A method and apparatus for adaptive testing of a ship's navigation

Abstract

The application provides a ship navigation adaptability testing method and device, comprising: obtaining wind wave flow historical data in a navigation water area, presetting a planned route and a test scene of a ship; the test scene comprises an error correction test scene and a navigation adaptability test scene; testing the ship in the error correction test scene according to the wind wave flow historical data and the planned route to obtain an error correction test result of the ship; testing the ship in the navigation adaptability test scene according to the wind wave flow historical data and the planned route to avoid an obstacle ship in the adaptability test scene to obtain an avoidance test result of the ship; and obtaining a navigation adaptability test result of the ship according to the error correction test result and the avoidance test result. The application realizes dynamic path planning and automatic collision avoidance of the ship.

Description

Technical Field

[0001] This invention relates to the field of ship navigation testing technology, and specifically to a method and apparatus for testing ship navigation adaptability. Background Technology

[0002] Ships are tools and carriers for humankind to explore and utilize the ocean. As countries deepen their exploration of the ocean, research on intelligent ships has made some progress. Currently, driven by research on ship intelligence, such as the development and integration of intelligent equipment and the development and optimization of intelligent algorithms, the demand for testing and verification of these hardware and software is gradually increasing. This, in turn, is promoting the development of intelligent ship testing and verification technologies aimed at measuring the degree of ship intelligence, reliability, and functional completeness. Researching corresponding intelligent navigation function testing and verification technologies is one of the core technological needs at present.

[0003] For vessels navigating in open waters, information about some navigational obstacles is unknown. Other vessels are dynamic landmarks, requiring real-time local path planning based on their movements—this is known as dynamic path planning. The act of a vessel safely avoiding a collision and then returning to its planned route and navigating along that route is called "returning" in maritime practice. To ensure safe navigation, it is necessary to test whether the vessel has performed dynamic path planning, or whether it has completed automatic collision avoidance and "returned."

[0004] Therefore, there is an urgent need to propose a ship navigation adaptive testing method and device to solve the problem in the existing technology that it is impossible to determine whether the ship has performed dynamic path planning or completed automatic collision avoidance and "return to course" for testing, which leads to the inability to obtain the ship's test results. Summary of the Invention

[0005] In view of this, it is necessary to provide a method and apparatus for testing the adaptive navigation of ships, so as to solve the problem in the prior art that it is impossible to determine whether the ship has performed dynamic path planning, or whether it has completed automatic collision avoidance and performed "return navigation" for testing, which leads to the inability to obtain the test results of the ship.

[0006] On one hand, the present invention provides a method for testing the adaptiveness of ship navigation, comprising:

[0007] Acquire historical data on wind, waves, and currents in the navigation area, and pre-set the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptive test scenarios;

[0008] The vessel is tested in the error correction test scenario according to the historical wind, wave and current data and the planned route to obtain the error correction test results of the vessel.

[0009] The vessel is tested in the navigation adaptive test scenario by avoiding obstacles in the adaptive test scenario according to the historical wind, wave and current data and the planned route, and the avoidance test results of the vessel are obtained.

[0010] Based on the error correction test results and the avoidance test results, the navigation adaptability test results of the vessel are obtained.

[0011] In some possible implementations, the step of testing the vessel according to the planned route based on the historical wind, wave, and current data in the error correction test scenario to obtain the error correction test results for the vessel includes:

[0012] In the error correction test scenario, the vessel is tested according to the planned route based on the historical wind, wave and current data to obtain navigation data for a preset number of laps; each lap of navigation data includes the initial coordinates of each track point during the vessel's navigation process;

[0013] Based on the initial coordinates of each track point and the planned route, the distance from each track point to the track point corresponding to the planned route is obtained;

[0014] Based on the distance between each track point and the planned route in the navigation data of the preset number of laps, a first track deviation value between each lap of navigation data and the planned route is determined.

[0015] Select the second track deviation value from all the first track deviation values ​​corresponding to each lap of navigation data;

[0016] The error correction test results of the vessel are determined based on the first track deviation value and the second track deviation value.

