Inertial moving method and device of electronic chart and storage medium

Abstract

The application provides an inertia moving method and device of an electronic chart and a storage medium, and the method comprises the following steps: determining a sliding direction angle θ, a moving distance S0 and the coordinates of a selected point P0 on the screen before sliding; continuing to move inertially after the sliding distance S0, and the inertia attenuation is fitted by a predetermined attenuation function s(t); when there is a channel R in the current screen that satisfies the direction angle α and |θ-α|<δ, determining the total distance S according to s(t), and determining the end points of each channel segment of the channel R in a sector area with P0 as the center, S as the radius, and a selected start angle and end angle; S4, performing linear fitting on each end point to obtain a fitted straight line; S5, determining the intersection point P of the straight line and the channel R in the sector area farthest from the center k , and completing the inertia moving by moving P0 to P k according to the attenuation function. By using the above scheme, the probability that the screen window is easily moved to an irrelevant land area caused by the traditional inertia moving can be reduced.

Description

Technical Field

[0001] This invention relates to the field of chart shifting technology, and in particular to an inertial chart shifting method, apparatus and storage medium for electronic charts. Background Technology

[0002] In map software, when a user drags the map, the map continues to slide a certain distance based on the dragging speed and direction before stopping, providing a smoother user experience. Maps primarily display land-related information such as roads, buildings, parks, mountains, rivers, and administrative boundaries.

[0003] However, in the field of navigation, crew members generally use electronic nautical charts to assist in navigation. Compared with maps, electronic nautical charts focus more on navigational information such as channels, shallow waters, navigation marks, lighthouses, and depth. This information is relatively concentrated in ocean channels and inland waterways. Therefore, using the traditional map-shifting method, the screen window can easily move from a channel or waterway to land, and the user needs to drag the chart again to return to the area of ​​interest. Summary of the Invention

[0004] To address the problems of the prior art, embodiments of the present invention provide an inertial chart shifting method, apparatus, and storage medium for electronic nautical charts.

[0005] To achieve the above objectives, on the one hand, an inertial chart shifting method is provided, wherein the electronic chart is displayed on a screen, comprising:

[0006] S1, capture the user's map-shifting operation on the electronic nautical chart, determine the sliding direction angle θ, the moving distance S0, and the coordinates of the reference point P0 selected on the screen before the electronic nautical chart is slidable; wherein, after sliding the moving distance S0, the electronic nautical chart continues to move inertially, and the inertial decay of the inertial movement is fitted by a predetermined decay function s(t), where t is time, s(t) is the moving distance of the electronic nautical chart compared to the previous time t-1, and t∈[0,t...]. m ], t=0 represents the time when the user stops the image movement operation, t=t m This indicates the moment when the speed of the electronic chart decays to 0 during the inertial movement;

[0007] S2, when the electronic chart contains a channel R with a direction angle α that satisfies |θ-α|<δ within the current screen, step S3 is executed, where δ is a predetermined angle threshold;

[0008] S3, determine the total distance S of the inertial movement according to the attenuation function s(t), and determine the endpoints of each channel segment of the channel R within a fan-shaped area with P0 as the center, S as the radius, the starting angle as θ-α, and the ending angle as θ+α;

[0009] S4, perform linear fitting on the endpoints of each channel segment of the channel R to obtain the fitted straight line;

[0010] S5, determine the intersection point P of the straight line and the channel R that is farthest from the center of the circle within the sector area. k According to the decay function, P0 is moved to P. k To complete the inertial movement, wherein line segment P0P k The trajectory of the inertial movement.

[0011] Preferably, the inertial mapping method satisfies at least one of the following:

[0012] In step S1, after capturing the user's map-shifting operation on the electronic nautical chart, the two position points corresponding to the last two touch or click events on the electronic nautical chart during the map-shifting operation are recorded. The sliding direction angle θ and the moving distance S0 of the electronic nautical chart are determined based on the coordinates of the two position points. The moving distance S0 is the distance between the two position points.

[0013] The selected reference point P0 is the center point of the screen before the electronic chart is slid.

[0014] Preferably, in the inertial mapping method, in step S2, when there are multiple channels with direction angles α satisfying |θ-α|<δ, the channel with the smallest |θ-α| value is selected as the target channel R for inertial mapping.

[0015] Preferably, in the inertial mapping method, the attenuation function s(t) is:

[0016] s(t)=A(tt m ) 2

[0017] Where A is a predetermined decay acceleration constant.

