approximating the line segment as an optimized route; 4. if the distance is greater than the threshold value>
Bringing the track point into a KTP set, respectively connecting the track point with a starting point and a target point to obtain two new line segments, and repeating the steps to extract new KTP; 5. obtaining a KTP set, and sequentially connecting the KTPs to form an initial optimized route;
the method for initially optimizing the course using Euler spiral smoothing is as follows:
each obtained KTP coordinate is defined as Q (x) i ,y i ) (i =1,2, … …, k); dividing the route into k-1 sections, and simultaneously performing Euler spiral fitting on the mth section of the route; setting the coordinates of the key track points at two ends of the mth segment of the line as (x) m ,y m )、(x m+1 ,y m+1 ) Then they satisfy the following conditions:
in the formula ,sm Is the arc length of the mth segment of spiral; theta om 、k om Are respectively (x) m ,y m ) Tangent angle and curvature at the point; c. C m A parameter representing the sharpness of curvature; (x) m+1 ,y m+1 ) The end point of the mth segment of the Euler spiral and the starting point of the (m + 1) th segment; the following conditions should be satisfied among the parameters:
wherein ,θom+1 And k is om+1 Respectively representing the tangent angle and the curvature of the euler spiral of the (m + 1) th segment; theta m 、k m Respectively, the m-th Euler spiral is in (x) m+1 ,y m+1 ) Tangent angle and curvature at the point.
Further, the operation interface comprises a menu bar, a chart display area and a status bar; the menu bar is a control center of the whole platform, and the basic functions of the platform are realized through the menu bar; the chart display area comprises a chart layer list area and a layer display area, wherein all layers after the electronic chart is analyzed are displayed in the layer list area, and the layer display area is used for displaying charts, global specific information and designed routes; the status bar displays the longitude and latitude of the position of the mouse and the scale information of the chart.
Further, the functional module comprises a chart analysis display, a specific information query and a specific area route planning; the function module connects the electronic chart analyzing and displaying unit and the route planning unit with the platform architecture module, and realizes chart analyzing and displaying, specific information inquiry and specific area route planning through each trigger event in the menu bar.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the electronic chart display and application platform facing the specific area, provided by the invention, realizes that the specific event point is displayed on the chart according to the IHO standard, not only can the specific information in the navigation water area be inquired in real time, but also the safety course can be planned according to any origin and destination point.
2. Designing a method for analyzing, reading and transferring an electronic chart file based on a GDAL library, and storing all information contained in the method as a ShapeFile file in a layer form; and reconstructing the S-52 drawing instruction into an SVG primitive to create a chart symbol library, and finally designing a rendering and labeling method of a corresponding layer from a point, a line and a surface.
3. A target object meeting the IHO standard is designed, and meanwhile, a method for displaying specific event points in an electronic chart in a matching mode is designed, so that visual display of specific activity points is achieved.
4. An IPRM algorithm is designed, a sampling point resetting function is introduced to replace sampling points in an unviable area in a PRM algorithm improved learning stage, and the utilization rate of the sampling points is improved; and D-P algorithm and Euler spiral are added in the enhanced exploration stage to realize the optimization and smoothing of the line.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
FIG. 2 is a chart of processing layers of a chart environment modeling.
Fig. 3 is a diagram of randomly generating virtual special activity point effects.
FIG. 4 is a diagram of EA200001.000 being transferred to ShapeFile.
Fig. 5 is a flow chart of the conversion of the coordinate system of the electronic chart.
FIG. 6 is a design drawing of a target object symbol.
Fig. 7 is a flow chart of the IPRM algorithm.
Fig. 8 is a frame diagram of the entire platform.
FIG. 9 is a graph of results of loading EA200004.000 and a special event point diagram layer.
FIG. 10 is a comparison graph of the effect of planning routes by the IPRM algorithm and the PRM algorithm for a specific area.
FIG. 11 is a comparison graph of the specific region IPRM algorithm and PRM algorithm planned route results.
Fig. 12 is a view of a loading target object attribute table.
FIG. 13 is a diagram of the effect of planning routes in a specific area of a platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention discloses an electronic chart display and application platform facing a specific area, which comprises an electronic chart analyzing and displaying unit, a route planning unit and an electronic chart platform design unit. The electronic chart analysis and display unit comprises an S-57 file analysis and display module and a specific event point layer design and loading module, wherein the S-57 file analysis and display module can read any one S-57 file and display the S-57 file in a standardized manner according to an S-52 standard, and the specific event point layer design and loading module creates a specific event point layer according to a global specific event and displays the specific event point layer on the electronic chart in an overlaid manner. The route planning unit comprises an environment modeling module and an IPRM algorithm module, wherein the environment modeling module carries out rasterization gray processing on the electronic chart added with the specific event point layer, determines a navigable area and a non-navigable area, outputs navigation environment information to the IPRM algorithm module, and the IPRM algorithm module improves a PRM algorithm and plans a safe route in a specific area by combining the navigation environment information. The electronic chart platform design unit comprises a platform architecture module and a function module, the platform architecture module carries out overall design on the platform and determines an operation main interface, and the function module comprises analysis display of any S-57 file, global specific information display and query and specific regional route planning. The invention not only can realize the standardized display of the electronic chart, but also can dynamically display the specific event points on the chart, and further can inquire the specific information and design a safe air route in a specific area, thereby providing safety guarantee for the navigation of ships in the specific area.
