CN116309732A - Ship motion visualization method based on digital twinning - Google Patents
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Abstract
The invention relates to a ship motion visualization method based on digital twinning, which comprises the following steps: acquiring real ship information from a plurality of data sources, and acquiring ship state data through analysis; loading a preset ship model and an environment model matched with the ship position based on the ship state data; based on current ship state data, updating the motion state of the digital twin ship through Kalman filtering, and dynamically adjusting the update frequency of the motion state of the twin ship in the update process; and obtaining observation viewpoint information, and outputting a visual signal to a visual terminal based on the ship model, the environment model, viewpoint observation selection information and the motion state of the digital twin ship. Compared with the prior art, the invention can stably transition when the state of the digital twin ship is updated, and has low cost and convenient maintenance.
Description
Technical Field
The invention relates to the field of water transportation, in particular to a ship movement visualization method based on digital twinning.
Background
The application research of the digital twin technology in the aspect of ship navigation operation is widely focused in the field of water transportation. A method and a device for constructing a digital twin scene of a inland waterway disclosed in Chinese patent literature, the method and the device have the following publication numbers: CN113223162 discloses law enforcement management by three-dimensional construction of channels, with emphasis on three-dimensional construction of channels, without consideration of channel congestion situation management. A method and a system for constructing a digital twin channel disclosed in Chinese patent literature, wherein the method and the system have the following publication numbers: CN114529680a discloses operation management under channel digital twin scene after accessing channel ubiquitous sensing data, and emphasis is on accessing data, and redundancy and screening of various data are not fully considered.
The Chinese patent application number CN202111190105.4 provides a digital twin ship driving method and device, which relate to the field of water transportation traffic, and the method comprises the steps of adopting a data flow engine to carry out data cleaning on data messages, and eliminating abnormal data messages in the data messages based on vector data of a channel center line and a channel shoreline, wherein the abnormal data messages are the data messages which indicate that the ship is positioned outside the channel shoreline; and receiving an initialization request sent from a client, packaging the data message based on the initialization request, and returning the data message to the client so that the client updates the position of each ship in the digital twin scene based on the data message. The application discloses cleaning a ship data message, eliminating abnormal data of a ship, but not considering consistency of a sampling period of the data and a frame updating frequency in a virtual reality technology, wherein the track smoothing algorithm does not consider stability of ship motion in the virtual reality, and is easy to cause clamping of a ship moving picture.
In summary, a ship motion state monitoring method is lacking currently, so as to solve the problem that the existing method does not consider the stability of the ship motion in virtual reality and is easy to cause the clamping of a ship motion picture.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a ship motion visualization method based on digital twinning, which is used for acquiring and analyzing real ship information from a plurality of data sources, updating the motion state of the digital twinning ship through Kalman filtering, dynamically adjusting the updating frequency of the motion state of the twin ship, ensuring the stable transition of the motion state of the twin ship during the updating of the motion state, and reducing rollback and jump of data.
The aim of the invention can be achieved by the following technical scheme:
the invention provides a ship motion visualization method based on digital twinning, which comprises the following steps:
acquiring real ship information from a plurality of data sources, and acquiring ship state data through analysis;
loading a preset ship model and an environment model matched with the ship position based on the ship state data;
based on current ship state data, updating the motion state of the digital twin ship through Kalman filtering, and dynamically adjusting the update frequency of the motion state of the twin ship in the update process;
and obtaining observation viewpoint information, and outputting a visual signal to a visual terminal based on the ship model, the environment model, the observation viewpoint information and the motion state of the digital twin ship.
As an preferable technical scheme, the implementation process of dynamically adjusting the update frequency of the motion state of the twin ship comprises the following steps:
calculating the interval time T between the acquired ship information and the last acquired ship information, and selecting proper twin ship motion state updating frequency f based on the interval time T, so that the interval t=n/f of the digital twin ship state updating is the same as the interval time T, wherein n is a positive integer.
As a preferable technical scheme, the process of updating the motion state of the digital twin ship through kalman filtering comprises the following steps:
acquiring an initial state value of the digital twin ship based on the ship state data in reality;
based on the initial state value, a predicted state value of the digital twin ship is obtained through Kalman filtering, and the motion state of the digital twin ship is updated.
As a preferable technical scheme, the initial state value of the digital twin ship is obtained by adopting the following formula:
X 0 ＝CS 0
wherein X is 0 Initial state value of digital twin ship, C is dimension conversion matrix, S 0 The actual ship state data includes ship position coordinates and ship attitude coordinates.