[0018] Preferably, in the inertial chart transfer method, the electronic chart is located at P k The moving speed at point P is 0, and according to the decay function, P0 moves to point P. k To accomplish the inertial movement, the following are included:

[0019] Determine the relationship between P0 and P. k The distance S between them 0K;

[0020] Based on the attenuation function and the distance S 0K The time t′ when the corrected electronic chart's movement speed decays to 0 is obtained. m ;

[0021] Based on the attenuation function, at t′ m Chart shifts at previous times;

[0022] Based on the obtained t′ m The electronic nautical chart was shifted and translated at previous times, where at t′ m-1 Move P0 to P at any time k point.

[0023] Preferably, in the inertial mapping method, in step S4, the least squares method is used to linearly fit the endpoints of each channel segment of the channel R.

[0024] Preferably, in the inertial chart shifting method, in step S2, if the electronic chart does not contain a route R with a direction angle α satisfying |θ-α|<δ within the current screen, then t is obtained sequentially according to the attenuation function. m The chart displacements at various previous moments, and based on the obtained t m The electronic nautical chart refers to the chart displacement and translation at various previous moments.

[0025] Preferably, in the inertial image shifting method, t = n represents the nth N milliseconds from the moment the user stops the image shifting operation, where N is determined by the screen refresh rate, and n = 1 to t m .

[0026] On the other hand, an inertial chart shifting device for electronic nautical charts is provided, characterized in that it includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the inertial chart shifting method for electronic nautical charts as described above.

[0027] In another aspect, a computer-readable storage medium is provided, wherein at least one program is stored therein, the at least one program being executed by a processor to implement the inertial chart shifting method of electronic nautical charts as described in any of the above.

[0028] The above technical solution has the following technical effects:

[0029] The technical solution of this invention is based on the general user's usage habits of electronic nautical charts. It uses the direction of the waterway to predict the actual chart movement intention of the electronic nautical chart user. This allows the user's hand to move inertially according to the predicted trajectory after leaving the chart. This reduces the probability that the screen window will easily move to an unrelated land area due to traditional inertial movement, thus improving the convenience and experience of operating electronic nautical charts.

[0030] In one embodiment of the present invention, waterway data is used as prediction data to predict the direction and distance of inertial movement; in other embodiments, other nautical chart data elements, such as river channels and coastline outlines, may also be used to determine the trajectory of inertial movement. Attached Figure Description

[0031] Figure 1 This is a schematic flowchart of an inertial chart shifting method for electronic nautical charts according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the attenuation function used in one embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of a sector-shaped region used in one embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the structure of an inertial chart shifting device for electronic nautical charts according to an embodiment of the present invention. Detailed Implementation

[0035] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0036] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0037] Example 1:

[0038] Figure 1 This is a schematic flowchart of an inertial chart shifting method for electronic nautical charts according to an embodiment of the present invention. Figure 1 The inertial chart shifting method of this embodiment includes:

[0039] S1 captures the user's chart-shifting operation on the electronic nautical chart, determines the chart's sliding direction angle θ, moving distance S0, and the coordinates of a selected reference point P0 on the screen before the chart's shift; wherein, the electronic nautical chart is displayed on the screen, and after shifting the aforementioned moving distance S0, the electronic nautical chart continues to move inertially, and the inertial decay of the inertial movement is fitted by a predetermined decay function s(t), where t is time, s(t) is the moving distance of the electronic nautical chart compared to the previous time t-1, and t∈[0,t... m ], t=0 represents the time when the user stops the map movement operation, t=t m This indicates the moment when the electronic chart's velocity decays to 0 during inertial movement;

[0040] One option is to select the aforementioned reference point as the screen center point P0, or to select a point within a predetermined reasonable range centered on the screen center point before the electronic chart is slidable as the aforementioned reference point.

[0041] In one specific implementation, t = n represents the nth N milliseconds from the moment the user stops the image movement operation, where N is determined by the screen refresh rate, and n = 1 to t m ;

