CN115983512B - Specific area-oriented electronic chart display and application platform - Google Patents
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Abstract
The invention discloses an electronic chart display and application platform for 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 analysis and display unit comprises an S-57 file analysis display module and a specific event point layer design 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 non-navigable area and outputs navigation environment information to the IPRM algorithm module; the IPRM algorithm module plans a safety route according to the navigation environment and the input origin-destination longitude and latitude information; 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 specific event points on the chart, and can also inquire specific information and design a safety route in a specific area, thereby providing safety guarantee for ship navigation 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 oriented to a specific area.
Background
Waterway transportation using ships as carriers plays an important role in social and economic development. However, specific events in specific areas frequently occur every year, and the navigation safety of ships is seriously affected. At present, an electronic chart system for carrying out the work of a navigation planning main body does not take the specific areas into consideration, can not provide specific information for navigation ships, and is difficult to effectively ensure that the ships safely drive through the specific areas. The specific area specific information real-time inquiry and route planning technology based on the electronic chart is one of key technologies for realizing the safe navigation of ships.
M.h. overtars et al (Bratton B and Pannell G, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," Journal of Open Humanities Data) propose a probabilistic roadmapping algorithm (Probabilistic Roadmap Method, PRM) that uses a random sampling method to build a path network map in the environment, transform continuous space into discrete space, and then plan paths on the path network map. However, the result of designing a ship route by using the algorithm depends on the number and the utilization rate of 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 specific area-oriented electronic chart display and application platform which can analyze and read any electronic chart file, can display the global specific event point and the longitude and latitude range of the electronic chart in a matching way, realizes the inquiry of specific information, and autonomously plans a safety route according to the ship origin-destination coordinates so as to obviously improve the navigation safety of the ship in the specific area.
The technical scheme adopted by the invention is as follows:
an electronic chart display and application platform for a specific area, comprising: the system 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; the S-57 file analysis display module and the specific event point layer design and loading module respectively realize the S-57 file standardized display by S-52 standard and the symbolized display of the specific event point on the chart; the electronic chart added with the specific event point layer is output to the route planning unit;
the route planning unit comprises an environment modeling module and an IPRM algorithm module; the environment modeling module performs gridding gray scale processing on the electronic chart added with the specific event point layer, determines a navigable area and an non-navigable area, and outputs navigation environment information to the IPRM algorithm module; the IPRM algorithm module plans a safety route according to the navigation environment and the input origin-destination longitude and latitude information;
The electronic chart platform design unit comprises a platform architecture module and a functional module; the platform architecture module carries out overall design on the platform and determines an operation interface; after the platform architecture module event is triggered, the functional module realizes analysis display, global specific information dynamic update, display and query and specific area route planning of any S-57 file.
Further, the S-57 file analysis display module is used for reading and analyzing files with suffix of.000, and converting the files into ESRI shape files, carrying out standardized rendering by utilizing the constructed SVG format chart symbol library, and converting a geographic coordinate system into a computer screen coordinate system according to the ink-card projection so as to realize standardized display of charts; the symbol types of the SVG format chart symbol library are divided into points, lines and faces.
Further, the S-57 file analysis display specifically comprises the following steps:
s1, analyzing, reading and transferring an electronic chart file into a shape file based on a GDAL library;
the electronic chart analysis and reading flow is as follows: 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 obtain an electronic chart data source DataSource, and then obtaining the number of layers and the current layer object in the data source; 3. each characteristic element in the layer is circularly read, and then an attribute table of the characteristic element is obtained; 4. acquiring attribute column OFfield and attribute column name/data type and attribute information of feature elements; 5. instantiating a geometric object in the feature element, and then acquiring spatial information containing longitude and latitude and water depth values of the geometric object; 6. repeating the steps to traverse all layers of the electronic chart after all the characteristic elements in the current layer are read;
The flow of transferring the electronic chart into shape comprises the following steps: 1. registering all drivers, and then creating a driver object of ESRI shape; 2. creating a data source DataSource, then creating a coordinate system SRS of ESRI shape, and setting the coordinate system of ESRI shape 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 space information of a characteristic element, namely a water depth point, in the electronic sea chart; 4. creating feature elements and geometric elements, and associating attribute information of the feature elements with the geometric objects; 5. repeating the steps to sequentially establish the ESRI shape storing information of the corresponding layers in the electronic chart, and finally realizing the transfer of all layers of the electronic chart;
s2, reconstructing the S-52 drawing instruction into SVG primitives to create an electronic chart symbol library, and simultaneously designing point, line and surface layer rendering and a method for realizing water depth point layer annotation, wherein the method is based on the symbol library to perform layer rendering on the restored Shapefile;
the dot pattern layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the dot pattern layer is a dot pattern layer or not, and searching corresponding symbols in a symbol library; 3. if the matched symbol exists, a corresponding SVG symbol is obtained, and if the matched symbol does not exist, rendering is not performed; 4. creating a point symbol rendering pattern, deleting a default rendering pattern, adding a symbol in the point symbol rendering pattern, and acquiring a rendering rule through attribute information of characteristic elements 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 manner of the renderer, and the layer is refreshed to realize symbolized rendering; 6. aiming at a layer needing marking or having rendering rules, a rule renderer is constructed, the corresponding rendering rules are transmitted, the rules are traversed, the characteristic elements of the matching rules are rendered, and the layer is refreshed;
The line drawing layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the line drawing layer is a line drawing layer or not, and searching a corresponding symbol in a symbol library; 3. if the symbol is not matched, determining a rendering style of the line drawing layer through attribute information of the feature in the line drawing layer, and storing specific information into a style dictionary; recording the rendering style of the line drawing layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, and refreshing the layer to realize simple rendering; 4. if the corresponding symbol exists, setting an SVG symbol rendered by the line drawing layer, performing symbolized rendering and refreshing the line drawing layer; 5. if the rendering rule needs to be set, a regular renderer is constructed, the rendering rule of the line drawing layer is transmitted, the rule is traversed, the characteristic elements of the matching rule are rendered, and the line drawing layer is refreshed;