The electronic chart display and application platform facing to the specific area of the embodiment of the invention, as shown in fig. 1, comprises an electronic chart analysis and display unit, a route planning unit and an electronic chart platform design unit.
The electronic chart analysis and display unit comprises an S-57 file analysis display module and a specific event point layer design and loading module, wherein the S-57 file analysis display module and the specific event point layer design and loading module respectively realize S-57 file standardized display in S-52 standard and symbolic display of specific event points on the chart, and output the electronic chart added with the specific event point layer to the course planning unit.
The S-57 file analysis display module can read and analyze the file with the suffix of 000, and then the file is transferred and stored as an ESRI ShapeFile file, standardized rendering is carried out by utilizing the built SVG format chart symbol library, and the geographic coordinate system is converted into a computer screen coordinate system according to the Mercator projection, so that standardized display of the chart is realized. The SVG format chart symbol library is converted into a language which can be identified by SVG graphic primitives through a symbol drawing instruction specified in an S-52 international display standard, and is reconstructed by referring to an electronic chart symbol library of Beijing Star science and technology company, wherein the symbol types can be divided into points, lines and surfaces.
The specific event point layer design and loading module comprises specific event information acquisition, target object mark symbols, attribute design and specific event point layer creation and symbolized display, wherein the specific event information acquisition comprises specific event information which occurs in 2000-2021 years in the world and can be dynamically sorted and updated; the target object sign and attribute design meets the IHO standard and meets the visualization of specific event information in the chart; the specific event point layer creation and symbolization display matches the global specific event occurrence place with the latitude and longitude range of the electronic chart, so that the specific event of the water area is loaded and displayed on the chart.
The route planning unit comprises an environment modeling module and an IPRM algorithm module, wherein the environment modeling module is used for carrying out rasterization gray processing on the electronic chart added with the specific event point layer, determining a navigable area and a non-navigable area and outputting navigation environment information to the IPRM algorithm module, and the IPRM algorithm module is used for improving a PRM algorithm and planning a safe route according to the navigation environment and input longitude and latitude information of origin-destination points.
As shown in fig. 2, the environment modeling module first retrieves the layers (such as land area (black non-navigable area) and coastline (lineca navigation area) useful for path planning from the restored sharefile, and performs rasterization and grayscale processing on the layers, where the land area is a black non-navigable area and the water area is a gray navigable area; as shown in fig. 3, a specific event point is selected, a random virtual specific activity point is generated by using gaussian mixture distribution with the specific event point as a center, and then the specific activity point is represented by a convex polygon by using a convex hull algorithm, so that an activity risk area is effectively predicted and regarded as an inaudible area; and (3) re-dividing the grid network for the electronic chart of the superimposed danger area, further realizing grid method environment modeling, simultaneously saving the boundary longitude and latitude information of the non-navigable area in the established environment model, and inputting the boundary longitude and latitude information into the IPRM algorithm module for carrying out route planning. Wherein the convex hull algorithm is a Graham Scan algorithm.
And the IPRM algorithm module designs a safe route according to the input origin-destination coordinates and the navigation environment information input by the environment modeling module, and compared with the traditional PRM algorithm, the route planned by the IPRM algorithm has fewer route points, is smoother and shorter in length.
The electronic chart platform design unit comprises a platform architecture module and a function module, wherein the platform architecture module is used for integrally designing a platform and determining an operation interface; after the platform architecture module event is triggered, the functional module can realize the analysis display, the dynamic update, the display and the query of global specific information and the specific regional route planning of any S-57 file.
The operation interface comprises a menu bar, a chart display area and a status bar; the menu bar is a control center of the whole platform, and a user can realize the basic functions of the platform through the menu bar; the chart display area comprises a chart list area and a layer display area, wherein all layers after the electronic chart is analyzed are displayed in the layer list area, and the layer display area is used for displaying charts, global specific information and designed routes; the status bar displays the longitude and latitude of the position of the mouse and the scale information of the chart.
The function module comprises three aspects of chart analysis display, specific information inquiry and route planning, the electronic chart analysis and display unit and the route planning unit are connected with the platform architecture module, and corresponding functions are realized through triggering events in a menu bar.
