Dynamic modeling method of ship operating environment driven by situational awareness data

Abstract

The present invention discloses a method for dynamic modeling of a ship's operating environment driven by situational awareness data, comprising the following steps: 1) performing situational awareness on the ship's operating environment and acquiring situational awareness data; the situational data includes marine environment data and ship situational data; 2) preprocessing the situational awareness data; 3) storing the processed situational awareness data in a database for integrated data management; and 4) constructing a ship's operating environment model using the situational awareness data, the ship's operating environment model including a static model and a dynamic model. The present invention perceives multi-source situational data, acquires situational awareness data in a database through real-time updates, and drives dynamic modeling of the ship's operating environment, thereby effectively improving detection efficiency and the perception capability of the ship's operating system.

Description

Technical Field

[0001] The present invention relates to a ship dynamic modeling technology, and in particular to a ship operating environment dynamic modeling method driven by situational awareness data. Background Art

[0002] With the exploration of the ocean by humankind, ships play various roles at sea. However, the operating performance of ship platforms is greatly affected by the ship operating environment. The changeable ocean meteorological factors, ocean hydrological factors, ocean geographical and geological factors, electromagnetic environment and other factors make it impossible for ship platforms to achieve the optimal indicators of static design. Therefore, how to efficiently model the ship operating environment has gradually become a research hotspot at home and abroad.

[0003] Currently, there are three ways to acquire situational awareness data for a ship's operating environment: sea-based, shore-based, ship-based, air-based, and space-based. Situational awareness data is the foundation for building a dynamic model of the ship's operating environment. Dynamic modeling of the ship's operating environment driven by situational awareness data facilitates accurate modeling of the ship's operating environment, providing ships with the ability to perceive their operating environment's situational information during operation. This allows for timely and comprehensive understanding of various situational information about the ship's operating environment, reducing the impact of the complexity and dynamic nature of the ship's operating environment and ultimately improving ship operational capabilities. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a dynamic modeling method of ship operating environment driven by situational awareness data in response to the defects in the existing technology.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a dynamic modeling method of ship operating environment driven by situational awareness data, comprising the following steps:

[0006] 1) Conduct situational awareness of the ship's operating environment and obtain situational awareness data; the situational data includes marine environment data and ship situation data;

[0007] Among them, marine environmental data include: marine meteorological environment, marine hydrological environment, marine acoustic environment, marine physical environment, marine geological and geomorphological data;

[0008] Ship situation data includes: ship unit type, number of ship operating units, deployment location, and movement trajectory data;

[0009] 2) Preprocessing of situational awareness data;

[0010] The preprocessing includes: using data mining technology to search for correlations between heterogeneous elements in the ocean; using weighted mean filling method to fill missing data values; using K-means based clustering algorithm to achieve data denoising; using file similarity comparison algorithm to remove duplicate and redundant file data; using PCA transformation, Kalman filtering algorithm and multi-Bayesian estimation method to achieve data fusion;

[0011] 3) Use the database to store the processed situational awareness data and conduct data integrated management;

[0012] 4) constructing a ship operation environment model using the situational awareness data, wherein the ship operation environment model includes a static model and a dynamic model;

[0013] Among them, the static models include: marine geological and geomorphological models, marine hydroacoustic channel models and marine physical environment models;

[0014] Dynamic models include: ocean meteorological and hydrological models and ship situational awareness models.

[0015] According to the above scheme, in step 4), using situational awareness data to construct a ship operating environment model is to model a static model using a data model according to the situational awareness data in the database, and to model a dynamic model using a numerical simulation method.

[0016] According to the above scheme, in step 4), the ship operation environment model is constructed using the situational awareness data, as follows:

[0017] 4.1) Marine geological and geomorphological models;

[0018] First, the most basic geometric units for constructing simulation objects are defined as tiny polyhedrons, including tetrahedrons and cubes, to meet the accuracy requirements of different simulation object geometries.