[0017] In some possible implementations, the step of testing the vessel's avoidance of obstacle vessels in the adaptive navigation test scenario according to the planned route based on the historical wind, wave, and current data, and obtaining the vessel's avoidance test results, includes:

[0018] In the navigation adaptability test scenario, the vessel is tested according to the historical wind, wave and current data and the obstacle vessel along the planned route to obtain the path planning result of the vessel.

[0019] Based on the path planning results, the collision avoidance test results of this vessel are determined.

[0020] In some possible implementations, obtaining the distance from each waypoint to the planned route based on the initial coordinates of each waypoint and the planned route includes:

[0021] Based on the planned route, determine the turning coordinates of a preset number of turning points;

[0022] Based on the turning coordinates of the preset number of turning points and the initial coordinates of each track point, the track point distance corresponding to each track point is obtained.

[0023] In some possible implementations, the path planning result includes the urgency of the vessel;

[0024] In the navigation adaptive test scenario, the vessel is tested according to the historical wind, wave, and current data and the obstacle vessel along the planned route to obtain the vessel's path planning results, including:

[0025] Determine whether there is a risk of collision between the vessel and the obstacle vessel;

[0026] If so, the encounter type and the vessel type of the vessel shall be determined based on the navigation conditions of the vessel and the obstacle vessel.

[0027] The urgency of the vessel is determined based on the type of encounter and the type of vessel.

[0028] In some possible implementations, the path planning results include the safety of the vessel;

[0029] In the navigation adaptive test scenario, the vessel is tested according to the historical wind, wave, and current data and the obstacle vessel along the planned route to obtain the vessel's path planning results, including:

[0030] Based on the test results of the vessel and the obstacle vessel in the navigation adaptive test scenario, the first navigation coordinates of the vessel and the second navigation coordinates of the obstacle vessel are obtained.

[0031] The safety of the vessel is determined based on the first navigation coordinates and the second navigation coordinates.

[0032] In some possible implementations, determining the collision avoidance test result of the vessel based on the urgency and the safety includes:

[0033] Determine whether the urgency level is at the urgency threshold;

[0034] If not, then the avoidance test result of the vessel is determined to be that no dynamic path planning was performed;

[0035] If so, determine whether the security level is at the security threshold;

[0036] If not, then the collision avoidance test result of this vessel is indeed that dynamic path planning was performed but safe collision avoidance was not performed;

[0037] If so, then determine whether the vessel has reached its destination;

[0038] If not, then the collision avoidance test result of this vessel indicates that dynamic path planning was performed, but safe collision avoidance was not performed.

[0039] If so, then the collision avoidance test results of this vessel confirm that dynamic path planning and safe collision avoidance were performed.

[0040] In some possible implementations, determining the error correction test result of the vessel based on the first track deviation value and the second track deviation value includes:

[0041] The year-on-year change rate is determined based on the first track deviation value and the second track deviation value;

[0042] Determine whether the year-on-year change rate is less than the allowable error threshold;

[0043] If so, then the error correction test result is determined to have error correction function;

[0044] If not, then the error correction test result is determined to be either no error correction function or an incomplete function.

[0045] In some possible implementations, selecting the second track deviation value from all first track deviation values ​​corresponding to each lap of navigation data includes:

[0046] The maximum value among all first track deviation values ​​corresponding to each lap of navigation data is selected as the second track deviation value.

[0047] On the other hand, the present invention also provides a ship navigation adaptability testing device, comprising:

[0048] The data acquisition module is used to acquire historical data on wind, waves, and currents in the navigation waters, and to preset the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptability test scenarios;

[0049] The error testing module is used to test the vessel according to the planned route based on the historical wind, wave and current data in the error correction test scenario, and obtain the error correction test results of the vessel.

[0050] The adaptive testing module is used to test the vessel's ability to avoid obstacles in the adaptive testing scenario based on historical wind, wave and current data and the planned route in the navigation adaptive testing scenario, and to obtain the vessel's avoidance test results.

[0051] The result determination module is used to obtain the navigation adaptability test result of the vessel based on the error correction test result and the avoidance test result.