The method uses a Pycharm compiling platform to build a QGIS3.8.0 development environment, so as to realize calling of a GDAL library, each file format in the GDAL library has a corresponding drive class, wherein an ISO 8211Lib library is completely packaged in an S57Reader class, so that accurate analysis and data reading of an S-57 file can be realized; the platform architecture module is implemented using a PyQt5 or like library package.
The S-57 file analysis display module is specifically implemented as follows:
s1, designing a method for analyzing, reading and transferring an electronic chart file into a ShapeFile file based on GDAL.
The process of analyzing and reading the electronic chart comprises the following steps: 1. registering all drivers, and then creating a Driver for reading the electronic chart file; 2. opening an electronic chart file by using a driving object to obtain an electronic chart data source, and then obtaining the number of layers in the data source and a current Layer object Layer; 3. circularly reading each Feature element Feature in the layer, and then acquiring an attribute table featureDefn of the Feature elements; 4. acquiring attribute information of an attribute column OField, an attribute column name/data type and a characteristic element; 5. instantiating a geometric object Geometry in the Feature elements, then acquiring spatial information such as longitude and latitude, water depth value and the like of the geometric object, deleting Feature after acquiring all the information, and releasing a cache space; 6. and after all the feature elements in the current layer are read, repeating the steps to traverse all the layers of the electronic chart.
The process of transferring the electronic chart into ShapeFile comprises the following steps: 1. registering all drivers, and then creating a Driver of an ESRI ShapeFile; 2. creating a data source DataSource, then establishing an ESRI ShapeFile coordinate system SRS, and setting the ESRI ShapeFile coordinate system as a geographic coordinate system; 3. creating a point/three-dimensional point/line/surface Layer, wherein the three-dimensional point Layer is used for storing attribute information and spatial information of a characteristic element of a water depth point in the electronic chart; 4. creating a Feature element Feature and a Geometry element Geometry, and associating attribute information of the Feature element with a Geometry object; 5. and repeating the steps to sequentially establish ESRI ShapeFile to store the information of the corresponding layer in the electronic chart, and finally realizing the transfer of all the layers of the electronic chart. The unloading result is shown in fig. 4, where firstdsid.shp is a data description layer, multipoingsound.shp is a water depth point layer, and other prefixes are point \ line \ polygon and are respectively a point layer, a line layer, and a surface layer.
S2, reconstructing the S-52 drawing instruction into an SVG primitive to create an electronic chart symbol library, designing a realization method of point, line and surface layer rendering and water depth point layer labeling, and rendering the transferred ShapeFile file in a sub-image layer based on the symbol library. The S-52 drawing command is shown in Table 1.
TABLE 1S-52 DRAWING COMMAND TABLE
The flow of reconstructing the S-52 drawing instruction into the SVG primitive is as follows:
1. firstly, defining a brush color corresponding to an instruction SP in an SVG through a stop attribute; 2. then, converting the width W of the painting brush defined by the instruction SW into the width of the painting brush in the SVG, namely 0.32W, and defining through a stroke-width attribute in the SVG; 3. transparency is then set by stroke-opportunity in SVG. ST0/1/2/3 corresponds to stroke-opportunity =100%/75%/50%/25%, respectively; 4. coordinate information in the PU and the PD is instructed to be transmitted to x1, y1, x2, y2 or points attributes in the SVG, and straight lines/broken lines can be reconstructed in the SVG; 5. coordinate information in the instruction PU and AA is transmitted to a C attribute in the SVG path graphic primitive, and an arc can be reconstructed; 6. the center coordinates and the radius in the commands PU, PMO, CI, PM2 and FP are transmitted to the cx, cy and r attributes of the SVG circular graphic primitive, a circle can be reconstructed, and the filling color in the FP is transmitted to the fill attribute in the SVG; 7. coordinate information in instructions PU, PM0, PU/AA/PD, PM1, PU/AA/PD, PM2, EP and FP is transmitted to points attribute of SVG polygon primitive, a polygon can be reconstructed, and line width information and filling color information of EP and FP are respectively transmitted to stroke-width attribute and file attribute.
The point diagram layer rendering process comprises the following steps:
1. acquiring a layer name and a geometric type; 2. judging whether the layer is a point diagram layer or not, and searching a corresponding symbol in a symbol library; 3. if the matched symbol exists, acquiring a corresponding SVG symbol, and if the matched symbol does not exist, not rendering; 4. creating a point symbol rendering style, deleting a default rendering style, adding symbols in the point symbol rendering style, and acquiring a rendering rule through feature element attribute information in a layer; 5. if no special rendering rule exists, a single renderer is constructed, all the features in the layer are rendered in the renderer, the layer is refreshed, and symbolic rendering is achieved; 6. and aiming at the layer needing to be marked or having the rendering rule, a rule renderer is constructed, the corresponding rendering rule is transmitted, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed.