the surface layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the image is a surface layer or not, searching corresponding symbols in a symbol library, and if the matched symbols exist, acquiring corresponding SVG symbols; 3. acquiring a layer rendering rule through attribute information of feature elements in the layer, if the layer rendering rule is not available, constructing a single renderer, creating a surface layer rendering pattern, transmitting corresponding SVG symbols, symbolizing all feature objects in the layer, and refreshing the layer; 4. if the rendering rules exist, a rule renderer is constructed, the characteristic elements in the layer are traversed, the layer is regularly rendered, and the layer is refreshed; 5. if no matched face symbol exists, the layer is filled in a single filling mode or in a multicolor filling mode, a renderer is built, 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 no filling or single filling is carried out, a single renderer is constructed to render all the features in the layer, and the layer is refreshed; 7. if the color is filled, a rule renderer is constructed, a surface layer rendering rule is acquired and transmitted, the rule is traversed, and characteristic elements of the matching rule are rendered in a style in the renderer;
The rendering flow of the water depth point map layer is as follows: 1. acquiring a layer name, and judging whether the layer name is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting filling colors and boundary lines of all features of the water depth point map layer to be non-filling and non-solid; 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 annotator and a text container of the water depth point diagram layer, and setting the annotated font style and font color; 5. acquiring and setting a labeling pattern of a water depth point map layer, and traversing all the features of the water depth point map layer for labeling;
s3, converting the geographical coordinate system of the electronic chart into a coordinate system which can be displayed on a computer screen through the ink Katuo projection; the method for transforming longitude and latitude coordinates (X, Y) in a geographic coordinate system into coordinates (B, L) in an ink card support coordinate system is as follows:
the conversion formula of the mercator projection coordinates is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 As a datum longitude line, R 0 Radius of the reference latitude;
in the formula ,N0 The calculation formula of the unitary mortise curvature radius on the spherical surface of the earth of the geographic coordinate system is as follows:
then, the ink-card-holder projection inverse transformation formula is:
wherein ,is a reference latitude line; c is the earth radius; e is the first eccentricity of the earth; EXP is the natural logarithmic base.
Further, the specific event point layer design and loading module comprises specific event information acquisition, target object mark symbol 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 symbol and attribute design accords with IHO standard, and the visualization of specific event information in the chart is satisfied; the specific event point layer is created and symbolized to match the place where the specific event occurs in the specific water area with the latitude and longitude range of the electronic chart, so that the specific event in the chart water area is loaded and displayed on the chart.
Further, the matching method of the longitude and latitude range of the place where the specific event occurs and the electronic chart is as follows:
s1, loading an electronic chart file, acquiring a geometric element Geometry contained in a chart layer of the electronic chart file, and acquiring a coverage area cover of the whole electronic chart by calling a geometric.
S2, loading a specific event point file, initializing operation, namely traversing all feature objects of the layer, and setting the isshow attribute field value of all feature objects to 0;
s3, traversing all the features contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring geometric elements corresponding to each feature;
S4, acquiring the longitude and latitude of the geometric element through a geometric GetX () function and a geometric GetY () function, comparing the longitude and latitude with a cover, and judging whether the longitude and latitude are within the 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 as 0;
s6, setting a display rule function, regularly rendering a specific event point diagram layer, and loading and displaying target object mark symbols in the coverage area of the electronic chart.
Further, the environment modeling module firstly retrieves layers which are useful for path planning from the restored shape file, wherein the layers comprise land areas and coastlines, and the layers are subjected to rasterization and gray processing, the land 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 dangerous area and consider the activity dangerous area as an unpilotable area; and re-dividing the electronic chart of the superimposed dangerous area into grid networks to realize the grid method environment modeling, and simultaneously storing the longitude and latitude information of the boundary of the non-navigable area in the established environment model, and inputting the information into the IPRM algorithm module to carry out 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 the improved learning stage, detecting the position of a sampling point in the rasterized environment information model, and if the sampling point falls in the navigable area, adding the sampling point into a ship undirected route network diagram; if the sampling point falls in 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; wherein SPR satisfies the following equation:
wherein x and y represent position coordinates, v represents the position of a sampling point of the non-navigable area, B represents the position of a new sampling point, and z represents a radius; taking the original sampling point as a circle center and taking an appropriate radius z as a dotted line circle, and replacing the sampling point in the non-navigable area with the sampling point belonging to the navigable area of the ship on the dotted line circle;
in the enhanced exploration stage, a Dijkstra search algorithm is adopted to search a shortest collision-free route from a navigation chart of a non-oriented ship, a D-P algorithm is adopted to extract key track points KTP in the route, the key track points KTP are sequentially connected with the KTP to form an initial optimized route, so that the steering times in the navigation process of the ship are reduced, and the Euler spiral is used to fit the smooth initial optimized route to obtain a designed route of a specific area;
The step of obtaining the initial optimized route by using the D-P algorithm is as follows: 1. determining a threshold according to the navigation environment information of the specific area and the number of track points of the initial routeConnecting the initial point and the destination point of the route to form a line segment L, wherein the line segment L is used as the chord of the initial route; 2. calculating the distance between all track points except the starting point and the destination point and the line segment L, acquiring the track point farthest from the line segment L and the threshold value +.>Comparing; 3. if the distance is less than the threshold->Approximating the line segment as a segment of 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 destination point to obtain two new line segments, and repeating the steps to extract new KTP; 5. a KTP set is obtained, and the KTP set is sequentially connected to form an initial optimized route;
the method for smoothing the initial optimized route using the Euler spiral is as follows:
the obtained KTP coordinates were set to Q (x i ,y i ) (i=1, 2, the method comprises the steps of (a) and (k); dividing airlines intok-1 section, and simultaneously carrying out Euler spiral fitting on the m-th section line; setting the coordinates of key track points at two ends of the mth section line as (x) m ,y m )、(x m+1 ,y m+1 ) They meet the following conditions:
in the formula ,sm Arc length of the mth spiral; θ om 、k om Respectively (x) m ,y m ) Tangential angle and curvature at the point; c m A parameter representing sharpness of curvature; (x) m+1 ,y m+1 ) The end point of the m-th section of the Euler spiral and the start point of the m+1th section; the following conditions should be satisfied between the parameters:
wherein ,θom+1 And k is equal to om+1 The tangential angle and the curvature of the (m+1) th Euler spiral are respectively; θ m 、k m The Euler spirals respectively of the mth section are in (x m+1 ,y m+1 ) Tangential 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 chart layer display area, wherein the chart layer list area displays all chart layers after the electronic chart is analyzed, and the chart layer display area is used for displaying charts, global specific information and designed airlines; the status bar displays the longitude and latitude and the chart scale information of the position of the mouse.