[0052] The beneficial effects of the above embodiments are as follows: The ship navigation adaptive testing method provided by the present invention acquires historical wind, wave, and current data in the navigation waters, and presets the planned route and test scenarios for the ship. The test scenarios include error correction test scenarios and navigation adaptive test scenarios. The ship is tested in the error correction test scenario according to the historical wind, wave, and current data and the planned route to obtain the error correction test result. The ship is then tested in the navigation adaptive test scenario according to the historical wind, wave, and current data and the planned route to avoid obstacles in the adaptive test scenario, to obtain the avoidance test result. Based on the error correction test result and the avoidance test result, the ship's navigation adaptive test result is obtained. The present invention uses error correction test scenarios to judge the ship's navigation data and navigation adaptive test scenarios to test dynamic path planning and automatic collision avoidance, thus realizing the ship's adaptive testing. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A schematic flowchart of an embodiment of the ship navigation adaptive testing method provided by the present invention;

[0055] Figure 2 A schematic diagram of an embodiment of the square continuous planned route of the vessel provided by the present invention;

[0056] Figure 3 A coordinate diagram illustrating an embodiment of a square continuous planned route provided in this invention;

[0057] Figure 4 A schematic diagram of an embodiment of the error correction test scenario provided by this invention;

[0058] Figure 5A schematic diagram of an embodiment of the navigation adaptive test scenario provided by the present invention;

[0059] Figure 6 A schematic diagram of an embodiment of the ship navigation adaptive testing device provided by the present invention;

[0060] Figure 7 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0062] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0063] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0064] This invention provides a method and apparatus for testing the adaptiveness of ship navigation, which will be described below.

[0065] Figure 1 A schematic flowchart of an embodiment of the ship navigation adaptive testing method provided by the present invention is shown below. Figure 1 As shown, the ship navigation adaptability test method includes:

[0066] S101. Obtain historical data on wind, waves, and currents in the navigation area, and preset the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptive test scenarios;

[0067] S102. The vessel is tested in the error correction test scenario according to the planned route based on the historical wind, wave and current data, and the error correction test results of the vessel are obtained.

[0068] S103. The vessel is tested in the adaptive navigation test scenario by avoiding obstacles in the adaptive test scenario according to the historical wind, wave and current data and the planned route, and the avoidance test results of the vessel are obtained.

[0069] S104. Based on the error correction test results and the avoidance test results, the navigation adaptability test results of the vessel are obtained.

[0070] Compared with existing technologies, the ship navigation adaptive testing method provided by this invention acquires historical wind, wave, and current data in the navigation waters, and presets the ship's planned route and test scenarios. The test scenarios include error correction test scenarios and navigation adaptive test scenarios. The ship is tested in the error correction test scenario according to the historical wind, wave, and current data along the planned route, yielding the error correction test results. The ship is then tested in the navigation adaptive test scenario according to the historical wind, wave, and current data along the planned route to avoid obstacles, yielding the obstacle avoidance test results. Based on the error correction test results and the obstacle avoidance test results, the ship's navigation adaptive test results are obtained. This invention uses error correction test scenarios to judge the ship's navigation data and navigation adaptive test scenarios to test dynamic path planning and automatic collision avoidance, thus achieving adaptive testing of the ship.

[0071] It should be understood that: vessels with obstacles can be set up in the navigation adaptability test scenario, and the test indicators of the vessel navigation adaptability test can include "stability of output results" and "safety of collision avoidance". "Stability of output results" can be judged through error correction test, and "safety of collision avoidance" can be judged through the vessel navigation adaptability test.