The line graph layer rendering process comprises the following steps:
1. acquiring a layer name and a geometric type; 2. judging whether the graph layer is a line graph layer or not, and searching a corresponding symbol in a symbol library; 3. if no matched symbol exists, determining the rendering style of the line graph layer through the attribute information of the feature objects in the layer, and storing the specific information into a style dictionary; recording the rendering style of the offline layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, refreshing the layer, and realizing simple rendering; 4. if the corresponding symbol exists, setting the SVG symbol rendered by the line graph layer, performing symbolic rendering and refreshing the layer; 5. and if a rendering rule needs to be set, a regularized renderer is constructed, the rendering rule of the line layer is input, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed.
The surface layer rendering process comprises the following steps:
1. acquiring a layer name and a geometric type; 2. judging whether the image layer is a surface image layer or not, searching a corresponding symbol in a symbol library, and if the matched symbol exists, acquiring a corresponding SVG symbol; 3. obtaining a layer rendering rule through feature element attribute information in a layer, if no rendering rule exists, constructing a single renderer, creating a surface layer rendering pattern, transmitting a corresponding SVG symbol, performing symbolic rendering on all features in the layer, and refreshing the layer; 4. if the rendering rule exists, a rule renderer is constructed, the feature elements in the layer are traversed, the layer is rendered regularly, and the layer is refreshed; 5. if no matched surface symbol exists, the layer is filled in a non-filling/single filling/multicolor filling mode, a renderer is built similarly, then a filling layer is built, filling patterns, filling colors, boundary line colors and patterns are set, and the corresponding patterns are transmitted to the renderer; 6. if the image layer is not filled or is filled singly, constructing a single renderer to render all the features in the image layer, and refreshing the image layer; 7. if the color is filled in the multicolor mode, a rule renderer is built, a surface layer rendering rule is obtained and transmitted, the rule is traversed, and the feature elements of the matching rule are rendered according to the style in the renderer.
The rendering process of the water depth point diagram layer comprises the following steps:
1. obtaining the layer name, and judging whether the layer is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting the filling colors and the boundary lines of all the features of the water depth point map layer as non-filling and non-solid lines; 3. constructing a single renderer, rendering all the features of the water depth map layer in a rendering mode in the renderer, and refreshing the map layer; 4. creating a marker and a text container of the water depth point map layer, and setting a marked font style and a font color; 5. and acquiring and setting a marking pattern of the water depth point image layer, and traversing all the features of the water depth point image layer for marking.
And S3, as shown in FIG. 5, transforming the geographical coordinate system of the electronic chart WGS84 into a coordinate system which can be displayed on a computer screen through Mount-Mount projection.
The transformation formula from longitude and latitude coordinates (X, Y) under the geographic coordinate system to coordinates (B, L) under the mercator coordinate system is as follows:
the transformation formula of the mercator projection coordinate is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 Is a reference longitude line, R 0 Radius as a reference latitude;
in the formula ,N0 Representing the Mao-unitary curvature radius on the earth spherical surface of a geographic coordinate system;
the mercator projection inverse transformation formula is:
wherein ,
is a reference latitude line; c is the earth radius (about 6378137 meters); e is the first eccentricity of the earth (about 0.08189); EXP is the natural logarithmic base. The present invention performs the transformation calculation of the mercator coordinates with the present initial meridian as a reference longitude line and the equator as a reference latitude line.
The target object mark and the attribute are designed as follows:
as shown in fig. 6, in order to more visually reflect a specific event point on the chart, a target object symbol is created according to the SVG symbol construction method. The target object mark is divided into an upper part and a lower part, wherein the upper part is a sail, and a specific event mark is arranged on the sail; the lower part is a hull part, and a code of a target object is written on the hull.
The method uses a combination of 6 capital English letter characters and numbers to represent object names and attribute codes thereof according to the specification of the S-57 international standard, and each object has three attribute sets of A, B, C. Wherein A is used for storing the characteristic information of the object, B is used for storing the related information of the application and display of the object, and C is used for storing the description and management information of the object. In order to more comprehensively record the relevant information of specific activities, some specific special subject target attributes are added in addition to the target attributes specified by the S-57 international standard. The newly added object attribute codes adopt the combination of 6 small-written English letters, characters and numbers, and the newly added object codes adopt 5-bit codes beginning with the number 60 according to the code range of IHO non-standard object and attribute (16388-65534), so as to distinguish the newly added object codes from the original object attributes in the S-57 international standard. The designed target object property is shown in table 2.