Further, the functional module comprises chart analysis display, specific information inquiry and specific area 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 chart analysis display, 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:
1. the electronic chart display and application platform for the specific area provided by the invention realizes that specific event points are displayed on the chart according to IHO standard, so that not only can specific information in the navigation water area be queried in real time, but also a safety route can be planned according to any origin-destination points.
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 electronic chart file into a shape file in a pattern layer form; and reconstructing the S-52 drawing instruction into SVG primitives to create a chart symbol library, and finally designing rendering and labeling methods of corresponding layers from points, lines and planes.
3. A target object standard conforming to IHO standard is designed, and a method for displaying specific event points in an electronic chart in a matching way is designed, so that visual display of specific activity points is realized.
4. An IPRM algorithm is designed, a sampling point reset function is introduced in the PRM algorithm improvement learning stage to replace sampling points in the non-navigable area, and the utilization rate of the sampling points is improved; the 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 functional block diagram of the present invention.
Fig. 2 is a diagram of EA200001.000 transferred as ShapeFile.
Fig. 3 is a design drawing of a target object symbol.
Fig. 4 is a flow chart of IPRM algorithm.
Fig. 5 is a diagram of the overall frame of the platform.
FIG. 6 is a graph comparing the results of planning a route by the IPRM algorithm and the PRM algorithm in a specific area.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention discloses an electronic chart display and application platform for 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 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 can read any one S-57 file and display the file in an S-52 standard standardization mode, and the specific event point layer design and loading module creates a specific event point layer according to specific global events and displays the specific event point layer on the electronic chart in a superposition mode. The route planning unit comprises an environment modeling module and an IPRM algorithm module, wherein the environment modeling module carries out gridding gray scale processing on the electronic chart added with the specific event point diagram layer, determines a navigable area and a non-navigable area, outputs navigation environment information to the IPRM algorithm module, improves the PRM algorithm and plans a safety route of a specific area by combining the navigation environment information. The electronic chart platform design unit comprises a platform architecture module and a functional module, wherein the platform architecture module is used for carrying out overall design on the platform and determining an operation main interface, and the functional module comprises analysis display of any S-57 file, global specific information display and inquiry and specific area route planning. The invention not only can realize the standardized display of the electronic chart, but also can dynamically display specific event points on the chart, and further can inquire specific information and design a safety route in a specific area, thereby providing safety guarantee for ship navigation in the specific area.
The specific area-oriented electronic chart display and application platform 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 by an S-52 standard and symbolized display of specific event points on the chart, and output the electronic chart added with the specific event point layer to the route planning unit.
The S-57 file analysis display module can read and analyze files with suffix of.000, and transfer the files into ESRI shape files, and the established SVG format chart symbol library is utilized for carrying out standardized rendering, and the geographic coordinate system is converted into a computer screen coordinate system according to the ink-card support projection, so that the 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 symbol drawing instructions specified in S-52 international display standard, and the symbol types can be divided into points, lines and planes by referring to the electronic chart symbol library of Beijing star Tian technology company for reconstruction.
The specific event point layer design and loading module comprises specific event information acquisition, target object mark symbols, attribute design, specific event point layer creation and symbolization display, wherein the specific event information acquisition comprises specific event information occurring in the year 2000-2021, and can be dynamically tidied and updated; the target object mark symbol and attribute design accords with IHO standard, and meets the visualization of specific event information in the chart; the specific event point layer is created and symbolized to match the place where the global specific event occurs 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 gridding gray level processing on the electronic chart added with the specific event point layer, determining a navigable area and an non-navigable area, outputting navigation environment information to the IPRM algorithm module, improving the PRM algorithm by the IPRM algorithm module, and planning a safety route according to the navigation environment and the input origin-destination longitude and latitude information.