As a preferable technical scheme, the prediction equation of the kalman filter is:
the updated equation of the Kalman filtering is as follows:
wherein,,
representing t k Time of day measurement value +_>
Represented by t k-1 Time of day measurement +.>
T obtained k Predicted value of time, F represents state transition matrix, H represents measurement matrix, subscripts k-1 and k represent change of time t, broken line symbol on letter represents current letter as estimated value,/>
Representing t k-1 From time to t k Predicted value of state covariance of time, Q k-1,k-1 At t k-1 Time-of-day process noise covariance, R is the variance of Gaussian measured white noise, Z k At t k The target observed value at the moment, I is an identity matrix, y represents the difference between the predicted value and the measured value, and K is generally called a kalman gain coefficient.
As a preferable technical scheme, the visual signal further comprises an electronic chart matched with the position of the observation viewpoint.
As a preferred technical scheme, the method further comprises:
judging whether the visual terminal has a plurality of displays, if so, expanding the plurality of displays, setting a plurality of viewports, and transmitting visual signals of different viewing viewpoints to the visual terminal by modifying the viewing projection matrix of each viewport.
As a preferable technical scheme, the environment model comprises at least one of a sky model, a water area model, a harbor terrain building model and a channel light model.
As a preferable technical scheme, the ship state data comprises ship identification data and ship position data, wherein the ship identification data comprises at least one of a ship identification code, a ship length and a ship width, and the ship position data comprises at least one of a longitude and latitude, a heading and a speed.
As a preferred technical solution, the plurality of data sources include a real-time transmission data source and an offline backup data source, where the data transmitted by the real-time transmission data source includes: and the offline backup data source is VDR equipment and/or a receiving base station of the ship.
Compared with the prior art, the invention has the following advantages:
(1) The digital twin ship state can be stably transited when being updated: the method comprises the steps of obtaining real ship information from a plurality of data sources, analyzing the real ship information, updating the motion state of a digital twin ship through Kalman filtering, dynamically adjusting the motion state updating frequency of the twin ship, combining with the observation viewpoint information, and outputting a final visual signal.
(2) Low cost and convenient maintenance: when a remote monitoring system is built by using sensors such as cameras, camera hardware equipment is required to be added at a plurality of positions of a ship, a network system is required to be built by a plurality of camera sensor hardware equipment of one ship through a data transmission line, the network system is required to be transmitted to a nearby network node through a signal transmission terminal, and a plurality of stable large-scale data transmission systems are required to be built by the network transmission nodes of the ship.
Drawings
FIG. 1 is a flow chart of a digital twin based vessel motion visualization method in example 1;
FIG. 2 is a schematic diagram of a data source and terminal;
FIG. 3 is a schematic view of the viewing angle of a constructed virtual reality three-dimensional scene;
FIG. 4 is a schematic diagram of a virtual scene presented on a small mobile terminal device;
FIG. 5 is a schematic view of a virtual scene presented on a large terminal device;
FIG. 6 is a schematic diagram of a synchronization algorithm for the motion state of a digital twin vessel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
At present, a ship automatic identification system (Automatic Identification System, AIS) is combined with an electronic chart and a marine radar to perform two-dimensional real-time monitoring on a sailing ship, and a camera sensor device is used for performing audio and video monitoring on sailing situations around the ship. The invention constructs the motion state of the twin ship by accessing real-time and backup ship navigation data, can assist a ship company to remotely monitor the running state of the ship, can help a traffic department to monitor traffic flow in water of a jurisdiction, can be used as analysis basis of the ship traffic situation by a maritime research department, and as shown in fig. 1, the embodiment provides a ship motion visualization method based on digital twin, which comprises the following steps:
step S1, a software program starts to run, a data source is selected according to the requirement, the data source is composed of real-time transmission data and offline recorded backup data, the real-time data can be used for remote monitoring, and the backup data can be used for post navigation analysis. Wherein transmitting data in real time generally comprises: the AIS information, log information, GPS information, wind direction and wind speed information and sounding instrument information, and offline record backup data are stored in a VDR equipment end of the navigation ship and hard disk storage equipment of each receiving base station, and the receiving base stations are usually distributed near each port or along the coast of the navigation channel.
In step S2, because of different internal protocols of each data source, analysis operation needs to be performed on the selected data source, and identification information (ship identification code, ship length, ship width) and key position information (longitude, latitude, heading and speed) of the ship are basic data which need to be analyzed.