TABLE 2 target object Attribute Table
The method for matching and displaying the specific event points and the latitude and longitude ranges of the electronic chart comprises the following steps:
s1, loading an electronic chart file, acquiring Geometry contained in an M _ COVR layer, and acquiring a coverage cover of the whole electronic chart by calling a Geometry function and a getEnvelope () function;
s2, loading a specific event point file, and initializing operation, namely traversing all the feature objects of the layer, and setting the value of the isshow attribute field of all the feature objects to be 0;
s3, traversing all the feature objects contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring a geometry corresponding to each feature object;
s4, acquiring the longitude and latitude of the geometric element through geometry.GetX () and geometry.GetY () functions, and comparing the longitude and latitude with cover to see whether the longitude and latitude are within the range;
s5, if the geometry is in the latitude and longitude range, setting the isshow field value of the feature as 1, otherwise, setting the isshow field value of the feature as 0;
and S6, setting a display rule function rules = ('rule 1', 'isshow =1', 'SVG target symbol'), regularly rendering the specific event point layer, and loading the display target object symbol in the coverage range of the electronic chart.
The gaussian mixture distribution model is:
wherein p (x) is an expression of mixed Gaussian distribution, pi k For the kth single Gaussian distributed parameter, the constraint condition is pi k ≥0,∑π k ＝1；N(x|μ k ,Σ k ) As a single Gaussian distribution density function, mu k Is an average value, ∑ k Is the standard deviation, σ k Is the variance.
As shown in fig. 7, the IPRM algorithm consists of an improved learning phase and an enhanced exploration phase,
detecting the positions of sampling points in the rasterized environment information model in an improved learning stage, and adding the sampling points into a ship non-directional navigation network diagram if the sampling points fall in a navigable area; if the sampling Point falls into the non-navigable area, a new sampling Point is generated by using a sampling Point Reset function (SPR) to replace the sampling Point in the non-navigable area, so that the utilization rate of the sampling Point in the improved learning phase is improved.
Where SPR satisfies the following equation:
where v represents the sample point location of the non-navigable area, B represents the new sample point location, and z represents the radius. And taking the original sampling point as the center of a circle and taking an appropriate radius z as a dotted line circle, wherein each sampling point on the dotted line circle, which belongs to the navigable area of the ship, can replace the sampling point in the non-navigable area.
In the enhanced exploration stage, a Dijkstra search algorithm is adopted to search out a shortest and collision-free route from a non-directional ship route map, a Douglas-Peukcer (D-P) algorithm is adopted to extract Key Track Points (KTPs) in the route, the KTPs are sequentially connected to form an initial optimized route so as to reduce the steering times of the ship in the navigation process, and Euler spirals are used to fit the smooth initial optimized route to obtain a specific area design route.
The basic steps for obtaining the initial optimized route by using the D-P algorithm are as follows:
1. determining a threshold value according to navigation environment information of a specific area and the number of track points of an initial course
Connecting the starting point and the target point of the route to form a line segment L, wherein the line segment L is used as a chord of the initial route; 2. calculating the distances from all track points except the starting point and the destination point to the line segment L, acquiring the track point farthest away from the line segment L and judging whether the track point is the threshold value or not in the step 1>
Comparing; 3. if the distance is less than the threshold value>
Approximating the line segment as an optimized course; 4. if the distance is greater than the threshold value>
Bringing the track point into a KTP set, respectively connecting the track point with a starting point and a target point to obtain two new line segments, and repeating the steps to extract new KTP; 5. and obtaining a KTP set, and sequentially connecting the KTPs to form an initial optimized route.
The method for initially optimizing the course using Euler spiral smoothing is as follows:
let each obtained KTP coordinate be Q (x) i ,y i ) (i =1,2, ·, k); dividing the route into k-1 sections, and simultaneously performing Euler spiral fitting on the mth section of the route; setting the coordinates of the key track points at two ends of the mth segment of the line as (x) m ,y m )、(x m+1 ,y m+1 ) They then satisfy the following condition:
in the formula sm Is the m-th sectionThe arc length of the spiral; theta om 、k om Are respectively (x) m ,y m ) Tangent angle and curvature at the point; c. C m A parameter representing the sharpness of curvature; (x) m+1 ,y m+1 ) The end point of the mth segment of the Euler spiral and the start point of the (m + 1) th segment. The following conditions should be satisfied among the parameters:
wherein θom+1 And k is om+1 Respectively representing the tangent angle and the curvature of the euler spiral of the (m + 1) th segment; theta m 、k m Respectively at the m-th Euler spiral at (x) m+1 ,y m+1 ) The tangent angle and curvature at the point, i.e. the tangent angle and curvature at the point of attachment of the euler spiral, are invariant.
FIG. 8 is a general framework diagram of the platform of the present invention.
Simulation experiment:
in order to verify the effectiveness of the invention, as shown in fig. 9, an S-57 file EA200004.000 is used as a simulation object, and the platform provided by the invention is used for loading and displaying, and simultaneously, a specific event point layer is loaded and displayed.