The environment modeling module firstly searches out layers (such as land areas (polygon LNDARE. Shp) and coastlines (lineCALNE. Shp)) which are useful for path planning from the restored ShapeFile, and simultaneously performs rasterization and gray scale processing on the layers, wherein the land is a black non-navigable area, and the water area is a gray navigable area; selecting a specific event point, generating random virtual specific active points by using Gaussian mixture distribution with the specific event point as a center, and representing the specific active points by using a convex polygon by using a convex hull algorithm, so as to effectively predict an active dangerous area and consider the active dangerous area as an unpilotable area; and re-dividing the electronic chart of the superimposed dangerous area into grid networks, further realizing the grid method environment modeling, simultaneously storing the longitude and latitude information of the boundary of the non-navigable area in the established environment model, and inputting the information into the IPRM algorithm module for route planning. Wherein, the convex hull algorithm is Graham Scan algorithm.
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, smoother and shorter route points.
The electronic chart platform design unit comprises a platform architecture module and a functional module, wherein the platform architecture module carries out overall design on the platform and determines an operation interface; after the platform architecture module event is triggered, the functional module can realize analysis display, global specific information dynamic update, display and inquiry and specific area 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 layer list area and a chart layer display area, wherein the chart layer list area displays all chart layers after the electronic chart is analyzed, and the chart layer display area is used for displaying charts, global specific information and designed airlines; the status bar displays the longitude and latitude and the chart scale information of the position of the mouse.
The functional module comprises three aspects of chart analysis display, specific information inquiry and route planning, wherein 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 each triggering event in the menu bar.
According to the invention, a Pycharm compiling platform is used for building QGIS3.8.0 development environment, so that the GDAL library is called, each file format in the GDAL library is provided with a corresponding driving class, wherein an ISO 8211Lib library is completely packaged in an S57Reader class, and the accurate analysis and data reading of an S-57 file can be realized; the platform architecture module is implemented using a library package such as PyQt 5.
The specific implementation process of the S-57 file analysis display module is as follows:
s1, designing a method for analyzing, reading and storing an electronic chart file into a shape file based on GDAL.
The electronic chart analysis and reading flow is as follows: 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 obtain an electronic chart data source DataSource, and then obtaining the number of layers in the data source and a current Layer object Layer; 3. each Feature element Feature in the layer is circularly read, and then an attribute table FeatureDefn of the Feature element is obtained; 4. acquiring attribute column OFfield and attribute column name/data type and attribute information of feature elements; 5. instantiating a geometric object in the Feature element, then acquiring spatial information such as longitude and latitude and water depth values of the geometric object, and deleting features after acquiring all the information to release a cache space; 6. after all the characteristic elements in the current chart layer are read, repeating the steps to traverse all the chart layers of the electronic chart.
The flow of transferring the electronic chart into shape comprises the following steps: 1. registering all drivers, and then creating a Driver object Driver of the ESRI shape; 2. creating a data source DataSource, then creating a coordinate system SRS of ESRI shape, and setting the coordinate system of ESRI shape 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 space information of a characteristic element, namely a water depth point, in the electronic chart; 4. creating a Feature element Feature and a geometric element Geometry, and associating attribute information of the Feature element with the geometric object; 5. and repeating the steps to sequentially establish the ESRI shape file to store the information of the corresponding layers in the electronic chart, and finally realizing the transfer of all layers of the electronic chart. The transfer result is shown in fig. 2, wherein the first dsid. Shp is a data description layer, the multipointsoung. Shp is a water depth layer, and the other prefixes are point\line\polygon which are respectively a point, a line and a surface layer.
S2, reconstructing the S-52 drawing instruction into SVG primitives to create an electronic chart symbol library, and designing a point, line and surface layer rendering and a water depth point layer marking implementation method, wherein the point, line and surface layer rendering and the water depth point layer marking implementation method are used for carrying out layer rendering on the saved Shapefile based on the symbol library. The S-52 drawing instructions are shown in Table 1.
Tables 1S-52 drawing instruction table
The S-52 drawing instruction is reconstructed into SVG graphics primitive flow as follows:
1. firstly, defining the color of a painting brush corresponding to an instruction SP in SVG through a stop attribute; 2. then converting the brush width W defined by the command SW into brush width 0.32W in the SVG, and defining by a stroke-width attribute in the SVG; 3. transparency is then set by the spoke-transparency in SVG. ST0/1/2/3 corresponds to stroke-accuracy=100%/75%/50%/25%, respectively; 4. the coordinate information in the instruction PU and the PD is transmitted to the x1, y1, x2, y2 or points attribute in the SVG, and a straight line/broken line can be reconstructed in the SVG; 5. the coordinate information in the instruction PU and the AA is transmitted to the attribute C in the SVG path graphic element, and the arc can be reconstructed; 6. the circle center coordinates and the radius in the instructions PU, PMO, CI, PM and FP are transferred to cx, cy and r attributes of the SVG circular primitive, a circle can be reconstructed, and the filling color in the FP is transferred to fill attributes in the SVG; 7. the coordinate information in the instructions PU, PM0, PU/AA/PD, PM1, PU/AA/PD, PM2, EP and FP is transferred to the points attribute of the SVG polygon primitive, the polygon can be reconstructed, and the line width information and the filling color information of the EP and FP are respectively transferred to the stroke-width attribute and the fill attribute.
The dot pattern layer rendering flow is as follows:
1. acquiring a layer name and a geometric type; 2. judging whether the dot pattern layer is a dot pattern layer or not, and searching corresponding symbols in a symbol library; 3. if the matched symbol exists, a corresponding SVG symbol is obtained, and if the matched symbol does not exist, rendering is not performed; 4. creating a point symbol rendering pattern, deleting a default rendering pattern, adding a symbol in the point symbol rendering pattern, and acquiring a rendering rule through attribute information of characteristic elements 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 manner of the renderer, and the layer is refreshed to realize symbolized rendering; 6. aiming at the layer needing marking or having rendering rules, a rule renderer is constructed, the corresponding rendering rules are transmitted, the rules are traversed, the characteristic elements of the matching rules are rendered, and the layer is refreshed.