[0019] Secondly, a partitioning algorithm is used to generate a seabed terrain model formed by the accumulation of polyhedral units;

[0020] At the same time, the polynomial trend surface analysis method is used to fit a spatial surface consistent with the spatial variation trend distribution of the geological layer, and finally the marine geological and geomorphological model in the ship operation environment model is established;

[0021] 4.2) Ocean acoustic channel model;

[0022] Establish a simplified ray model of the ocean underwater acoustic channel;

[0023] Based on the ray theory model, a simplified ocean underwater acoustic channel model is constructed based on the Doppler frequency shift phenomenon of the underwater acoustic channel.

[0024] 4.3) Ocean physical environment model;

[0025] Including ocean physical gravity environment model and ocean physical magnetic field environment model;

[0026] Establish a high-precision ocean environment gravity model: Based on the initial state of the exploration satellite, the exploration satellite reference orbit under the empirical gravity field model is used as the initial condition. The nonlinear observation equation of satellite gravity inversion is linearized to finally construct the ocean gravity field model under the ship operation environment.

[0027] The ocean physical magnetic field environment model uses the three-dimensional Taylor polynomial method to combine the ocean magnetic measurement data with the corresponding magnetic measurement point depth data to construct a high-precision ocean magnetic field environment model that conforms to the vertical variation characteristics of the ocean magnetic field;

[0028] 4.4) For the marine meteorological and hydrological model, based on the HYCOM numerical model, surface observation data from satellites are combined through data assimilation, and the model's dynamic interpolation technology is used to perform real-time simulation and nowcasting of three-dimensional ocean conditions;

[0029] 4.5) For the ship situational awareness model, the ship situational awareness model is modeled, and the position information, status information, and deployment information of the operating units are visualized in real time through situational awareness data. The information is rendered in real time in the operating environment model in the form of military standards plus three-dimensional models, and the impact of natural environmental factors in the ship operating environment on the operational capabilities of military units is quantified.

[0030] The beneficial effects produced by the present invention are:

[0031] The present invention provides a method for dynamic modeling of a ship's operating environment driven by situational awareness data. The method uses different methods such as space-based, air-based, sea-based, shore-based, and ship-based to perceive multi-source situational data. The perceived data is pre-processed and stored in a database. The situational awareness data in the database is obtained through real-time updates to drive the dynamic modeling of the ship's operating environment.

[0032] The situational awareness and multi-source data processing and fusion method proposed in the present invention can effectively improve the detection efficiency and the perception capability of the ship operation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0034] Figure 1 is a flow chart of a method according to an embodiment of the present invention;

[0035] Figure 2 is a flow chart of a method for obtaining situational awareness data according to an embodiment of the present invention;

[0036] Figure 3 is a flow chart of a method for preprocessing situational awareness data according to an embodiment of the present invention;

[0037] Figure 4 is a flow chart of a method for storing situational awareness data according to an embodiment of the present invention;

[0038] Figure 5 is a flow chart of a method for constructing a ship operating environment model using situational awareness data in an embodiment of the present invention; DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] like Figure 1 As shown in FIG, a dynamic modeling method of a ship operating environment driven by situational awareness data includes the following steps:

[0041] Step 1: Use situational awareness technology to gain situational awareness of the ship's operating environment;

[0042] The specific implementation process of step 1 in this embodiment is as follows Figure 2 As shown:

[0043] Step 1-1: Determine the type of situational awareness data for the ship's operating environment;

[0044] Step 1-2: Identify the sources of situational awareness data;

[0045] Steps 1-3: Select different perception methods based on different types of situation data;

[0046] Steps 1-4: Obtain the required situation data.

[0047] In step 1-1, the situation data of the ship's operating environment can be divided into natural environment data and ship situation data.

[0048] In this embodiment, the natural environment data includes: marine meteorological environment, marine hydrological environment, marine acoustic environment, marine physical environment, marine geological landforms, etc.; the ship situation data includes: ship unit type, number of ship operating units, deployment location, movement trajectory, etc.

[0049] In steps 1-2, the sources of situational awareness data include space-based, air-based, sea-based, shore-based, and ship-based.