[0072] In a specific embodiment of the present invention, a square continuous planned route for the vessel can be designed, such as... Figure 2As shown, the vessel will travel clockwise along the four sides of a square. The coordinates of the four vertices A, B, C, and D are (30°01'N, 122°30'E), (30°06.004'N, 122°30'E), (30°06.004'N, 122°35.782'E), and (30°06.004'N, 122°35.782'E), respectively. Each segment of the route is 5 nm long. Point A is the start / end point of the route. The direction indicated by the dashed arrow in the figure is the vessel's direction of travel on this segment. Additionally, a test scenario is set up where the vessel encounters an obstacle vessel. The obstacle vessel is set as a virtual vessel instead of being obtained from real AIS data, thus enabling control over the obstacle vessel's speed and heading. For example, tests can be conducted on situations where the obstacle vessel undergoes significant speed changes and significant course changes. ① When the obstacle vessel is 7 nm away from the vessel, it is set to accelerate dramatically from its original speed of 9.4 knots to 20 knots. ② When the obstructing vessel is 6nm away from the vessel, it makes a sharp right turn from its original course of 168 to 219. After traveling a distance, when it is 4.6nm away from the vessel, the obstructing vessel turns left again to 152.

[0073] In some embodiments of the present invention, step S102 includes:

[0074] In the error correction test scenario, the vessel is tested according to the planned route based on the historical wind, wave and current data to obtain navigation data for a preset number of laps; each lap of navigation data includes the initial coordinates of each track point during the vessel's navigation process;

[0075] Based on the initial coordinates of each track point and the planned route, the distance from each track point to the track point corresponding to the planned route is obtained;

[0076] Based on the distance between each track point and the planned route in the navigation data of the preset number of laps, a first track deviation value between each lap of navigation data and the planned route is determined.

[0077] Select the second track deviation value from all the first track deviation values ​​corresponding to each lap of navigation data;

[0078] The error correction test results of the vessel are determined based on the first track deviation value and the second track deviation value.

[0079] It should be noted that the stability of the test system output can be used as a test indicator for the system error correction function. The stability of the output is reflected in the stability of the ship's track. The stability of the output is expressed as the rate of change of the maximum track deviation of the first N laps after continuous navigation compared to the maximum track deviation of the first lap. In a specific embodiment of the present invention, such as... Figure 3As shown, assume the coordinates of turning points A, B, C, and D in the planned flight path are (x... a y a ), (x a y b ), (x b y b ), (x b y a Point A is the starting / ending point of the route. The coordinates of any track point on the ship are (x1, y1). The ship continuously navigates along turning points ABCDABCD… The track formed between the ship's Nth passing of the starting point and the Nth passing of the ending point is denoted as the Nth loop track. (N) The track formed by this vessel from the start of the test to the Nth time it passes the endpoint is denoted as the first N laps track L. (N) .

[0080] In some embodiments of the present invention, obtaining the distance from each track point to the track point corresponding to the planned route based on the initial coordinates of each track point and the planned route includes:

[0081] Based on the planned route, determine the turning coordinates of a preset number of turning points;

[0082] Based on the turning coordinates of the preset number of turning points and the initial coordinates of each track point, the track point distance corresponding to each track point is obtained.

[0083] It should be noted that the location of the waypoint can be outside the square of the planned route, inside the square, or on the square.

[0084] In a specific embodiment of the invention, the distances from the track point to the four sides of the square are calculated, and the minimum of the four distances is taken as the distance d from the ship to the planned route. When the track point is outside the square, the distance is calculated using Formula 1:

[0085]

[0086] When the waypoint is within the square, the calculation is performed using Formula 2:

[0087] d = d in =min(|x1-x a |,|x1-x b |,|y1-y b |,|u1-y a |) (2)

[0088] When the waypoint is located above the square, the calculation is performed using Formula 3:

[0089] d = don =0 (3)

[0090] Take the maximum value d of the three (N) max As l (N) The maximum deviation from the planned route is shown in Formula 4:

[0091]

[0092] In some embodiments of the present invention, selecting a second track deviation value from all first track deviation values ​​corresponding to each lap of navigation data includes:

[0093] The maximum value among all first track deviation values ​​corresponding to each lap of navigation data is selected as the second track deviation value.