The line drawing layer rendering flow is as follows:
1. acquiring a layer name and a geometric type; 2. judging whether the line drawing layer is a line drawing layer or not, and searching a corresponding symbol in a symbol library; 3. if the symbol is not matched, determining a rendering style of the line drawing layer through attribute information of the feature in the line drawing layer, and storing specific information into a style dictionary; recording the rendering style of the line drawing layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, and refreshing the layer to realize simple rendering; 4. if the corresponding symbol exists, setting an SVG symbol rendered by the line drawing layer, performing symbolized rendering and refreshing the line drawing layer; 5. if the rendering rule needs to be set, a regular renderer is constructed, the rendering rule of the line drawing layer is transmitted, the rule is traversed, the characteristic elements of the matching rule are rendered, and the line drawing layer is refreshed.
The surface layer rendering flow is as follows:
1. acquiring a layer name and a geometric type; 2. judging whether the image is a surface layer or not, searching corresponding symbols in a symbol library, and if the matched symbols exist, acquiring corresponding SVG symbols; 3. acquiring a layer rendering rule through attribute information of feature elements in the layer, if the layer rendering rule is not available, constructing a single renderer, creating a surface layer rendering pattern, transmitting corresponding SVG symbols, symbolizing all feature objects in the layer, and refreshing the layer; 4. if the rendering rules exist, a rule renderer is constructed, the characteristic elements in the layer are traversed, the layer is regularly rendered, and the layer is refreshed; 5. if no matched face symbol exists, the layer is filled in a single filling mode or in a multicolor filling mode, a renderer is built, 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 no filling or single filling is carried out, a single renderer is constructed to render all the features in the layer, and the layer is refreshed; 7. if the color is filled, a rule renderer is constructed, the surface layer rendering rule is acquired and transmitted, the rule is traversed, and the characteristic elements of the matching rule are rendered in the form of the renderer.
The rendering flow of the water depth point map layer is as follows:
1. acquiring a layer name, and judging whether the layer name is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting filling colors and boundary lines of all features of the water depth point map layer to be non-filling and non-solid; 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 annotator and a text container of the water depth point diagram layer, and setting the annotated font style and font color; 5. and obtaining and setting a labeling pattern of the water depth point diagram layer, and traversing all the features of the water depth point diagram layer for labeling.
S3, converting the geographic coordinate system of the electronic chart WGS84 into a coordinate system which can be displayed on a computer screen through the ink-card-bracket projection.
The transformation formula of the longitude and latitude coordinates (X, Y) under the geographic coordinate system to the coordinates (B, L) under the ink card support coordinate system is as follows:
the conversion formula of the mercator projection coordinates is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 As a datum longitude line, R 0 Radius of the reference latitude;
in the formula ,N0 Representing the radius of curvature of the unitary mortise on the spherical surface of the earth of the geographic coordinate system;
the inverse formula of the mercator projection 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 invention uses the primary meridian as a reference longitude line and the equator as a reference latitude line to carry out the coordinate transformation calculation of the ink card support.
The target object symbol and attribute are designed as follows:
as shown in fig. 3, in order to more intuitively reflect a specific event point on a chart, a target object symbol is created according to the SVG symbol construction method. The target object mark symbol is divided into an upper part and a lower part, the upper part is a sail, and the sail is provided with a specific event mark symbol; the lower part is a ship body part, and the ship body is written with the code of the target object.
The object name and its attribute codes are represented using 6 combinations of capital english alphabetic characters and numbers as specified in the S-57 international standard, and each object has A, B, C three attribute sets. Wherein A is used for storing characteristic information of the object, B is used for storing related information of application and display of the object, and C is used for storing description and management information of the object. In order to more comprehensively record the related information of specific activities, a plurality of object attributes of specific topics are newly added outside the object attributes specified by the S-57 international standard. The new added object mark attribute code adopts 6 lower case English letters, characters and numbers, and the new added object mark code adopts a code with 5 bits and 60 digits according to the IHO non-standard object mark and attribute (16388-65534) code range, so as to distinguish the original object mark attribute in the S-57 international standard. The target object properties of the design are shown in table 2.
Table 2 target object property table
The method for displaying the matching of the longitude and latitude ranges of the specific event point and the electronic chart comprises the following steps:
s1, loading an electronic chart file, acquiring a geometric element Geometry contained in an M_COVR chart layer, and acquiring a coverage area cover of the whole electronic chart by calling a geometric.getEnvelope () function;
s2, loading a specific event point file, initializing operation, namely traversing all feature objects of the layer, and setting the isshow attribute field value of all feature objects to 0;
s3, traversing all the features contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring geometric elements corresponding to each feature;
s4, acquiring the longitude and latitude of the geometric element through a geometric GetX () function and a geometric GetY () function, and comparing the longitude and latitude with a cover to see whether the longitude and latitude are within the 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 as 0;
and S6, setting a display rule function rule= ('rule 1', 'isshow=1', 'SVG target symbol'), regularly rendering a specific event point diagram layer, and loading and displaying target symbols in the coverage range of the electronic chart.
The Gaussian mixture distribution model is as follows:
Wherein p (x) is an expression of a mixture Gaussian distribution, pi k Is the parameter of the kth single Gaussian distribution, and the constraint condition is pi k ≥0,Σπ k ＝1；N(x|μ k ,Σ k ) Mu as a single Gaussian distribution density function k Is the average value of Σ k Standard deviation, sigma k Is the variance.