As shown in FIG. 10 and FIG. 11, the IPRM algorithm provided by the present invention is used to design a route with fewer route points and shorter length than the route planned by the conventional PRM algorithm. As shown in fig. 12, after the global event point-specific layer is loaded, the attribute table may display the attribute information of all the target objects. As shown in FIG. 13, in the platform main interface provided by the present invention, a route plan in a menu bar is selected, random origin-destination coordinates are respectively (45.0647E, 12.7134N) and (45.9056E, 12.2612N) and a "confirm" button is used as a trigger event, and a route is designed as shown in the figure.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (10)
1. An electronic chart display and application platform facing to a specific area, comprising: the electronic chart analysis and display unit, the air route planning unit and the electronic chart platform design unit;
the electronic chart analyzing and displaying unit comprises an S-57 file analyzing and displaying module and a specific event point layer designing and loading module; the S-57 file analysis display module and the specific event point layer design and loading module respectively realize standardized display of the S-57 file in an S-52 standard and symbolic display of specific event points on the chart; adding an electronic chart of a specific event point layer and outputting the electronic chart to a route planning unit;
the route planning unit comprises an environment modeling module and an IPRM algorithm module; the environment modeling module performs rasterization gray processing on the electronic chart added with the specific event point layer, determines a navigable area and an unviable area, and outputs navigation environment information to the IPRM algorithm module; an IPRM algorithm module plans a safe air route according to the navigation environment and the input longitude and latitude information of the origin-destination point;
the electronic chart platform design unit comprises a platform architecture module and a functional module; the platform architecture module carries out integral design on a platform and determines an operation interface; and after the platform architecture module event is triggered, the functional module realizes the analysis display, the dynamic update of global specific information, the display and the query of any S-57 file and the planning of a specific regional air route.
2. The specific-area-oriented electronic chart display and application platform as claimed in claim 1, wherein the S-57 document parsing and display module is used for reading and parsing a document with a suffix of.000, and transferring the document into an ESRI ShapeFile document, performing standardized rendering by using a built SVG format chart symbol library, and converting a geographical coordinate system into a computer screen coordinate system according to mercator projection to realize standardized display of a chart; the symbol types of the SVG format chart symbol library are divided into points, lines and planes.
3. The specific-area-oriented electronic chart display and application platform as claimed in claim 2, wherein the S-57 file parsing display specifically comprises the following steps:
s1, analyzing, reading and transferring an electronic chart file into a ShapeFile file based on a GDAL library;
the process of analyzing and reading the electronic chart comprises the following steps: 1. registering all drivers, and then creating a driving object for reading the electronic chart file; 2. opening an electronic chart file by using a driving object to acquire an electronic chart data source, and then acquiring the number of chart layers and a current chart layer object in the data source; 3. circularly reading each feature element in the image layer, and then obtaining an attribute table of the feature elements; 4. acquiring attribute information of an attribute column OField, an attribute column name/data type and a characteristic element; 5. instantiating a geometric object in the characteristic element, and then acquiring spatial information containing longitude and latitude and water depth values of the geometric object; 6. after all the feature elements in the current layer are read, repeating the steps to traverse all the layers of the electronic chart;
the process of transferring the electronic chart into ShapeFile comprises the following steps: 1. registering all drivers, and then creating a driving object of the ESRI ShapeFile; 2. creating a data source DataSource, then establishing an ESRI ShapeFile coordinate system SRS, and setting the ESRI ShapeFile coordinate system as a geographic coordinate system; 3. creating a point/three-dimensional point/line/surface image layer, wherein the three-dimensional point image layer is used for storing attribute information and spatial information of a characteristic element of a water depth point in the electronic chart; 4. creating a characteristic element and a geometric element, and associating attribute information of the characteristic element with a geometric object; 5. repeating the steps to sequentially establish ESRI ShapeFile to store the information of the corresponding layer in the electronic chart, and finally realizing the transfer of all layers of the electronic chart;
s2, reconstructing the S-52 drawing instruction into an SVG primitive to create an electronic chart symbol library, and simultaneously designing a point, line and surface layer rendering and a water depth point layer labeling implementation method, wherein the transcribed ShapeFile file is rendered in a sub-image layer manner based on the symbol library;
the dot diagram layer rendering process comprises the following steps: 1. acquiring a layer name and a geometric type; 2. judging whether the layer is a point diagram layer or not, and searching a corresponding symbol in a symbol library; 3. if the matched symbol exists, acquiring a corresponding SVG symbol, and if the matched symbol does not exist, not rendering; 4. creating a point symbol rendering style, deleting a default rendering style, adding a symbol in the point symbol rendering style, and acquiring a rendering rule through feature element attribute information in a layer; 5. if no special rendering rule exists, a single renderer is constructed, all the features in the layer are rendered in the renderer, the layer is refreshed, and symbolic rendering is achieved; 6. aiming at the layer needing to be marked or having a rendering rule, a rule renderer is constructed, the corresponding rendering rule is transmitted, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed;