[0094] In a specific embodiment of the present invention, the first N revolutions d are taken. (N) The maximum value is used as L (N) Maximum track deviation D from the planned route (N) max As shown in Formula 5:

[0095]

[0096] In some embodiments of the present invention, determining the error correction test result of the vessel based on the first track deviation value and the second track deviation value includes:

[0097] The year-on-year change rate is determined based on the first track deviation value and the second track deviation value;

[0098] Determine whether the year-on-year change rate is less than the allowable error threshold;

[0099] If so, then the error correction test result is determined to have error correction function;

[0100] If not, then the error correction test result is determined to be either no error correction function or an incomplete function.

[0101] In a specific embodiment of the present invention, the first track deviation value and the second track deviation value of the first lap can be compared to obtain the year-on-year change rate, for example, D. (N) max Compared to D (1) max Year-on-year change rate D (1-N) ％ As shown in Formula 6:

[0102]

[0103] Among them, such as Figure 4 As shown, after setting up the error correction test scenario, the initial data of this ship, the planned route, and the wind, wave, and current data, the test can be started based on the navigation data. The allowable error threshold can be set to 5%. If D (1-N )％ < 5%, it indicates that the tested system has the error correction function, and the test index "stability of the output result" T H is 1; otherwise, it indicates that the error correction function is not available or the function is imperfect, and T H is 0, and the process ends. Among them, the allowable error threshold can be set according to the actual situation, and the embodiments of the present invention do not limit this here.

[0104] In some embodiments of the present invention, step S103 includes:

[0105] In the navigation adaptability test scenario, test this ship according to the historical wind, wave, and current data and the obstacle ship according to the planned route to obtain the path planning result of this ship;

[0106] Determine the avoidance test result of this ship according to the path planning result.

[0107] It should be noted that automatic collision avoidance is one of the core functions of the autonomous navigation system, which refers to the process of automatically performing multiple maneuvering behaviors to prevent the collision of this ship with the target. For the automatic collision avoidance function, the most basic requirement is safety. If the target ship can be avoided at a safe distance, then this function is qualified.

[0108] In some embodiments of the present invention, the path planning result includes the urgency of this ship;

[0109] The process of obtaining the path planning result of this ship by testing this ship according to the historical wind, wave, and current data and the obstacle ship according to the planned route in the navigation adaptability test scenario includes:

[0110] Judge whether there is a collision risk between this ship and the obstacle ship;

[0111] If so, determine the encounter type and the ship type of this ship according to the navigation conditions of this ship and the obstacle ship;

[0112] Determine the urgency of this ship according to the encounter type and the ship type of this ship.

[0113] It should be noted that when two vessels with a potential collision risk (PCR) meet, the timing of the vessel's evasive action directly affects the urgency of the evasive maneuver and the available evasive measures. When a PCR exists between two vessels during an encounter, the Spatial Collision Risk Ratio (SCRI) is 1. Therefore, the urgency of the vessel's planning of the evasive maneuvering point is measured using the Temporal Collision Risk Ratio (TCRI).

[0114] In a specific embodiment of the present invention, a calculation model for collision hazard is preset, and the time-based collision hazard u can be obtained through the calculation model. (t1) tT Based on the time-based collision risk and the timing of collision avoidance actions, the urgency index T for ship path planning is determined. u The determination method is as follows:

[0115] ① When the two vessels are facing each other or when the vessel is the one giving way in an overtaking / crossing encounter situation, as shown in Formula 7:

[0116]

[0117] In the formula, t1 is the moment when the ship begins to avoid the obstacle and turn.

[0118] ② When this vessel is a straight-ahead vessel in an overtaking / crossing encounter situation and takes collision avoidance action alone, as shown in Formula 8:

[0119]

[0120] In some embodiments of the present invention, the path planning results include the safety of the vessel;

[0121] In the navigation adaptive test scenario, the vessel is tested according to the historical wind, wave, and current data and the obstacle vessel along the planned route to obtain the vessel's path planning results, including:

[0122] Based on the test results of the vessel and the obstacle vessel in the navigation adaptive test scenario, the first navigation coordinates of the vessel and the second navigation coordinates of the obstacle vessel are obtained.

[0123] The safety of the vessel is determined based on the first navigation coordinates and the second navigation coordinates.

[0124] It should be noted that this invention does not consider the collision avoidance algorithm, but only the requirements for safe distance.