As shown in fig. 4, the IPRM algorithm consists of an improved learning phase and an enhanced exploration phase,
detecting the position of a sampling point in the rasterized environment information model in an improved learning stage, and adding the sampling point into a ship undirected route network diagram if the sampling point falls in an navigable area; if it falls within the non-navigable area, a new sample point is generated using a sample point reset function (Sample Point Reset, SPR) to replace the sample point in the non-navigable area, improving the use of the sample point in the learning phase.
Wherein SPR satisfies the following equation:
where v represents the non-navigable sampling point location, B represents the new sampling point location, and z represents the radius. Taking the original sampling point as the center of a circle and taking the proper radius z as a dotted line circle, each sampling point belonging to the navigable area of the ship on the dotted line circle can replace the sampling point in the non-navigable area.
And in the enhanced exploration stage, a Dijkstra search algorithm is adopted to search a shortest collision-free route from a model of the undirected ship, a Douglas-Peukcer (D-P) algorithm is adopted to extract Key Track Points (KTPs) in the route, the Key Track Points (KTPs) are sequentially connected with the KTPs to form an initial optimized route, so that the steering times in the ship navigation process are reduced, and then the Euler spiral is used to fit the smooth initial optimized route to obtain a design route of a specific area.
The basic steps for obtaining the initial optimized route by using the D-P algorithm are as follows:
1. determining a threshold according to the navigation environment information of the specific area and the number of track points of the initial routeAnd connecting the starting point and destination point of the route to form a lineSegment L, segment L is used as the chord of the initial route; 2. calculating the distance between all track points except the starting point and the destination point and the line segment L, acquiring the track point farthest from the line segment L and the threshold value +.>Comparing; 3. if the distance is less than the threshold->Approximating the line segment as a segment of 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 destination point to obtain two new line segments, and repeating the steps to extract new KTP; 5. and (3) obtaining a KTP set, and sequentially connecting the KTPs to form an initial optimized route.
The method for smoothing the initial optimized route using the Euler spiral is as follows:
the obtained KTP coordinates were set to Q (x i ,y i ) (i=1, 2, the method comprises the steps of (a) and (k); dividing the navigation line into k-1 sections, and simultaneously carrying out Euler spiral fitting on the mth section of the navigation line; setting the coordinates of key track points at two ends of the mth section line as (x) m ,y m )、(x m+1 ,y m+1 ) They meet the following conditions:
in the formula sm Arc length of the mth spiral; θ om 、k om Respectively (x) m ,y m ) Tangential angle and curvature at the point; c m A parameter representing sharpness of curvature; (x) m+1 ,y m+1 ) Is the end point of the m-th segment of the Euler spiral and the start point of the m+1th segment. The following conditions should be satisfied between the parameters:
wherein θom+1 And k is equal to om+1 The tangential angle and the curvature of the (m+1) th Euler spiral are respectively; θ m 、k m The Euler spirals respectively of the mth section are in (x m+1 ,y m+1 ) The tangential angle and curvature at the point, i.e. the tangential angle and curvature at the point of the euler spiral connection, have invariance.
FIG. 5 is a block diagram of the platform of the present invention.
Simulation experiment:
in order to verify the effectiveness of the invention, the S-57 file EA200004.000 is taken as a simulation object, and the platform provided by the invention is used for loading and displaying, and meanwhile, a specific event point layer is loaded and displayed.
As shown in FIG. 6, the IPRM algorithm provided by the invention is used for designing the route, and the number of the route track points is smaller and the length is shorter than that of the route track planned by the traditional PRM algorithm. After loading the global specific event point layer, the attribute table may display attribute information of all target objects. In the platform main interface provided by the invention, route planning in a menu bar is selected, random origin-destination coordinates are respectively (45.0647E, 12.7134N) and (45.9056E, 12.2612N), and a 'confirmation' button is used as a trigger event to design and display a corresponding route.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of operations of the steps/components may be combined into new steps/components, according to the implementation needs, to achieve the object of the present application.
