An Electronic Navigation Chart Processing Method and System Based on HarmonyOS

Abstract

The present invention discloses a method and system for processing electronic navigational charts based on the HarmonyOS. The method includes: obtaining an electronic navigational chart during ship navigation, where the electronic navigational chart includes a navigation route, and obtaining a ship track chart of the ship's real-time navigation, where the ship track chart includes the ship's actual navigation route; setting an image fusion model, and fusing the electronic navigational chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route. Among them, calculate the fusion value of each coordinate of each route on the fused image, and respectively display the navigation route and the ship's actual navigation route on the electronic navigational chart according to the fusion value.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic nautical chart processing, and more specifically, relates to an electronic nautical chart processing method and system based on the HarmonyOS operating system. Background Art

[0002] An electronic nautical chart is an electronic map used in the navigation field to assist ships in sailing at sea. It provides a large amount of navigation information, including water depth, buoy positions, channel marks, port facilities, danger marks, etc. This information is connected to the ship's navigation system through technologies such as Beidou or GPS, can be updated in real time, and can be displayed on the ship's electronic display screen to provide accurate position and surrounding environment information for the ship's navigation.

[0003] The advantages of electronic nautical charts include:

[0004] Real-time update: Compared with traditional paper nautical charts, electronic nautical charts can be updated in real time through the Internet and other channels to maintain the timeliness and accuracy of information.

[0005] Customizability: Electronic nautical charts can be customized according to the needs of the ship. For example, functions such as navigation planning and ship track recording can be added.

[0006] Easy to use: Electronic nautical charts usually have a user-friendly interface and interactive functions, making it easier for crew members to understand and use.

[0007] Improve safety: By providing more accurate and comprehensive navigation information, electronic nautical charts can help ships avoid potential dangers and improve the safety of navigation.

[0008] However, current electronic nautical charts can only display navigation information and cannot show the difference between the actual navigation track and the navigation route. Summary of the Invention

[0009] To solve the above technical problems, the present invention proposes an electronic nautical chart processing method based on the HarmonyOS operating system, including:

[0010] Obtain the electronic nautical chart during ship navigation, where the electronic nautical chart includes a navigation route, and obtain the ship track chart of the ship's real-time navigation, where the ship track chart includes the ship's actual navigation route;

[0011] Set up an image fusion model, and fuse the electronic nautical chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route. Among them, calculate the fusion value of each coordinate of each route on the fused image, and display the navigation route and the ship's actual navigation route on the electronic nautical chart respectively according to the fusion value.

[0012] Further, the image fusion model includes:

[0013]

[0014] where M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point on the ship's track chart, n is the number of points on the ship's track chart, T(x, y) is a function for characterizing the coordinate (x, y) on the ship's track chart, P(x, y) is a function for controlling the shape at the coordinate (x, y) on the ship's track chart, Q(x, y) is a function for adjusting the direction at the coordinate (x, y) on the ship's track chart, σ x is the standard deviation in the horizontal axis direction on the electronic waterway chart, σ y is the standard deviation in the vertical axis direction on the electronic waterway chart. At the coordinate (x′, y′) on the electronic waterway chart, which corresponds to the coordinate (x, y) on the ship's track chart and is the same coordinate point, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic waterway chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic waterway chart.

[0015] Further, the function T(x, y) for characterizing the coordinate (x, y) on the ship's track chart includes:

[0016]

[0017] where x i is the abscissa of the ship on the ship's track chart at the i-th moment, y i is the ordinate of the ship on the ship's track chart at the i-th moment, and δ is the Dirac function, which is used to characterize the ship's navigation on the ship's track chart.