[0050] In steps 1-3 and 1-4, different sensing methods are used based on different types of situational data. For example, real-time collection and transmission of ocean salinity, temperature, and depth data can be achieved through sea-based ocean buoy platforms, space-based remote sensing satellites, and shore-based observation stations. By constructing a three-dimensional ocean temperature and salinity model, the underwater acoustic channel environment in the ship's operating environment can be simulated and temporarily predicted, providing a data foundation for constructing the underwater acoustic channel model. Ocean physical environment data can be obtained through satellite gravity measurements and shipborne gravity measurements. Seabed geological and geomorphological data can be measured through ship-based echo detection methods combined with GIS technology. Ship situation data can be obtained through radar and sonar detection.

[0051] Step 2: Preprocess the situational awareness data;

[0052] The specific implementation process of step 2 in this embodiment is as follows Figure 3 As shown:

[0053] Step 2-1: Use data mining technology to search for the relationship between heterogeneous ocean elements;

[0054] Step 2-2: Use the weighted mean filling method to fill in the missing data values;

[0055] Step 2-3: Use K-means based clustering algorithm to achieve data denoising;

[0056] Step 2-4: Use file similarity comparison algorithm to remove duplicate and redundant file data;

[0057] Step 2-5: Use PCA transformation, Kalman filter algorithm and multi-Bayesian estimation method to achieve data fusion.

[0058] In step 2-1, in view of the dynamics and complexity of marine environmental phenomena, we can perform multi-level classification description and processing on the multi-factor time series perception data such as ocean temperature, rainfall, wave speed and wave direction within a certain time and space range, and use data mining to search for the correlation between the heterogeneous elements of the marine environment, so as to obtain the mapping relationship between the marine environment composed of the multi-factor time series data at the current moment and the corresponding marine phenomena.

[0059] In step 2-2, the missing ocean meteorological and hydrological data are filled by querying the historical average data; for the ship situational awareness data, the weighted average filling method is used to fill the missing data values.

[0060] In step 2-3, since the collected data has noise interference and cannot be used directly, a K-means-based clustering algorithm is used to achieve data denoising.

[0061] In steps 2-4, for the files that are easily repeated and store unstructured data (such as radar scans, electronic reconnaissance images) and semi-structured data (sonar detection text, operation task logs) of the ship operation process, duplicate and redundant file data are removed through file similarity comparison algorithm.

[0062] In steps 2-5, data fusion is used to extract spatial and temporal complementary and redundant information from the multi-source detection data of the ship detection system, forming a unified description of the detected object. Key methods used to achieve data fusion include PCA transformation, Kalman filtering, and multi-Bayesian estimation. Based on the characteristics of different detection sources, a track-level data fusion architecture is developed for heterogeneous GF-4 satellite data and Automatic Identification System (AIS) data, enhancing maritime military situational awareness during ship operations.

[0063] Step 3: Use the database to store the processed situational awareness data and build a data integration management platform;

[0064] The specific implementation process of step 3 in this embodiment is as follows Figure 4 As shown:

[0065] Step 3-1: Determine the storage data type;

[0066] Step 3-2: Data storage based on XML intermediate file mode;

[0067] Step 3-3: Write a database operation interface to implement real-time update and acquisition of data model parameters;

[0068] Step 3-4: Forming a data integrated management platform;

[0069] In step 3-1, the stored data mainly consists of two categories: static data, including basic ship data and basic equipment information, such as equipment type, device type, and physical properties; and dynamic data, including the ship's real-time combat status, dynamic environment, and the operating status of key equipment. Because this data covers a wide range of data, including floating-point data such as temperature, salinity, and depth, as well as character data such as equipment model and parameters, a unified and standardized description of the sensor data types is required before storage.

[0070] In step 3-2, since the ship operating environment data is multi-source, heterogeneous, and massive, storing the data in the form of XML intermediate files is conducive to data integration and management.

[0071] In steps 3-3 and 3-4, the storage and management of the situational awareness data model are implemented using a structured database. By adding, deleting, modifying, and querying the database, the real-time update and acquisition of the access data model parameters and the simulation operation data model parameters are achieved, providing a data foundation for the situational awareness data-driven ship operation environment model.