Step S3, dynamic loading model operation refers to operation of dynamically loading a sky model, a water area model, a port topography building model, a channel light beacon model and a ship model to a model display engine according to the analyzed data, wherein the sky model and the water area model are generated through simulation data, the port topography building model, the light beacon model and the ship model are required to be drawn through three-dimensional modeling tool software, at least two ship models of a bulk cargo ship and a container ship are required to be drawn, a plurality of ship three-dimensional virtual models can be generated through scaling operation of the two models, and the three-dimensional model display engine can be used for selecting a commercial or free open-source engine development package to carry out secondary development. The operation of the twin-screw ship is the key of the invention, the state of the twin-screw ship is calculated according to the content of the data source, the initial real state of the ship and the real updated state of the ship are analyzed from the data source, and the motion state of the twin-screw ship is calculated by utilizing the analysis of an optimization algorithm.
FIG. 6 is a schematic diagram showing a digital twin vessel motion state synchronization algorithm, wherein the T-axis and Data-axis combination represents transmission of real vessel state Data over time series, and the T-axis and Data-axisThe combination represents twinning of the virtual vessel state data over a time sequence, delay represents the Delay between the real world and the virtual simulation, delay time is taken as t d Representation, T 1 Representing the time interval between the moment A and the moment B of transmitting the ship state data, i.e. T 1 Can represent the transmission frequency of ship state data, t f Representing the frame update frequency of the virtual simulation engine. T in the real world due to the limitation of network transmission resources and recording backup file space 1 On the order of seconds, the AIS receiver may receive AIS data every 2-3 seconds, with the marine server storing the data for a longer time interval. In the virtual reality technology, in order to meet continuity of visual observation, video animation needs to be played for at least 25 frames per second, playing time of each frame is not more than 0.04 seconds, and in order to improve running efficiency of a CPU and a GPU, a virtual engine on the market at present usually adopts a mode of updating frame pictures at a non-fixed rate to maintain scene updating. By t 1 Representing the time interval between time a and time b when data is received in a twin system, T in a steady state 1 ＝t 1 . In a twin virtual system, to guarantee t 1 Smooth transition of the motion state of the twin ship in the time period is needed to be carried out on the received data in a reasonable mode, the processed data needs to be kept in smooth transition with the data received at the moment b, and rollback and jump of the data are prevented. For the data in the read record backup file, the invention adjusts the frame updating frequency t f The value is used for realizing the speed of the twin ship motion state updating frequency. The invention calculates the received actual ship state data by adopting a kalman filtering mode so as to update the motion state of the twin ship.
The basic equation for Kalman filtering is:
prediction
Updating
Wherein,,
representing t k Time of day measurement value +_>
Represented by t k-1 Time of day measurement +.>
T obtained k Predicted value of time, F represents state transition matrix, H represents measurement matrix, subscripts k-1 and k represent change of time t, broken line symbol on letter represents current letter as estimated value,/>
Representing t k-1 From time to t k Predicted value of state covariance of time, Q k-1,k-1 At t k-1 Time-of-day process noise covariance, R is the variance of Gaussian measured white noise, Z k At t k The target observation value of the moment, I is an identity matrix. According to the Kalman filter equation, at a known initial value +.>
And P 0 In the case of (2), following time t k Measurement Z of (2) k By recursive computation, t can be obtained k State estimation of time of day->
Data represents a motion state parameter s= [ Lon Lat Height H P R GV ROT T ] of the ship]Where (Lon, lat, height) represents the position coordinates of the vessel, and (H, P, R) represents the attitude coordinates (Heading, pitch, roll) of the vessel. In the actual sailing movement process of the ship, the swinging posture of the ship is influenced by natural environment factors such as wind, current, wave and the like, the swinging movement of the twin ship in the virtual vision system can be simplified, and the simplified ship movement state data are
Ship motion measurement data Z= [ Lon Lat head rising ]] T Measurement matrix->
State transition matrix->
From t 0 Real ship state data S obtained by analyzing AIS data source at moment 0 ＝[Lon 0 Lat 0 Height 0 H 0 P 0 R 0 GV 0 ROT 0 T 0 ]The initial state value of the twin vessel is obtained>
The operation process is X 0 ＝CS 0 Wherein->
Is a dimension conversion matrix. At t k-1 ～t k Of a time period ofAt a certain time t i Predicted value +.>
As the motion state of the twin vessel, t k The motion state of the twin vessel is determined by Kalman filtering>
In step S4, the viewpoint observing operation means that the position of the observation viewpoint can be adjusted in the virtual imaging software, and the observation viewpoint can be adjusted and moved up and down, left and right, front and back, and rotated by 6 degrees of freedom in order to obtain a better observation angle.