[0018] Further, the function P(x, y) for controlling the shape at the coordinate (x, y) on the ship's track chart includes:

[0019] P(x, y) = a·x i′ ·y j′ +b·sin(c·x)·sin(d·y)+k·e f·(x+y)

[0020] where a is the first weight, i′ is the abscissa adjustment factor, j′ is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

[0021] Further, the function Q(x, y) for adjusting the direction at the coordinate (x, y) on the ship's track chart includes:

[0022] Q(x, y) = b'·sin(c'·x)·cos(d'·y) + k'·sin(x + y)

[0023] Wherein, k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

[0024] The present invention also proposes an electronic navigation chart processing system based on the HarmonyOS, including:

[0025] An image acquisition module, configured to acquire an electronic navigation chart during ship navigation, where the electronic navigation chart includes a navigation route, and acquire a ship track chart of the ship's real-time navigation, and the ship track chart includes the ship's actual navigation route;

[0026] A fusion module, configured to set an image fusion model, and fuse the electronic navigation chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route, wherein, calculate the fusion value of each coordinate on each route of the fused image, and display the navigation route and the ship's actual navigation route on the electronic navigation chart respectively according to the fusion value.

[0027] Further, the image fusion model includes:

[0028]

[0029] Wherein, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point on the ship track chart, n is the number of points on the ship track chart, T(x, y) is a function for characterizing the coordinate (x, y) on the ship track chart, P(x, y) is a function for controlling the shape of the coordinate (x, y) on the ship track chart, Q(x, y) is a function for adjusting the direction of the coordinate (x, y) on the ship track chart, σ x is the standard deviation in the horizontal axis direction on the electronic navigation chart, σ y is the standard deviation in the vertical axis direction on the electronic navigation chart, at the coordinate (x', y') on the electronic navigation chart, which corresponds to the coordinate (x, y) on the ship track chart and is the same coordinate point, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic navigation chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic navigation chart.

[0030] Further, the function T(x, y) for characterizing the coordinate (x, y) on the ship track chart includes:

[0031]

[0032] Among them, x i is the abscissa of the ship on the ship track chart at the i-th moment, and y i is the ordinate of the ship on the ship track chart at the i-th moment. δ is the Dirac function, which is used to characterize the ship's navigation on the ship track chart.

[0033] Furthermore, the function P(x, y) for controlling the shape at the coordinates (x, y) on the ship track chart includes:

[0034] P(x, y) = a·x i′ ·y j′ + b·sin(c·x)·sin(d·y) + k·e f·(x+y)

[0035] Among them, a is the first weight, i' is the abscissa adjustment factor, j' is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

[0036] Furthermore, the function Q(x, y) for adjusting the direction at the coordinates (x, y) on the ship track chart includes:

[0037] Q(x, y) = b'·sin(c'·x)·cos(d'·y) + k'·sin(x + y)

[0038] Among them, k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

[0039] Compared with the prior art by the above technical solution conceived by the present invention, the following beneficial effects are obtained:

[0040] By the above technical solution, the present invention can fuse the electronic waterway chart and the navigation track chart, unify the actual navigation route and the navigation guidance route of the ship on the electronic waterway chart for display to the user, and perform warning for waterway deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is the flowchart of the method in Embodiment 1 of the present invention;

[0042] Figure 2 is the system structure diagram of Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0043] In order to better understand the above technical solution, the following will describe the above technical solution in detail in combination with the accompanying drawings of the specification and specific embodiments.

[0044] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0045] The processor may include one or more processing cores. The processor uses various interfaces and circuits to connect various parts within the entire terminal. By running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and by calling data stored in the storage medium, it executes various functions of the terminal and processes data.

[0046] The storage medium may include a random access memory (RAM), and may also include a read-only memory (ROM). The storage medium can be used to store instructions, programs, code, code sets, or instructions.

[0047] The display screen is used to display the interaction cross-sections of various application programs.

[0048] All subscripts in the formula of the present invention are only for distinguishing parameters and have no actual meaning.

[0049] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be elaborated here.