the line graph layer rendering process comprises the following steps: 1. acquiring a layer name and a geometric type; 2. judging whether the graph layer is a line graph layer or not, and searching a corresponding symbol in a symbol library; 3. if no matched symbol exists, determining the rendering style of the line graph layer through the attribute information of the feature objects in the layer, and storing the specific information into a style dictionary; recording the rendering style of the offline layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, refreshing the layer and realizing simple rendering; 4. if the corresponding symbol exists, setting the SVG symbol rendered by the line graph layer, performing symbolic rendering and refreshing the layer; 5. if a rendering rule needs to be set, a regularized renderer is constructed, the rendering rule of the line layer is input, the rule is traversed, the feature elements of the matching rule are rendered, and the layer is refreshed;
the surface layer rendering process is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the image layer is a surface image layer or not, searching a corresponding symbol in a symbol library, and if the matched symbol exists, acquiring a corresponding SVG symbol; 3. obtaining a layer rendering rule through feature element attribute information in a layer, if no rendering rule exists, constructing a single renderer, creating a surface layer rendering pattern, transmitting a corresponding SVG symbol, performing symbolic rendering on all features in the layer, and refreshing the layer; 4. if the rendering rule exists, a rule renderer is constructed, the feature elements in the layer are traversed, the layer is rendered regularly, and the layer is refreshed; 5. if no matched surface symbol exists, the layer is filled in a non-filling/single filling/multicolor filling mode, a renderer is built similarly, then a filling layer is built, filling patterns, filling colors, boundary line colors and patterns are set, and the corresponding patterns are transmitted to the renderer; 6. if the layer is not filled or is filled singly, constructing a single renderer to render all the features in the layer, and refreshing the layer; 7. if the color is filled in multiple colors, a rule renderer is constructed, a surface layer rendering rule is obtained and transmitted, the rule is traversed, and the feature elements of the matching rule are rendered according to the style in the renderer;
the rendering process of the water depth point diagram layer comprises the following steps: 1. obtaining the layer name, and judging whether the layer is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting the filling colors and the boundary lines of all the features of the water depth point map layer as non-filling and non-solid lines; 3. constructing a single renderer, rendering all the features of the water depth map layer in a style in the renderer, and refreshing the map layer; 4. creating a marker and a text container of the water depth point map layer, and setting a marked font style and font color; 5. acquiring and setting a marking pattern of the water depth point image layer, and traversing all the features of the water depth point image layer for marking;
s3, transforming the geographical coordinate system of the electronic chart into a coordinate system which can be displayed on a computer screen through the Motto projection; the transformation method from longitude and latitude coordinates (X, Y) under the geographic coordinate system to coordinates (B, L) under the mercator coordinate system is as follows:
the transformation formula of the mercator projection coordinate is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 As a reference longitude line, R 0 Radius as a reference latitude;
in the formula ,N0 The method represents the prime-unitary curvature radius on the earth sphere of a geographic coordinate system, and the calculation formula is as follows:
then, the inverse mercator projection transform is formulated as:
wherein ,
is a reference latitude line; c is the radius of the earth; e is the first eccentricity of the earth; EXP is the natural logarithmic base.
4. The area-specific electronic chart display and application platform according to claim 2, wherein the event point-specific layer design and loading module comprises event point-specific information acquisition, target object notation and attribute design, and event point-specific layer creation and symbolization display; the specific event information acquisition comprises specific event information generated in a specific water area, and dynamic sorting and updating are carried out; the target object mark and attribute design conforms to the IHO standard and meets the visualization of specific event information in the chart; the specific event point layer is created and symbolized to display, the place where the specific event of the specific water area occurs is matched with the latitude and longitude range of the electronic chart, and the specific event in the water area range of the chart is loaded and displayed on the chart.
5. The specific-area-oriented electronic chart display and application platform as claimed in claim 4, wherein the matching method of the place where the specific event occurs and the latitude and longitude range of the electronic chart is as follows:
s1, loading an electronic chart file, acquiring Geometry contained in a layer of the electronic chart file, and acquiring a coverage cover of the whole electronic chart by calling a Geometry function and a getEnvelope () function;
s2, loading a specific event point file, and initializing operation, namely traversing all the features of the layer, and setting the isshow attribute field values of all the features to be 0;
s3, traversing all the feature objects contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring a geometry corresponding to each feature object;
s4, acquiring the longitude and latitude of the geometric element through geometry.GetX () and geometry.GetY () functions, comparing the longitude and latitude with cover, and judging whether the longitude and latitude are in a longitude and latitude range;
s5, if the geometry is in the latitude and longitude range, setting the value of the isshow field of the feature object as 1, otherwise, setting the value of the isshow field of the feature object as 0;
and S6, setting a display rule function, and regularly rendering the specific event point layer to realize loading and displaying of the target object sign in the electronic chart coverage range.