Fig. 2 is a schematic diagram of hardware in the present method. The receiving antenna in the data source represents AIS signal receiver hardware equipment or AIS data transmitted through a network and a serial port, and the hard disk storage equipment represents record data copied from shipborne VDR equipment, AIS server data backup equipment and a receiving base station. The written virtual imaging software can be run on both large and small terminals. The small terminal may be a mobile communication device with a display screen, such as a cell phone, tablet, PDA, etc. The large-scale terminal is a computer with a plurality of displays according to different display angle ranges, 3 displays are shown in the figure, different numbers of displays can be carried on hardware display cards with different configurations, virtual imaging with different viewpoint position angles can be displayed on each display, and all the displays present virtual imaging with a plurality of different viewpoint position angles. In the three-dimensional virtual reality display technology, a plurality of displays are mounted to display a plurality of viewpoint positions in various modes.
Fig. 3 is a schematic view of an observation angle, which may be located at a position where a ship is observed at a certain distance, and may be deflected at a plurality of angles, so as to achieve the effect of observing the ship in a top view, a side view, and a front view. Conventionally, in order to obtain real-time video images of a plurality of position angles of a ship, image sensors are required to be preloaded at corresponding positions of the ship and a transmission network is built, or an unmanned aerial vehicle aerial photographing mode is adopted; at present, if real-time images of a plurality of ships in a navigation area are to be realized, massive hardware and software equipment is needed to be input, and the cost is huge. According to the invention, the existing maritime AIS system is utilized to analyze real-time AIS data or backup ship VDR data to obtain the basic position and motion state of the ship, and a plurality of digital twin ships are constructed in a virtual reality scene. In the figure, E represents the position of the observation lens, the combined three coordinate axes (Side, front, up) represent the observation angles, the frame I represents the motion state of the ship and basic information display, and the virtual ship in the range of the observation lens can display relevant information according to the requirement.
Fig. 4 shows a virtual scene presentation interface in which the interface software can be run on a small mobile terminal display device. The small terminal display device has a touch screen function, and realizes the movement and rotation of 6 degrees of freedom of the observation viewpoint position (left and right, front and back, up and down) in a multi-touch mode. The eagle eye pattern represents a top view directly above the observation point position or an electronic chart of an area near the current position, and displays the two-dimensional motion state and the track of the ship. The AIS information display interface is an optional display item, when a target ship appears in the range of the observation viewpoint, static information and dynamic information of the target ship can be displayed on the information display interface, and the information display interface can cancel display.
Fig. 5 shows a virtual scene presentation interface, which can be run on a large terminal display device. The invention uses a host to install a multi-output display card to carry a mode of a plurality of displays on the premise of considering the purchasing cost of hardware. Setting a plurality of displays into an extended mode in an operating system of a host, setting a plurality of viewports on a whole graphicContext, and modifying an observation projection matrix of each viewport so as to realize different observation angles of each viewport. One viewport is displayed on each display, and the movement of the viewing point position and angle on each display is realized by operating a mouse and keyboard combination.
The technology of the invention can be used for monitoring the motion state of the remote ship, and compared with the two-dimensional ship state data remotely displayed on the electronic chart, the three-dimensional visual data is more visual and convenient.
Compared with the technology of directly using sensors such as cameras to carry out remote monitoring, the invention has the advantages of low cost and convenient maintenance. When a remote monitoring system is built by using sensors such as cameras, camera hardware devices are required to be added at a plurality of positions of a ship, a network system is required to be built by a plurality of camera sensor hardware devices of one ship through a data transmission line, the network system is required to be transmitted to a nearby network node through a signal transmission terminal, a stable large-scale data transmission system is required to be built by the network transmission nodes of a plurality of ships, a great deal of time cost and economic cost are required, and a plurality of shipping enterprises and countries around the world are required to perform common efforts for many years. According to the technology, under the condition that the existing hardware equipment is used at the ship end, real-time three-dimensional motion state video of the ship is generated by directly utilizing AIS data, and the investment of economic cost and time cost is reduced. The invention can be used as the transition of real remote monitoring of unmanned ships and intelligent ships.
The three-dimensional ship motion state generated by using the backup ship VDR data can be used as a basis for ship post-sailing analysis, and a three-dimensional visual tool is provided for traffic management departments to monitor traffic flows in jurisdictions. Under the conditions of limited aerial photography technical means and insufficient monitoring network coverage in jurisdictions, the setting device provided by the invention can display states of a channel, a water area, weather, ship movement and the like, and is a low-cost transition option.