[0050] Embodiment 1

[0051] As Figure 1 shown, the embodiment of the present invention provides an electronic navigation chart processing method based on the HarmonyOS, including:

[0052] Step 101, obtaining an electronic navigation chart during ship navigation, where the electronic navigation chart includes a navigation route, and obtaining a ship track chart of the ship's real-time navigation, where the ship track chart includes the ship's actual navigation route;

[0053] Step 102, setting an image fusion model, and fusing the electronic navigation chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route. Among them, calculate the fusion value of each coordinate of each route on the fused image, and display the navigation route and the ship's actual navigation route on the electronic navigation chart respectively according to the fusion value.

[0054] Specifically, the image fusion model includes:

[0055]

[0056] Among them, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point in the ship track chart, n is the number of points on the ship track chart, T(x, y) is a function used to characterize the coordinate (x, y) on the ship track chart, P(x, y) is a function used to control the shape of the coordinate (x, y) on the ship track chart, Q(x, y) is a function used to adjust the direction of the coordinate (x, y) on the ship track chart, σ x is the standard deviation in the horizontal axis direction on the electronic waterway chart, σ y is the standard deviation in the vertical axis direction on the electronic waterway chart. The coordinate (x′, y′) on the electronic waterway chart corresponds to the coordinate (x, y) on the ship track chart and is the same coordinate point. μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic waterway chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic waterway chart.

[0057] Specifically, the function T(x, y) used to characterize the coordinate (x, y) on the ship track chart includes:

[0058]

[0059] Among them, x i is the abscissa of the ship on the ship track chart at the i-th moment, y i is the ordinate of the ship on the ship track chart at the i-th moment, and δ is the Dirac function, which is used to characterize the ship's navigation on the ship track chart.

[0060] Specifically, the function P(x, y) used to control the shape of the coordinate (x, y) on the ship track chart includes:

[0061] P(x, y) = a·x i′ ·y j′ + b·sin(c·x)·sin(d·y) + k·e f·(x+y)

[0062] Among them, a is the first weight, i′ is the abscissa adjustment factor, j′ is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

[0063] Specifically, the function Q(x, y) used to adjust the direction of the coordinate (x, y) on the ship track chart includes:

[0064] Q(x, y) = b'·sin(c'·x)·cos(d'·y) + k'·sin(x + y)

[0065] Among them, k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

[0066] Specifically, the above weights and adjustment factors are fitted by the gradient descent method.

[0067] Step 103, when the deviation between the actual navigation route of the ship and the navigation route exceeds a preset threshold, a warning of deviation from the waterway is issued.

[0068] Embodiment 2

[0069] As Figure 2 shown, the embodiment of the present invention also proposes an electronic waterway map processing system based on the HarmonyOS, including:

[0070] An image acquisition module, configured to acquire an electronic waterway map during ship navigation, the electronic waterway map includes a navigation route, and acquire a ship track map of the ship's real-time navigation, the ship track map includes the actual navigation route of the ship;

[0071] A fusion module, configured to set an image fusion model, and fuse the electronic waterway map and the ship track map according to the coordinates on the navigation route and the actual navigation route of the ship. Among them, calculate the fusion value of each coordinate of each route on the fused image, and display the navigation route and the actual navigation route of the ship on the electronic waterway map respectively according to the fusion value.

[0072] Specifically, the image fusion model includes:

[0073]

[0074] Among them, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point in the ship track map, n is the number of points on the ship track map, T(x, y) is a function used to characterize the coordinate (x, y) on the ship track map, P(x, y) is a function used to control the shape of the coordinate (x, y) on the ship track map, Q(x, y) is a function used to adjust the direction of the coordinate (x, y) on the ship track map, σ x is the standard deviation in the horizontal axis direction on the electronic waterway map, σ y is the standard deviation in the vertical axis direction on the electronic waterway map. At the coordinate (x', y') on the electronic waterway map, which corresponds to the coordinate (x, y) on the ship track map and is the same coordinate point, μ xis the center point of the Gaussian function in the horizontal axis direction on the electronic navigational chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic navigational chart.