[0072] Step 4: Use situational awareness data to drive modeling of the ship's operating environment;

[0073] The specific implementation process of step 4 in this embodiment is as follows Figure 5 As shown:

[0074] Step 4-1: Obtain relevant parameter data from the database;

[0075] Step 4-2: Model the static model using the data model;

[0076] Step 4-3: Model the dynamic model using numerical simulation;

[0077] During dynamic modeling, the stored perception data is obtained from the database to drive the establishment of the ship operating environment model.

[0078] The ship operating environment model includes static model and dynamic model.

[0079] Static models include: marine geological and geomorphological models, marine hydroacoustic channel models and marine physical environment models.

[0080] Dynamic models include: ocean meteorological and hydrological models and ship situational awareness models.

[0081] For marine geology and geomorphology models, the most basic geometric units for constructing simulation objects must first be defined as tiny polyhedrons (such as tetrahedrons and cubes) to meet the accuracy requirements of the different simulation object geometries. Next, a partitioning algorithm is used to generate a seafloor topography model formed by stacking these polyhedron units. Simultaneously, a polynomial trend surface analysis method is used to fit a spatial surface consistent with the spatial distribution of geological strata. Ultimately, a highly accurate marine geology and geomorphology model is established for the ship's operating environment model.

[0082] Existing underwater acoustic communication channel simulation theories primarily derive from ray acoustics theory models. Real-time sound velocity profile estimation is developed by leveraging the fact that the ocean's sound velocity profile distribution is affected by seawater temperature and salinity. By deriving functional equations for sound ray trajectories from ray theory, a simplified ray model of the ocean's underwater acoustic channel can be constructed. Based on this ray theory model, a simplified ocean underwater acoustic channel model is constructed that accounts for the Doppler time-varying frequency shift characteristics of the underwater acoustic channel.

[0083] The ocean physical environment model primarily encompasses the gravity and magnetic environments. The primary method for constructing a high-precision ocean gravity model involves inferring a high-precision static ocean gravity field model using gravity data from exploration satellites. Based on the initial state of the exploration satellite and the reference orbit of the exploration satellite under the empirical gravity field model, the nonlinear observation equations derived from the satellite gravity inversion are linearized, ultimately constructing an ocean gravity field model for the ship's operating environment. Magnetic field models can be categorized into global and regional models based on the modeling region. To address this, it is necessary to construct a high-resolution regional geomagnetic field model tailored to the specific application requirements of the ship's operating environment, consistent with the depth-dependent magnetic field distribution in the ship's operating environment, and reconstructing anomalies in the actual ocean. In constructing the ocean magnetic field model, a three-dimensional Taylor polynomial approach is employed to combine ocean magnetic survey data with the corresponding depth data from the magnetic measurement points to construct a high-precision ocean magnetic field model that reflects the vertical variation of the ocean's magnetic field.

[0084] As for the marine meteorological and hydrological model, given that the actual observed marine meteorological and hydrological data are relatively scarce and cannot meet the research needs of data modeling, the mainstream research method in academia is to establish an ocean numerical model to simulate the marine meteorological and hydrological environment in real time. The marine numerical model numerically simulates the ocean by establishing seawater motion equations, thermodynamic equations, etc. This embodiment is based on the HYCOM numerical model, which combines surface observation data from satellites through data assimilation, and uses the model's dynamic interpolation technology to accurately simulate and forecast the three-dimensional ocean state in real time. The U.S. Navy Global Ocean Forecast System (GOFS), based on HYCOM and the Navy Coupled Ocean Data Assimilation (NCODA) components, can be used to simulate and forecast the global marine meteorological and hydrological environment.

[0085] The ship situational awareness model primarily includes the construction of both enemy and friendly operational and logistics units, which are rendered in real time within the operational environment model using a military-standard 3D model. Situational awareness data provides real-time visualization of the operational unit's location, status, and deployment information. Furthermore, the impact of natural environmental factors within the ship's operational environment on the operational capabilities of military units must be considered, effectively quantifying the impact of these environmental factors on the naval battlefield and the operational units.