It will be readily appreciated by those skilled in the art that the foregoing is merely a preferred embodiment of the application and is not intended to limit the application, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (6)
1. An electronic chart display and application platform oriented to a specific area is characterized by comprising: the system 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; the S-57 file analysis display module and the specific event point layer design and loading module respectively realize the S-57 file standardized display by S-52 standard and the symbolized display of the specific event point on the chart; the electronic chart added with the specific event point layer is output to the route planning unit;
The S-57 file analysis display module is used for reading and analyzing files with suffix of.000, and converting the files into ESRI shape files, carrying out standardized rendering by utilizing the constructed SVG format chart symbol library, and converting a geographic coordinate system into a computer screen coordinate system according to the ink-card projection so as to realize standardized display of charts; the symbol types of the SVG format chart symbol library are divided into points, lines and planes; the S-57 file analysis display specifically comprises the following steps:
s1, constructing QGIS3.8.0 development environment by using a Pycharm compiling platform, and realizing analysis, reading and storage of an electronic chart file into a shape file based on a GDAL library;
the electronic chart analysis and reading flow is as follows: 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 obtain an electronic chart data source DataSource, and then obtaining the number of layers and the current layer object in the data source; 3. each characteristic element in the layer is circularly read, and then an attribute table of the characteristic element is obtained; 4. acquiring attribute information of an attribute column Ofield, an attribute column name, a data type and a feature element; 5. instantiating a geometric object in the feature element, and then acquiring spatial information containing longitude and latitude and water depth values of the geometric object; 6. repeating the steps to traverse all layers of the electronic chart after all the characteristic elements in the current layer are read;
The flow of transferring the electronic chart into shape comprises the following steps: 1. registering all drivers, and then creating a driver object of ESRI shape; 2. creating a data source DataSource, then creating a coordinate system SRS of ESRI shape, and setting the coordinate system of ESRI shape as a geographic coordinate system; 3. creating a dot pattern layer, a three-dimensional dot pattern layer, a line pattern layer and a surface pattern layer, wherein the three-dimensional dot pattern layer is used for storing attribute information and spatial information of a characteristic element, namely a water depth point in an electronic chart; 4. creating feature elements and geometric elements, and associating attribute information of the feature elements with the geometric objects; 5. repeating the steps to sequentially establish the ESRI shape storing information of the corresponding layers in the electronic chart, and finally realizing the transfer of all layers of the electronic chart;
s2, reconstructing the S-52 drawing instruction into SVG primitives to create an electronic chart symbol library, and simultaneously designing point, line and surface layer rendering and a method for realizing water depth point layer annotation, wherein the method is based on the symbol library to perform layer rendering on the restored Shapefile;
the dot pattern layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the dot pattern layer is a dot pattern layer or not, and searching corresponding symbols in a symbol library; 3. if the matched symbol exists, a corresponding SVG symbol is obtained, and if the matched symbol does not exist, rendering is not performed; 4. creating a point symbol rendering pattern, deleting a default rendering pattern, adding a symbol in the point symbol rendering pattern, and acquiring a rendering rule through attribute information of characteristic elements 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 manner of the renderer, and the layer is refreshed to realize symbolized rendering; 6. aiming at a layer needing marking or having rendering rules, a rule renderer is constructed, the corresponding rendering rules are transmitted, the rules are traversed, the characteristic elements of the matching rules are rendered, and the layer is refreshed;
The line drawing layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the line drawing layer is a line drawing layer or not, and searching a corresponding symbol in a symbol library; 3. if the symbol is not matched, determining a rendering style of the line drawing layer through attribute information of the feature in the line drawing layer, and storing specific information into a style dictionary; recording the rendering style of the line drawing layer, constructing a single renderer, rendering all the features in a rendering mode in the renderer, and refreshing the layer to realize simple rendering; 4. if the corresponding symbol exists, setting an SVG symbol rendered by the line drawing layer, performing symbolized rendering and refreshing the line drawing layer; 5. if the rendering rule needs to be set, a regular renderer is constructed, the rendering rule of the line drawing layer is transmitted, the rule is traversed, the characteristic elements of the matching rule are rendered, and the line drawing layer is refreshed;
the surface layer rendering flow is as follows: 1. acquiring a layer name and a geometric type; 2. judging whether the image is a surface layer or not, searching corresponding symbols in a symbol library, and if the matched symbols exist, acquiring corresponding SVG symbols; 3. acquiring a layer rendering rule through attribute information of feature elements in the layer, if the layer rendering rule is not available, constructing a single renderer, creating a surface layer rendering pattern, transmitting corresponding SVG symbols, symbolizing all feature objects in the layer, and refreshing the layer; 4. if the rendering rules exist, a rule renderer is constructed, the characteristic elements in the layer are traversed, the layer is regularly rendered, and the layer is refreshed; 5. if no matched face symbol exists, the layer is non-filled or single-filled or multi-color filled, a renderer is built, 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 no filling or single filling is carried out, a single renderer is constructed to render all the features in the layer, and the layer is refreshed; 7. if the color is filled, a rule renderer is constructed, a surface layer rendering rule is acquired and transmitted, the rule is traversed, and characteristic elements of the matching rule are rendered in a style in the renderer;
The rendering flow of the water depth point map layer is as follows: 1. acquiring a layer name, and judging whether the layer name is a water depth point layer; 2. creating a single rendering pattern of the water depth point map layer, and setting filling colors and boundary lines of all features of the water depth point map layer to be non-filling and non-solid; 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 annotator and a text container of the water depth point diagram layer, and setting the annotated font style and font color; 5. acquiring and setting a labeling pattern of a water depth point map layer, and traversing all the features of the water depth point map layer for labeling;
s3, converting the geographical coordinate system of the electronic chart into a coordinate system which can be displayed on a computer screen through the ink Katuo projection;
the specific event point layer design and loading module comprises specific event information acquisition, target object mark symbol and attribute design, 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 symbol and attribute design accords with IHO standard, and the visualization of specific event information in the chart is satisfied; the specific event point layer is created and symbolized to be displayed, the place where the specific event of the specific water area occurs is matched with the longitude and latitude range of the electronic chart, and the specific event in the water area range of the chart is loaded and displayed on the chart;
The route planning unit comprises an environment modeling module and an IPRM algorithm module; the environment modeling module performs gridding gray scale processing on the electronic chart added with the specific event point layer, determines a navigable area and an non-navigable area, and outputs navigation environment information to the IPRM algorithm module; the IPRM algorithm module plans a safety route according to the navigation environment and the input origin-destination longitude and latitude information;
the environment modeling module firstly searches out layers which are useful for path planning from the restored shape file, wherein the layers comprise land areas and coastlines, and the layers are subjected to rasterization and gray processing, the land 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 dangerous area and consider the activity dangerous area as an unpilotable area; repartitioning a grid network for the electronic chart of the superimposed dangerous area to realize the grid method environment modeling, and simultaneously storing the longitude and latitude information of the boundary of the non-navigable area in the established environment model, and inputting the information into an IPRM algorithm module for route planning;
The electronic chart platform design unit comprises a platform architecture module and a functional module; the platform architecture module carries out overall design on the platform and determines an operation interface; after the platform architecture module event is triggered, the functional module realizes analysis display, global specific information dynamic update, display and query and specific area 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 the basic functions of the platform are realized through the menu bar; the chart display area comprises a chart layer list area and a chart layer display area, wherein the chart layer list area displays all chart layers after the electronic chart is analyzed, and the chart layer display area is used for displaying charts, global specific information and designed airlines; the status bar displays the longitude and latitude and the chart scale information of the position of the mouse.