[0075] Specifically, the function T(x, y) for characterizing the coordinates (x, y) on the ship track chart includes:

[0076]

[0077] where x i is the abscissa of the ship on the ship track chart at the i-th moment, and y i is the ordinate of the ship on the ship track chart at the i-th moment, and δ is the Dirac function, which is used to characterize the ship's navigation on the ship track chart.

[0078] Specifically, the function P(x, y) for controlling the shape at the coordinates (x, y) on the ship track chart includes:

[0079] P(x, y) × a · x i′ · y j′ + b · sin(c · x) · sin(d · y) + k · e f·(x+y) where a is the first weight, i′ is the abscissa adjustment factor, j′ is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

[0080] Specifically, the function Q(x, y) for adjusting the direction at the coordinates (x, y) on the ship track chart includes:

[0081] Q(x, y) = b′ · sin(c′ · x) · cos(d′ · y) + k′ · sin(x + y)

[0082] where k′ is the ninth weight, b′ is the sixth weight, c′ is the seventh weight, and d′ is the eighth weight.

[0083] Specifically, the above weights and adjustment factors are fitted by the gradient descent method.

[0084] An early warning module, which is used to issue a waterway deviation warning when the deviation between the actual ship navigation route and the navigation route exceeds a preset threshold.

[0085] Embodiment 3

[0086] The embodiment of the present invention also proposes a storage medium, which stores multiple instructions, and the instructions are used to implement the above-mentioned electronic navigational chart processing method based on the HarmonyOS.

[0087] Optionally, in this embodiment, the above storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.

[0088] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, obtain an electronic channel map during ship navigation, where the electronic channel map includes a navigation route, and obtain a ship track map of the ship's real-time navigation, where the ship track map includes the ship's actual navigation route;

[0089] Step 102, set an image fusion model, and fuse the electronic channel map and the ship track map according to the coordinates on the navigation route and the ship's actual navigation route. Specifically, calculate the fusion value of each coordinate on each route in the fused image, and display the navigation route and the ship's actual navigation route on the electronic channel map respectively according to the fusion value.

[0090] Specifically, the image fusion model includes:

[0091]

[0092] where M(x, y) is the fusion value at the coordinate (x, y) in the fused image, w i is the weight of the i-th point in the ship track map, n is the number of points on the ship track map, T(x, y) is a function for characterizing the coordinate (x, y) on the ship track map, P(x, y) is a function for controlling the shape of the coordinate (x, y) on the ship track map, Q(x, y) is a function for adjusting the direction of the coordinate (x, y) on the ship track map, σ x is the standard deviation in the horizontal axis direction on the electronic channel map, σ y is the standard deviation in the vertical axis direction on the electronic channel map. At the coordinate (x′, y′) on the electronic channel map, which corresponds to the coordinate (x, y) on the ship track map and is the same coordinate point, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic channel map, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic channel map.

[0093] Specifically, the function T(x, y) for characterizing the coordinate (x, y) on the ship track map includes:

[0094]

[0095] where x i is the abscissa of the ship at the i-th moment on the ship track map, y i$y_i$ is the ordinate of the ship on the ship's track chart at the $i$-th moment, and $\delta$ is the Dirac function, which is used to characterize the ship's navigation on the ship's track chart.

[0096] Specifically, the function $P(x, y)$ for controlling the shape at the coordinates $(x, y)$ on the ship's track chart includes:

[0097] $P(x, y)\times a\cdot x$ i′ $\cdot y$ j′ $+b\cdot\sin(c\cdot x)\cdot\sin(d\cdot y)+k\cdot e$ f·(x+y) where $a$ is the first weight, $i'$ is the abscissa adjustment factor, $j'$ is the ordinate adjustment factor, $b$ is the second weight, $c$ is the third weight, $d$ is the fourth weight, $k$ is the fifth weight, and $f$ is the comprehensive adjustment factor.