[0086] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A method for dynamic modeling of ship operating environment based on situational awareness data, characterized in that: The following steps are involved: 1) Conduct situational awareness of the ship's operating environment and obtain situational awareness data; the situational data includes marine environment data and ship situation data; Among them, marine environmental data include: marine meteorological environment, marine hydrological environment, marine acoustic environment, marine physical environment, marine geological and geomorphological data; Ship situation data includes: ship unit type, number of ship operating units, deployment location, and movement trajectory data; 2) Preprocessing of situational awareness data; 3) Use the database to store the processed situational awareness data and conduct data integrated management; 4) constructing a ship operation environment model using the situational awareness data, wherein the ship operation environment model includes a static model and a dynamic model; Among them, the static models include: marine geological and geomorphological models, marine hydroacoustic channel models and marine physical environment models; Dynamic models include: ocean meteorological and hydrological models and ship situational awareness models.

2. The method for dynamic modeling of ship operating environment based on situational awareness data drive according to claim 1 is characterized in that: The preprocessing includes: using data mining technology to search for the correlation relationship between marine heterogeneous elements; using the weighted mean filling method to fill in the missing data values; using the K-means-based clustering algorithm to achieve data denoising; using the file similarity comparison algorithm to remove duplicate and redundant file data; and using PCA transformation, Kalman filtering algorithm and multi-Bayesian estimation method to achieve data fusion.

3. The method for dynamic modeling of ship operating environment based on situational awareness data drive according to claim 1 is characterized in that: In the step 4), using the situational awareness data to construct the ship operating environment model is to model the static model using a data model according to the situational awareness data in the database, and to model the dynamic model using a numerical simulation method.

4. The method for dynamic modeling of ship operating environment based on situational awareness data drive according to claim 1 is characterized in that: In step 4), the situational awareness data is used to construct a ship operating environment model, as follows: 4.1) Marine geological and geomorphological models; First, the most basic geometric units for constructing simulation objects are defined as tiny polyhedrons, including tetrahedrons and cubes, to meet the accuracy requirements of different simulation object geometries. Secondly, a partitioning algorithm is used to generate a seabed terrain model formed by the accumulation of polyhedral units; At the same time, the polynomial trend surface analysis method is used to fit a spatial surface consistent with the spatial variation trend distribution of the geological layer, and finally the marine geological and geomorphological model in the ship operation environment model is established; 4.2) Ocean acoustic channel model; Establish a simplified ray model of the ocean underwater acoustic channel; Based on the ray theory model, a simplified ocean underwater acoustic channel model is constructed based on the Doppler frequency shift phenomenon of the underwater acoustic channel. 4.3) Ocean physical environment model; Including ocean physical gravity environment model and ocean physical magnetic field environment model; Establish a high-precision ocean environment gravity model: Based on the initial state of the exploration satellite, the exploration satellite reference orbit under the empirical gravity field model is used as the initial condition. The nonlinear observation equation of satellite gravity inversion is linearized to finally construct the ocean gravity field model under the ship operation environment. The ocean physical magnetic field environment model uses the three-dimensional Taylor polynomial method to combine the ocean magnetic measurement data with the corresponding magnetic measurement point depth data to construct a high-precision ocean magnetic field environment model that conforms to the vertical variation characteristics of the ocean magnetic field; 4.4) For the marine meteorological and hydrological model, based on the HYCOM numerical model, surface observation data from satellites are combined through data assimilation, and the model's dynamic interpolation technology is used to perform real-time simulation and nowcasting of three-dimensional ocean conditions; 4.5) For the ship situational awareness model, the ship situational awareness model is modeled, and the position information, status information, and deployment information of the operating units are visualized in real time through situational awareness data. The information is rendered in real time in the operating environment model in the form of military standards plus three-dimensional models, and the impact of natural environmental factors in the ship operating environment on the operational capabilities of military units is quantified.

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