Example 2
The present embodiment provides an electronic device, including: one or more processors and a memory, the memory having stored therein one or more programs including instructions for performing the digital twin based vessel motion visualization method as described in embodiment 1.
Example 3
The present embodiment provides a computer-readable storage medium comprising one or more programs for execution by one or more processors of an electronic device, the one or more programs comprising instructions for performing the digital twinning-based vessel motion visualization method as described in embodiment 1.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The ship motion visualization method based on digital twinning is characterized by comprising the following steps of:
acquiring real ship information from a plurality of data sources, and acquiring ship state data through analysis;
loading a preset ship model and an environment model matched with the ship position based on the ship state data;
based on current ship state data, updating the motion state of the digital twin ship through Kalman filtering, and dynamically adjusting the update frequency of the motion state of the twin ship in the update process;
and obtaining observation viewpoint information, and outputting a visual signal to a visual terminal based on the ship model, the environment model, the observation viewpoint information and the motion state of the digital twin ship.
2. The method for visualizing the motion of a ship based on digital twinning according to claim 1, wherein the implementation process of dynamically adjusting the update frequency of the motion state of the twin ship comprises the following steps:
calculating the interval time T between the acquired ship information and the last acquired ship information, and selecting proper twin ship motion state updating frequency f based on the interval time T, so that the interval t=n/f of the digital twin ship state updating is the same as the interval time T, wherein n is a positive integer.
3. A method for visualizing a vessel motion based on digital twinning as in claim 1, wherein said updating the motion state of the digital twinning vessel by kalman filtering comprises the steps of:
acquiring an initial state value of the digital twin ship based on the ship state data in reality;
based on the initial state value, a predicted state value of the digital twin ship is obtained through Kalman filtering, and the motion state of the digital twin ship is updated.
4. A method of visualizing a vessel motion based on digital twinning as in claim 3, wherein the initial state value of the digital twinning vessel is obtained by:
X 0 ＝CS 0
wherein X is 0 Initial state value of digital twin ship, C is dimension conversion matrix, S 0 The actual ship state data includes ship position coordinates and ship attitude coordinates.
5. A ship motion visualization method based on digital twinning as claimed in claim 3, wherein the prediction equation of the kalman filter is:
the updated equation of the Kalman filtering is as follows:
wherein,,
representing t k Time of day measurement value +_>
Represented by t k-1 Time of day measurement +.>
T obtained k Predicted value of time, F represents state transition matrix, H represents measurement matrix, subscripts k-1 and k represent change of time t, broken line symbol on letter represents current letter as estimated value,/>
Representing t k-1 From time to t k Predicted value of state covariance of time, Q k-1,k-1 At t k-1 Time-of-day process noise covariance, R is the variance of Gaussian measured white noise, Z k At t k Time of day objective viewAnd the observed value is an identity matrix, y represents the difference value between the predicted value and the measured value, and K is a Kalman gain coefficient.
6. The method for visualizing a vessel motion based on digital twinning as in claim 1, wherein said visual signal further comprises an electronic chart matching the current point of view.
7. A digital twinning-based vessel motion visualization method as recited in claim 1, further comprising:
judging whether the visual terminal has a plurality of displays, if so, expanding the plurality of displays, setting a plurality of viewports, and transmitting visual signals of different viewing viewpoints to the visual terminal by modifying the viewing projection matrix of each viewport.
8. The method of claim 1, wherein the environmental model comprises at least one of a sky model, a water model, a harbor topography building model, and a channel light model.
9. The digital twin based vessel motion visualization method according to claim 1, wherein the vessel status data comprises vessel identification data and vessel position data, wherein the vessel identification data comprises at least one of vessel identification code, vessel length, vessel width, and the vessel position data comprises at least one of longitude and latitude, heading, and speed.
10. The digital twinning-based vessel motion visualization method of claim 1, wherein the plurality of data sources comprises a real-time transmission data source and an offline backup data source, wherein the data transmitted by the real-time transmission data source comprises: and the offline backup data source is VDR equipment and/or a receiving base station of the ship.
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| CN202310287941.7A CN116309732A (en) | 2023-03-22 | 2023-03-22 | Ship motion visualization method based on digital twinning |
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| CN116912428A (en) * | 2023-09-13 | 2023-10-20 | 中电通途(北京)科技有限公司 | Method and system for realizing digital twin |
| CN116912428B (en) * | 2023-09-13 | 2024-04-16 | 中电通途(北京)科技有限公司 | Method and system for realizing digital twin |
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