[0125] In a specific embodiment of the present invention, each vessel has its own vessel territory. Entering a vessel territory indicates a collision avoidance hazard. The distance Dis from the target vessel to the vessel's vessel territory is specified.(t) As an evaluation indicator, "automatic collision avoidance safety" T s Quantitative judgment, at any time t, T s (t) The calculation is shown in Formula 9:

[0126]

[0127] In the formula, the superscript t represents the current time; (X1, Y1), (X R Y R ( ) represent the positions of the vessel and the obstructing vessel in the geodetic coordinate system, respectively.

[0128] The judgment criteria are shown in Formula 10:

[0129]

[0130] In some embodiments of the present invention, determining the collision avoidance test result of the vessel based on the urgency and the safety includes:

[0131] Determine whether the urgency level is at the urgency threshold;

[0132] If not, then the avoidance test result of the vessel is determined to be that no dynamic path planning was performed;

[0133] If so, determine whether the security level is at the security threshold;

[0134] If not, then the collision avoidance test result of this vessel is indeed that dynamic path planning was performed but safe collision avoidance was not performed;

[0135] If so, then determine whether the vessel has reached its destination;

[0136] If not, then the collision avoidance test result of this vessel indicates that dynamic path planning was performed, but safe collision avoidance was not performed.

[0137] If so, then the collision avoidance test results of this vessel confirm that dynamic path planning and safe collision avoidance were performed.

[0138] In specific embodiments of the present invention, such as Figure 5 As shown, after setting up the navigation adaptive test scenario, the initial data of the vessel, the obstructing vessels, the planned route, and the wind, wave, and current data, the test can begin based on the navigation data to obtain the urgency T. u and security T s The urgency threshold can be 1, and the safety threshold can also be 1. The urgency T is determined by... uIf the threshold is not met, the avoidance test result indicates that dynamic path planning was not performed, and the process ends. If it is met, then the safety threshold (T) is assessed. s If the threshold is not met, the avoidance test result indicates that dynamic path planning was performed but safe avoidance was not implemented, and the process ends. If it is met, the process then checks if the destination has been reached. If it is reached, the test result indicates that both dynamic path planning and safe avoidance were performed, and the process ends. If not, the process indicates that dynamic path planning was performed but safe avoidance was not implemented, and the process ends. The allowable urgency threshold and safety threshold can be set according to actual conditions, and this embodiment of the invention does not impose any limitations on them.

[0139] It should be noted that, because the test indicators for ship navigation adaptability testing can include "stability of output results" and "collision avoidance safety", the test results of ship navigation adaptability testing need to include the test results of error correction testing and the test results of ship navigation adaptability testing. The two tests are conducted in parallel.

[0140] This invention uses error correction test scenarios to judge the navigation data of the vessel, and also uses navigation adaptability test scenarios to test dynamic path planning and automatic collision avoidance, thus realizing the adaptive testing of the vessel.

[0141] To better implement the ship navigation adaptive testing method in this embodiment of the invention, correspondingly, this embodiment of the invention also provides a ship navigation adaptive testing device, such as... Figure 6 As shown, the ship navigation adaptive testing device includes:

[0142] Data acquisition module 604 is used to acquire historical data on wind, waves and currents in the navigation waters, and to preset the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptability test scenarios;

[0143] Error testing module 602 is used to test the vessel according to the planned route based on the historical wind, wave and current data in the error correction test scenario, and obtain the error correction test result of the vessel.

[0144] The adaptive test module 603 is used to test the vessel's avoidance of obstacle vessels in the adaptive test scenario according to the historical wind, wave and current data and the planned route in the navigation adaptive test scenario, and to obtain the avoidance test results of the vessel.

[0145] The result determination module 604 is used to obtain the navigation adaptability test result of the vessel based on the error correction test result and the avoidance test result.

[0146] The ship navigation adaptive testing device provided in the above embodiments can realize the technical solutions described in the above ship navigation adaptive testing method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above ship navigation adaptive testing method embodiments, and will not be repeated here.