[0042] In one specific implementation, the decay function S(t) = A(tt) is used. m ) 2 ,t∈[0,t m The function is used to fit the inertial decay of inertial motion. Inertial motion can be seen as the process in which the distance an object moves decreases according to a certain law within the same time period, eventually decaying to 0 and stopping. The decay function here describes the relationship between the distance moved and time, and is used to simulate the inertial decay process. For example, for a screen with a refresh rate of 60Hz, the screen image is updated every 16ms. Taking a touch screen as an example, let the time after the finger leaves the touch screen to perform the image movement be 0, denoted as time t=0. Then the next screen update will be 16ms later. Let the time 16ms after the finger leaves the touch screen be denoted as time t=1, and so on, with time t=2 being the time 32ms after the finger leaves the touch screen. The value of s(t) represents the distance the chart has moved at time t compared to time t-1. In one specific implementation, the screen center point P0 before the chart slides is used as the reference point, and the value of s(t) represents the distance moved at time t compared to time t-1. A is a predetermined decay acceleration constant. A is an empirical value; its magnitude determines the steepness of the decay function curve. The steeper the curve, the shorter the inertial slip time and total distance. It can be understood as the magnitude of inertia. The larger A is, the faster the decay; the smaller A is, the slower the decay. A smaller A indicates greater inertia on the nautical chart. In practice, the value of A can be adjusted or set according to the desired effect.

[0043] Figure 2 The decay function is S(t) = A(tt) m ) 2 ,t∈[0,t m A schematic diagram. (See diagram below.) Figure 2 , t m This indicates the moment when the chart's movement speed decays to 0 and it stops sliding; this moment t m This is the moment when the chart displacement is 0, i.e., the intersection of the decay function and the t-axis, indicating that displacement stops at this moment. Determine this moment t. m Only then can the solutions for t = 0, 1, ..., t be solved sequentially. m The distance. For example... Figure 2 At time t=0, the finger stops operating; in this example, the finger leaves the touchscreen. At this point, the nautical chart has moved a distance S0 according to the user's input. From t=0 onwards, the nautical chart enters the inertial movement phase. Figure 2 At t=1, s(t), i.e., S1, represents the distance the nautical chart has moved from t=0 to t=1. At t=2, s(t), i.e., S2, represents the distance the nautical chart has moved from t=1 to t=2, and so on, until t=t m At time S1, the chart's movement speed decays to 0, and the chart's displacement is 0. Therefore, by adding up the movement distances at each time point starting from S1, the total inertial movement distance decaying solely according to this inertial function can be obtained, without triggering a channel lock.

[0044] In one specific implementation, in step S1 above, after capturing the user's chart-shifting operation on the electronic chart, the two position points corresponding to the last two touch or click events on the electronic chart during the chart-shifting operation are recorded. The sliding direction angle θ and the moving distance S0 of the electronic chart are determined based on the coordinates of the two position points, where the moving distance S0 is the distance between the two position points. Specifically, the touch events mentioned above are touch events for the touchscreen. When the user performs chart-shifting operations on the electronic chart using the touchscreen, the device captures the user's gestures through the touchscreen. The device captures the user's touch points at a certain sampling frequency and reports the touch events. For example, the touch events include: starting to touch the screen, moving on the screen, and leaving the screen, along with their corresponding coordinates. Since, under normal circumstances, the user's touch operations generate many touch points during a single chart-shifting operation, the last two touch events are recorded to accurately record the chart's sliding direction angle and moving distance.

[0045] In a specific implementation, a coordinate system is pre-established on the screen, including an origin and horizontal and vertical axes; for example, a rectangular coordinate system is established with the point corresponding to the upper left corner of the screen as the origin, the horizontal axis passing through the origin as the x-axis, and the vertical axis passing through the origin as the y-axis. In one specific implementation, the coordinate difference between the positions on the screen corresponding to the last two touch events is recorded, including the horizontal coordinate difference Δx0 and the vertical coordinate difference Δy0. The coordinates of the screen center point P0 before the electronic chart responds to the user's chart-moving operation are marked as (x0, y0). The chart movement distance S0 and the chart sliding direction angle θ required for the last user action are calculated using the above coordinate differences. Where:

[0046]

[0047]

[0048] Substituting (0, S0) into the above S(t) = A(tt) m ) 2 In the middle, the solution is obtained

[0049] Those skilled in the art will understand that the parabolic decay function described above is exemplary but not limiting. In addition to the parabolic decay function used above, other known decay functions may also be selected to fit the inertial decay during the inertial movement of the nautical chart.

[0050] S2, when there is a channel R in the current screen of the electronic chart with a direction angle α that satisfies |θ-α|<δ, proceed to step S3, where δ is a predetermined angle threshold; the current screen refers to the part of the electronic chart that the user can currently see on the screen; the above δ can be set according to empirical values, for example, it can be within the range of less than or equal to 15 degrees.