[0098] Specifically, the function $Q(x, y)$ for adjusting the direction at the coordinates $(x, y)$ on the ship's track chart includes:

[0099] $Q(x,y)=b'\cdot\sin(c'\cdot x)\cdot\cos(d'\cdot y)+k'\cdot\sin(x + y)$

[0100] where $k'$ is the ninth weight, $b'$ is the sixth weight, $c'$ is the seventh weight, and $d'$ is the eighth weight.

[0101] Specifically, the above weights and adjustment factors are fitted by the gradient descent method.

[0102] Step 103: When the deviation between the actual navigation route of the ship and the navigation route exceeds the preset threshold, a warning of lane deviation is issued.

[0103] Embodiment 4

[0104] The embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute an electronic chart processing method based on the HarmonyOS.

[0105] Specifically, the electronic device in this embodiment can be a computer terminal, and the computer terminal can include: one or more processors and a storage medium.

[0106] Among them, the storage medium can be used to store software programs and modules, such as a method for processing electronic navigational charts based on the HarmonyOS in the embodiments of the present invention, and the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, implements the above-mentioned method for processing electronic navigational charts based on the HarmonyOS. The storage medium can include a high-speed random access storage medium, and can also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium can further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, enterprise intranets, local area networks, mobile communication networks, and their combinations.

[0107] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the steps: Step 101, obtain the electronic navigational chart when the ship is sailing, the electronic navigational chart includes the navigation route, and obtain the ship's track chart of the ship's real-time sailing, the ship's track chart includes the actual sailing route of the ship;

[0108] Step 102, set an image fusion model, and fuse the electronic navigational chart and the ship's track chart according to the coordinates on the navigation route and the actual sailing route of the ship. Among them, calculate the fusion value of each coordinate on each route of the fused image, and display the navigation route and the actual sailing route of the ship on the electronic navigational chart according to the fusion value.

[0109] Specifically, the image fusion model includes:

[0110]

[0111] Among them, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point on the ship's track chart, n is the number of points on the ship's track chart, T(x, y) is a function used to characterize the coordinate (x, y) on the ship's track chart, P(x, y) is a function used to control the shape of the coordinate (x, y) on the ship's track chart, Q(x, y) is a function used to adjust the direction of the coordinate (x, y) on the ship's track chart, σ x is the standard deviation in the horizontal axis direction on the electronic navigational chart, σ y is the standard deviation in the vertical axis direction on the electronic navigational chart. At the coordinate (x′, y′) on the electronic navigational chart, which corresponds to the coordinate (x, y) on the ship's track chart and is the same coordinate point, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic navigational chart, μ yis the center point of the Gaussian function in the vertical axis direction on the electronic navigation chart.

[0112] Specifically, the function T(x, y) used to characterize the coordinates (x, y) on the ship's track chart includes:

[0113]

[0114] where x i is the abscissa of the ship on the ship's track chart at the i-th moment, and y i is the ordinate of the ship on the ship's track chart at the i-th moment, and δ is the Dirac function, which is used to characterize the ship's navigation on the ship's track chart.

[0115] Specifically, the function P(x, y) used to control the shape at the coordinates (x, y) on the ship's track chart includes:

[0116] P(x, y) × a · x i′ · y j′ + b · sin(c · x) · sin(d · y) + k · e f·(x+y)

[0117] where a is the first weight, i' is the abscissa adjustment factor, j' is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

[0118] Specifically, the function Q(x, y) used to adjust the direction at the coordinates (x, y) on the ship's track chart includes:

[0119] Q(x, y) = b' · sin(c' · x) · cos(d' · y) + k' · sin(x + y)

[0120] where k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

[0121] Specifically, the above weights and adjustment factors are fitted by the gradient descent method.

[0122] Step 103: When the deviation between the actual ship navigation route and the navigation route exceeds a preset threshold, a warning of lane deviation is issued.