[0147] like Figure 7 As shown, the present invention also provides an electronic device 700. The electronic device 700 includes a processor 701, a memory 702, and a display 707. Figure 7 Only some components of the electronic device 700 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0148] In some embodiments, memory 702 may be an internal storage unit of electronic device 700, such as a hard disk or memory of electronic device 700. In other embodiments, memory 702 may also be an external storage device of electronic device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 700.

[0149] Furthermore, the memory 702 may include both internal storage units of the electronic device 700 and external storage devices. The memory 702 is used to store application software and various types of data installed on the electronic device 700.

[0150] In some embodiments, processor 701 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 702 or process data, such as the ship navigation adaptive testing method of the present invention.

[0151] In some embodiments, display 707 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 707 is used to display information from electronic device 700 and to display a visual user interface. Components 701-707 of electronic device 700 communicate with each other via a system bus.

[0152] In some embodiments of the present invention, when the processor 701 executes the ship navigation adaptability test program in the memory 702, the following steps can be implemented:

[0153] Acquire historical data on wind, waves, and currents in the navigation area, and pre-set the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptive test scenarios;

[0154] The vessel is tested in the error correction test scenario according to the historical wind, wave and current data and the planned route to obtain the error correction test results of the vessel.

[0155] The vessel is tested in the navigation adaptive test scenario by avoiding obstacles in the adaptive test scenario according to the historical wind, wave and current data and the planned route, and the avoidance test results of the vessel are obtained.

[0156] Based on the error correction test results and the avoidance test results, the navigation adaptability test results of the vessel are obtained.

[0157] It should be understood that when the processor 701 executes the ship navigation adaptive test program in the memory 702, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0158] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 700 mentioned. Electronic device 700 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 700 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0159] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the ship navigation adaptive testing method provided in the above-described method embodiments.

[0160] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0161] The above provides a detailed description of the ship navigation adaptive testing method and apparatus provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for testing the adaptiveness of ship navigation, characterized in that, include: Acquire historical data on wind, waves, and currents in the navigation area, and pre-set the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptive test scenarios; The vessel is tested in the error correction test scenario according to the historical wind, wave and current data and the planned route to obtain the error correction test results of the vessel. The vessel is tested in the navigation adaptive test scenario by avoiding obstacles in the adaptive test scenario according to the historical wind, wave and current data and the planned route, and the avoidance test results of the vessel are obtained. Based on the error correction test results and the avoidance test results, the navigation adaptability test results of the vessel are obtained. The step of testing the vessel in the error correction test scenario according to the historical wind, wave, and current data and following the planned route to obtain the error correction test results for the vessel includes: In the error correction test scenario, the vessel is tested according to the planned route based on the historical wind, wave and current data to obtain navigation data for a preset number of laps; each lap of navigation data includes the initial coordinates of each track point during the vessel's navigation process; Based on the initial coordinates of each track point and the planned route, the distance from each track point to the track point corresponding to the planned route is obtained; Based on the distance between each track point and the planned route in the navigation data of the preset number of laps, a first track deviation value between each lap of navigation data and the planned route is determined. Select the second track deviation value from all the first track deviation values ​​corresponding to each lap of navigation data; The error correction test results of the vessel are determined based on the first track deviation value and the second track deviation value.

2. The ship navigation adaptive testing method according to claim 1, characterized in that, The process involves testing the vessel's avoidance of obstructing vessels in the adaptive navigation test scenario based on historical wind, wave, and current data and following the planned route, to obtain the vessel's avoidance test results, including: In the navigation adaptability test scenario, the vessel is tested according to the historical wind, wave and current data and the obstacle vessel along the planned route to obtain the path planning result of the vessel. Based on the path planning results, the collision avoidance test results of this vessel are determined.

3. The ship navigation adaptive testing method according to claim 1, characterized in that, The step of obtaining the distance from each trackpoint to the planned route based on the initial coordinates of each trackpoint and the planned route includes: Based on the planned route, determine the turning coordinates of a preset number of turning points; Based on the turning coordinates of the preset number of turning points and the initial coordinates of each track point, the track point distance corresponding to each track point is obtained.