[0051] In one specific implementation, a search is conducted to determine if a path R exists within the current screen with a direction angle α satisfying |θ-α|<δ. If so, inertial mapping for locking the path is triggered, and step S3 is executed. Otherwise, inertial mapping for locking the path is not triggered; instead, inertial mapping is performed based on a selected attenuation function. Specifically, t is obtained sequentially according to the attenuation function. m The chart displacements at various previous moments. For example, the decay function is S(t) = A(tt). m ) 2 At that time, as mentioned above, regarding Figure 2 As described, solve for t = 1, 2, ... t in sequence. m-1 Displacement value S at time t t Then, the chart displacement distance Δx in the x-axis and y-axis directions at each chart shift time is calculated. t and Δy t ;in, According to Δx t and Δy t The translation of the nautical chart produces an inertial sliding effect, at t m The inertial shift will end at this moment.

[0052] S3, determine the total distance S of inertial movement according to the attenuation function s(t), and determine the endpoints of each channel segment of channel R within a fan-shaped area with P0 as the center, S as the radius, θ-α as the starting angle and θ+α as the ending angle;

[0053] In one specific implementation, a schematic diagram of the constructed sector region can be found here. Figure 3 As shown. Figure 3 The original inertial movement route, the fitted straight line of the channel direction, the channel, and the corrected inertial movement route implemented using the inertial mapping method of this invention are marked with lines of different colors. Figure 3 The screen area in the image is the screen window that the user can see.

[0054] The modified inertial movement route implemented by the inertial map shifting method of this invention can be used to perform inertial map shifting, so that the nautical chart displays the waterway in the center of the screen or the area near the center of the screen after the inertial movement is completed.

[0055] In one specific implementation, using the parabolic decay function determined above, the total distance S of this inertial movement is obtained based on the distance moved at each moment of the shift, where:

[0056]

[0057] like Figure 3 The endpoints of each segment of waterway R are designated as D0, D1, ..., D... n To express.

[0058] S4. Perform linear fitting on the endpoints of each channel segment of channel R to obtain the fitted straight line;

[0059] In one specific implementation, for each channel segment endpoint D0(x) of the channel R within the fan-shaped region... d0 y d0 ), D1(x d1 y d1 ), ..., D n (x dn y dn Using the least squares method for linear fitting, assume the fitted line is y = mx + c, where:

[0060]

[0061]

[0062] S5, determine the point P where the straight line and the channel R intersect the center of the circle in the sector region. k According to the decay function, P0 is moved to P k To complete the inertial movement, where line segment P0P k The trajectory of inertial movement.

[0063] In one specific implementation, P0 is moved to P according to the attenuation function. k To accomplish the inertial movement, the following are included:

[0064] Determine the relationship between P0 and P. k The distance S between them 0K ;

[0065] Based on the attenuation function and distance S 0K The time t′ when the corrected electronic chart's movement speed decays to 0 is obtained. m ;

[0066] Based on the decay function, at t′ m Chart shifts at previous times;

[0067] Based on the obtained t′ m The electronic nautical chart was shifted and translated at previous times, where at t′ m-1 Move P0 to P at any time k point.

[0068] The parabolic decay function described above will be used as an example for a detailed explanation.

[0069] Find the farthest intersection point of the line y = mx + c with the channel R within the sector, assuming it is in channel segment D. j D j+1 Above, for P k (x k y k If line segment P0P is true, then... k This is the trajectory of the screen center's inertial movement, as shown in the image below. The total sliding distance is:

[0070]

[0071] At the same time S 0k And satisfied:

[0072]

[0073] The corrected t′ can be solved using the above formula. m .

[0074] According to S(t)=A(tt′) m )2 Solve in sequence for t = 1, 2, ..., t' m-1 Displacement value s at time t t Calculate the chart displacement distance at each chart shift time. According to Δx t and Δy t The translation of the nautical chart produces an inertial slip effect, and at t′ m-1 The center point of the screen will move to P at any moment. k (x k y k ), that is, the endpoint D of channel R. j (x dj y dj ) will be centered on the screen, at t′ m The inertial map shift ends at a certain point. Using the method of this embodiment, the inertial map shift can maintain the waterway as close to the center of the screen as possible. In another embodiment, a point within a preset reasonable range centered on the screen center can be chosen to replace the aforementioned screen center point to achieve the inertial map shift of this embodiment. This ensures that after the inertial map shift, the waterway is kept as close to the preset reasonable range centered on the screen as possible. The aforementioned waterway includes a river.