2. The specific area oriented electronic chart display and application platform of claim 1, wherein transforming the electronic chart geographic coordinate system via a mercator projection to a computer screen displayable coordinate system comprises:
the method for transforming longitude and latitude coordinates (X, Y) in a geographic coordinate system into coordinates (B, L) in an ink card support coordinate system is as follows:
The conversion formula of the mercator projection coordinates is as follows:
X＝R 0 ×(L-L 0 )
in the formula ,L0 As a datum longitude line, R 0 Radius of the reference latitude;
in the formula ,N0 The calculation formula of the unitary mortise curvature radius on the spherical surface of the earth of the geographic coordinate system is as follows:
then, the ink-card-holder projection inverse transformation formula is:
wherein ,is a reference latitude line; c is the earth radius; e is the first eccentricity of the earth; EXP is the natural logarithmic base.
3. The specific area-oriented electronic chart display and application platform according to claim 1, wherein the matching method of the longitude and latitude range of the location where the specific event occurs and the electronic chart is as follows:
s1, loading an electronic chart file, acquiring a geometric element Geometry contained in a chart layer of the electronic chart file, and acquiring a coverage area cover of the whole electronic chart by calling a geometric.
S2, loading a specific event point file, initializing operation, namely traversing all feature objects of the layer, and setting the isshow attribute field value of all feature objects to 0;
s3, traversing all the features contained in the specific event point layer through a GetNextFeture () function, and sequentially acquiring geometric elements corresponding to each feature;
s4, acquiring the longitude and latitude of the geometric element through a geometric GetX () function and a geometric GetY () function, comparing the longitude and latitude with a cover, and judging whether the longitude and latitude are within the 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 as 0;
s6, setting a display rule function, regularly rendering a specific event point diagram layer, and loading and displaying target object mark symbols in the coverage area of the electronic chart.
4. The specific area-oriented electronic chart display and application platform of claim 1, wherein the convex hull algorithm is a gram Scan algorithm.
5. The specific area oriented electronic chart display and application platform of claim 1 wherein the IPRM algorithm consists of an improved learning phase and an enhanced exploration phase;
in the improved learning stage, detecting the position of a sampling point in the rasterized environment information model, and if the sampling point falls in the navigable area, adding the sampling point into a ship undirected route network diagram; if the sampling point falls in 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; wherein SPR satisfies the following equation:
wherein x and y represent position coordinates, v represents the position of a sampling point of the non-navigable area, B represents the position of a new sampling point, and z represents a radius; taking the original sampling point as a circle center and taking an appropriate radius z as a dotted line circle, and replacing the sampling point in the non-navigable area with the sampling point belonging to the navigable area of the ship on the dotted line circle;
In the enhanced exploration stage, a Dijkstra search algorithm is adopted to search a shortest collision-free route from a navigation chart of a non-oriented ship, a D-P algorithm is adopted to extract key track points KTP in the route, the key track points KTP are sequentially connected with the KTP to form an initial optimized route, so that the steering times in the navigation process of the ship are reduced, and the Euler spiral is used to fit the smooth initial optimized route to obtain a designed route of a specific area;
the step of obtaining the initial optimized route by using the D-P algorithm is as follows: 1. determining a threshold according to the navigation environment information of the specific area and the number of track points of the initial routeConnecting the initial point and the destination point of the route to form a line segment L, wherein the line segment L is used as the chord of the initial route; 2. calculating the starting point and the purpose of divisionThe distance from all track points except the point to the line segment L is obtained, the track point farthest from the line segment L is obtained, and the distance is equal to the threshold value in the step 1 +.>Comparing; 3. if the distance is less than the threshold->Approximating the line segment as a segment of 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 destination point to obtain two new line segments, and repeating the steps to extract new KTP; 5. a KTP set is obtained, and the KTP set is sequentially connected to form an initial optimized route;
The method for smoothing the initial optimized route using the Euler spiral is as follows:
the obtained KTP coordinates were set to Q (x i ,y i ) (i=1, 2, the method comprises the steps of (a) and (k); dividing the navigation line into k-1 sections, and simultaneously carrying out Euler spiral fitting on the mth section of the navigation line; setting the coordinates of key track points at two ends of the mth section line as (x) m ,y m )、(x m+1 ,y m+1 ) They meet the following conditions:
in the formula ,sm Arc length of the mth spiral; θ om 、k om Respectively (x) m ,y m ) Tangential angle and curvature at the point; c m A parameter representing sharpness of curvature; (x) m+1 ,y m+1 ) The end point of the m-th section of the Euler spiral and the start point of the m+1th section; the following conditions should be satisfied between the parameters:
wherein ,θom+1 And k is equal to om+1 The tangential angle and the curvature of the (m+1) th Euler spiral are respectively; θ m 、k m The Euler spirals respectively of the mth section are in (x m+1 ,y m+1 ) Tangential angle and curvature at the point.
6. The specific area oriented electronic chart display and application platform of claim 1 wherein the functional modules include chart resolution display, specific information query, and specific area routing; 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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