6. The specific-area-oriented electronic chart display and application platform as claimed in claim 4, wherein the environment modeling module first retrieves the layers useful for path planning from the restored ShapeFile file, including the land area and the coastline, and performs rasterization and grayscale processing on the layers, wherein the land area is a black non-navigable area, and the water area is a gray navigable area; then selecting a specific event point, randomly generating a virtual specific activity point by using Gaussian mixture distribution with the specific event point as a center, and representing the virtual specific activity point by using a convex polygon by using a convex hull algorithm so as to effectively predict an activity danger area and regard the activity danger area as an inaudible area; and (3) re-dividing the grid network for the electronic chart of the superimposed danger area to realize grid method environment modeling, simultaneously storing the boundary longitude and latitude information of the non-navigable area in the established environment model, and inputting the boundary longitude and latitude information into the IPRM algorithm module to carry out route planning.
7. The area-specific electronic chart display and application platform according to claim 6, wherein the convex hull algorithm is Graham Scan algorithm.
8. The area-specific electronic chart display and application platform according to claim 6, wherein the IPRM algorithm consists of an improved learning phase and an enhanced exploration phase;
in an improved learning stage, detecting the positions of sampling points in a rasterized environment information model, and if the sampling points fall in a navigable area, adding the sampling points into a ship non-directional navigation network diagram; if the sampling points fall into the non-navigable area, generating new sampling points by using a sampling point resetting function SPR to replace the sampling points in the non-navigable area; where SPR satisfies the following equation:
wherein x and y represent position coordinates, v represents the sampling point position of the non-navigable area, B represents a new sampling point position, and z represents a radius; taking the original sampling point as the center of a circle, and taking an appropriate radius z as a dotted line circle, wherein the sampling point on the dotted line circle, which belongs to the navigable area of the ship, replaces the sampling point in the non-navigable area;
in the enhanced exploration stage, a Dijkstra search algorithm is adopted to search out a shortest and collision-free route from a non-directional ship chart, a D-P algorithm is adopted to extract key route points KTP in the route, the KTP are sequentially connected to form an initial optimized route so as to reduce the steering times in the ship navigation process, and then Euler spiral is used to fit the smooth initial optimized route to obtain a specific area designed route;
the steps of obtaining the initial optimized route by using the D-P algorithm are as follows: 1. determining a threshold value according to navigation environment information of a specific area and the number of track points of an initial route
Connecting the starting point and the target point of the route to form a line segment L, wherein the line segment L is used as a chord of the initial route; 2. calculating the distances from all track points except the starting point and the destination point to the line segment L, acquiring the track point which is farthest away from the line segment L and comparing the track point with the threshold value in the step 1>
Comparing; 3. if the distance is less than the threshold value>
Approximating the line segment as an optimized route; 4. if the distance is greater than the threshold value>
Bringing the track point into a KTP set, respectively connecting the track point with a starting point and a target point to obtain two new line segments, and repeating the steps to extract new KTP; 5. obtaining a KTP set, and sequentially connecting the KTPs to form an initial optimized route;
the method of initially optimizing the course using Euler spiral smoothing is as follows:
let each obtained KTP coordinate be Q (x) i ,y i ) (i =1,2, … · k); dividing the route into k-1 sections, and simultaneously performing Euler spiral fitting on the mth section of the route; setting the coordinates of the key track points at two ends of the mth segment of the line as (x) m ,y m )、(x m+1 ,y m+1 ) Then they satisfy the following conditions:
in the formula ,sm Is the arc length of the mth segment of spiral; theta om 、k om Are respectively (x) m ,y m ) Tangent angle and curvature at the point; c. C m A parameter representing the sharpness of curvature; (x) m+1 ,y m+1 ) The end point of the mth segment of the Euler spiral and the starting point of the (m + 1) th segment; the following conditions should be satisfied among the parameters:
wherein ,θom+1 And k is om+1 Respectively representing the tangent angle and the curvature of the euler spiral of the (m + 1) th segment; theta m 、k m Respectively, the m-th Euler spiral is in (x) m+1 ,y m+1 ) Tangent angle and curvature at the point.
9. The region-specific electronic chart display and application platform according to claim 6, wherein the operation interface comprises a menu bar, a chart display area and a status bar; the menu bar is a control center of the whole platform, and the basic functions of the platform are realized through the menu bar; the chart display area comprises a chart list area and a layer display area, wherein all layers after the electronic chart is analyzed are displayed in the layer list area, and the layer display area is used for displaying charts, global specific information and designed routes; the status bar displays the longitude and latitude of the position of the mouse and the scale information of the chart.
10. The area-specific electronic chart display and application platform according to claim 9, wherein the function modules comprise chart parsing display, specific information query and area-specific route planning; the function module connects the electronic chart analysis and display unit and the route planning unit with the platform architecture module, and realizes corresponding functions through each trigger event in the menu bar.
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| CN116721178B (en) * | 2023-05-04 | 2024-03-19 | 中远海运散货运输有限公司 | Chart selection method for polygon area crossing east-west warp 180 degrees |
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