[0075] Example 2:

[0076] The present invention also provides an inertial chart shifting device for electronic nautical charts, such as... Figure 4 As shown, the device includes a processor 401, a memory 402, a bus 403, and a computer program stored in the memory 402 and executable on the processor 401. The processor 401 includes one or more processing cores. The memory 402 is connected to the processor 401 via the bus 403. The memory 402 is used to store program instructions. When the processor executes the computer program, it implements the steps in the above-described method embodiment of Embodiment 1 of the present invention.

[0077] Furthermore, as an executable solution, the inertial chart transfer device for the electronic nautical chart can be a computer unit, which can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described computer unit structure is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0078] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0079] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0080] Example 3:

[0081] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0082] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0083] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. An inertial chart shifting method for an electronic nautical chart, wherein the electronic nautical chart is displayed on a screen, characterized in that, include: S1, capture the user's map-shifting operation on the electronic nautical chart, determine the sliding direction angle θ, the moving distance S0, and the coordinates of the reference point P0 selected on the screen before the electronic nautical chart is slidable; wherein, after sliding the moving distance S0, the electronic nautical chart continues to move inertially, and the inertial decay of the inertial movement is fitted by a predetermined decay function s(t), where t is time, s(t) is the moving distance of the electronic nautical chart compared to the previous time t-1, and t∈[0,t...]. m ], t=0 represents the time when the user stops the image movement operation, t=t m This indicates the moment when the speed of the electronic chart decays to 0 during the inertial movement; S2, when the electronic chart contains a channel R with a direction angle α that satisfies |θ-α|<δ within the current screen, step S3 is executed, where δ is a predetermined angle threshold; S3, determine the total distance S of the inertial movement according to the attenuation function s(t), and determine the endpoints of each channel segment of the channel R within a fan-shaped area with P0 as the center, S as the radius, the starting angle as θ-α, and the ending angle as θ+α; S4, perform linear fitting on the endpoints of each channel segment of the channel R to obtain the fitted straight line; S5, determine the intersection point P of the straight line and the channel R that is farthest from the center of the circle within the sector area. k According to the decay function, P0 is moved to P. k To complete the inertial movement, wherein line segment P0P k The trajectory of the inertial movement.

2. The inertial mapping method according to claim 1, characterized in that, Satisfy at least one of the following: In step S1, after capturing the user's map-shifting operation on the electronic nautical chart, the two position points corresponding to the last two touch or click events on the electronic nautical chart during the map-shifting operation are recorded. The sliding direction angle θ and the moving distance S0 of the electronic nautical chart are determined based on the coordinates of the two position points. The moving distance S0 is the distance between the two position points. The selected reference point P0 is the center point of the screen before the electronic chart is slid.

3. The inertial mapping method according to claim 1, characterized in that, In step S2, when there are multiple channels with orientation angles α that satisfy |θ-α|<δ, the channel with the smallest |θ-α| value is selected as the target channel R for inertial map shifting.

4. The inertial mapping method according to claim 1, characterized in that, The decay function s(t) is: s(t)=A(t-t m ) 2 Where A is a predetermined decay acceleration constant.

5. The inertial mapping method according to claim 1, characterized in that, The electronic nautical chart is in P k The moving speed at point P is 0, and according to the decay function, P0 moves to point P. k To accomplish the inertial movement, the following are included: Determine the relationship between P0 and P. k The distance S between them 0K ; Based on the attenuation function and the distance S 0K The time t′ when the corrected electronic chart's movement speed decays to 0 is obtained. m ; Based on the attenuation function, at t′ m Chart shifts at previous times; Based on the obtained t′ m The electronic nautical chart was shifted and translated at previous times, where at t′ m-1 Move P0 to P at any time k point.

6. The inertial mapping method according to claim 1, characterized in that, In step S4, the least squares method is used to perform linear fitting on the endpoints of each channel segment of the channel R.

7. The inertial mapping method according to claim 1, characterized in that, In step S2, if the electronic chart does not contain a channel R with a direction angle α satisfying |θ-α|<δ within the current screen, then t is obtained sequentially according to the attenuation function. m The chart displacements at various previous moments, and based on the obtained t m The electronic nautical chart refers to the chart displacement and translation at various previous moments.

8. The inertial mapping method according to claim 1, characterized in that, t = n represents the nth N milliseconds from the moment the user stops the image movement operation, where N is determined by the screen refresh rate, and n = 1 to t. m .

9. An inertial chart shifting device for electronic nautical charts, characterized in that, It includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the inertial chart shifting method of the electronic chart as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one program, which is executed by a processor to implement the inertial chart shifting method for electronic nautical charts as described in any one of claims 1 to 8.

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