4. The ship navigation adaptive testing method according to claim 2, characterized in that, The route planning results include the urgency of the vessel. In the navigation adaptive test scenario, the vessel is tested according to the historical wind, wave, and current data and the obstacle vessel along the planned route to obtain the vessel's path planning results, including: Determine whether there is a risk of collision between the vessel and the obstacle vessel; If so, the encounter type and the vessel type of the vessel shall be determined based on the navigation conditions of the vessel and the obstacle vessel. The urgency of the vessel is determined based on the type of encounter and the type of vessel.

5. The ship navigation adaptive testing method according to claim 4, characterized in that, The route planning results include the safety of the vessel. In the navigation adaptive test scenario, the vessel is tested according to the historical wind, wave, and current data and the obstacle vessel along the planned route to obtain the vessel's path planning results, including: Based on the test results of the vessel and the obstacle vessel in the navigation adaptive test scenario, the first navigation coordinates of the vessel and the second navigation coordinates of the obstacle vessel are obtained. The safety of the vessel is determined based on the first navigation coordinates and the second navigation coordinates.

6. The ship navigation adaptive testing method according to claim 5, characterized in that, The determination of the collision avoidance test results of the vessel based on the urgency and safety includes: Determine whether the urgency level is at the urgency threshold; If not, then the avoidance test result of the vessel is determined to be that no dynamic path planning was performed; If so, determine whether the security level is at the security threshold; If not, then the collision avoidance test result of this vessel is indeed that dynamic path planning was performed but safe collision avoidance was not performed; If so, then determine whether the vessel has reached its destination; If not, then the collision avoidance test result of this vessel indicates that dynamic path planning was performed, but safe collision avoidance was not performed. If so, then the collision avoidance test results of this vessel confirm that dynamic path planning and safe collision avoidance were performed.

7. The ship navigation adaptive testing method according to claim 1, characterized in that, The step of determining the error correction test result of the vessel based on the first track deviation value and the second track deviation value includes: The year-on-year change rate is determined based on the first track deviation value and the second track deviation value; Determine whether the year-on-year change rate is less than the allowable error threshold; If so, then the error correction test result is determined to have error correction function; If not, then the error correction test result is determined to be either no error correction function or an incomplete function.

8. The ship navigation adaptive testing method according to claim 1, characterized in that, The step of selecting a second track deviation value from all first track deviation values ​​corresponding to each lap of navigation data includes: The maximum value among all first track deviation values ​​corresponding to each lap of navigation data is selected as the second track deviation value.

9. A ship navigation adaptive testing device, characterized in that, include: The data acquisition module is used to acquire historical data on wind, waves, and currents in the navigation waters, and to preset the planned route and test scenarios for the vessel; the test scenarios include error correction test scenarios and navigation adaptability test scenarios; The error testing module is used to test the vessel according to the planned route based on the historical wind, wave and current data in the error correction test scenario, and obtain the error correction test results of the vessel. The adaptive testing module is used to test the vessel's ability to avoid obstacles in the adaptive testing scenario based on historical wind, wave and current data and the planned route in the navigation adaptive testing scenario, and to obtain the vessel's avoidance test results. The result determination module is used to obtain the navigation adaptability test result of the vessel based on the error correction test result and the avoidance test result. The step of testing the vessel in the error correction test scenario according to the historical wind, wave, and current data and following the planned route to obtain the error correction test results for the vessel includes: In the error correction test scenario, the vessel is tested according to the planned route based on the historical wind, wave and current data to obtain navigation data for a preset number of laps; each lap of navigation data includes the initial coordinates of each track point during the vessel's navigation process; Based on the initial coordinates of each track point and the planned route, the distance from each track point to the track point corresponding to the planned route is obtained; Based on the distance between each track point and the planned route in the navigation data of the preset number of laps, a first track deviation value between each lap of navigation data and the planned route is determined. Select the second track deviation value from all the first track deviation values ​​corresponding to each lap of navigation data; The error correction test results of the vessel are determined based on the first track deviation value and the second track deviation value.

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