[0123] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0124] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] In several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0126] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0128] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, read-only storage media (ROM, Read-Only Memory), random access storage media (RAM, Random Access Memory), mobile hard disks, magnetic disks or optical disks and other various media that can store program codes.

[0129] Obviously, the above embodiments are only examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A method for processing electronic navigational charts based on the HarmonyOS, characterized in that, Including: Obtain an electronic nautical chart during ship navigation. The electronic nautical chart includes a navigation route, and obtain a ship track chart of the ship's real-time navigation. The ship track chart includes the ship's actual navigation route; Set up an image fusion model, and fuse the electronic nautical chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route. Wherein, calculate the fusion value of each coordinate of each route on the fused image, and respectively display the navigation route and the ship's actual navigation route on the electronic nautical chart according to the fusion value, and display the electronic nautical chart on a user terminal based on the HarmonyOS operating system; The image fusion model includes: Among them, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point in the ship's track chart, n is the number of points on the ship's track chart, T(x, y) is a function used to characterize the coordinate (x, y) on the ship's track chart, P(x, y) is a function used to control the shape of the coordinate (x, y) on the ship's track chart, Q(x, y) is a function used to adjust the direction of the coordinate (x, y) on the ship's track chart, σ x is the standard deviation in the horizontal axis direction on the electronic channel chart, σ y is the standard deviation in the vertical axis direction on the electronic channel chart. The coordinate (x′, y′) on the electronic channel chart corresponds to the coordinate (x, y) on the ship's track chart, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic channel chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic channel chart.

2. The method for processing electronic navigational charts based on HarmonyOS according to claim 1, wherein, The function T(x, y) for characterizing the coordinate (x, y) on the ship track chart includes: where x i is the abscissa of the ship on the ship's track chart at the i-th moment, and y i is the ordinate of the ship on the ship's track chart at the i-th moment, and δ is the Dirac function, which is used to characterize the ship's navigation on the ship's track chart.

3. The method for processing an electronic navigational chart based on the HarmonyOS according to claim 1, wherein The function P(x, y) for controlling the shape of the coordinate (x, y) on the ship track chart includes: P(x,y) = a·x i′ ·y j′ +b·sin(c·x)·sin(d·y)+k·e f·(x+y) Wherein, a is the first weight, i' is the abscissa adjustment factor, j' is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

4. The method for processing electronic navigational charts based on HarmonyOS according to claim 1, wherein The function Q(x, y) for adjusting the direction of the coordinate (x, y) on the ship track chart includes: Q(x,y) = b'·sin(c'x)·cos(d'y) + k'·sin(x + y) Wherein, k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

5. An electronic navigational chart processing system based on the HarmonyOS, characterized in that, Including: An image acquisition module, used to obtain an electronic nautical chart during ship navigation. The electronic nautical chart includes a navigation route, and obtain a ship track chart of the ship's real-time navigation. The ship track chart includes the ship's actual navigation route; A fusion module, used to set up an image fusion model, and fuse the electronic nautical chart and the ship track chart according to the coordinates on the navigation route and the ship's actual navigation route. Wherein, calculate the fusion value of each coordinate of each route on the fused image, and respectively display the navigation route and the ship's actual navigation route on the electronic nautical chart according to the fusion value, and display the electronic nautical chart on a user terminal based on the HarmonyOS operating system; The image fusion model includes: Among them, M(x, y) is the fusion value at the coordinate (x, y) on the fused image, w i is the weight of the i-th point in the ship's track chart, n is the number of points on the ship's track chart, T(x, y) is a function used to characterize the coordinate (x, y) on the ship's track chart, P(x, y) is a function used to control the shape at the coordinate (x, y) on the ship's track chart, Q(x, y) is a function used to adjust the direction at the coordinate (x, y) on the ship's track chart, σ x is the standard deviation in the horizontal axis direction on the electronic channel chart, σ y is the standard deviation in the vertical axis direction on the electronic channel chart. For the coordinate (x′, y′) on the electronic channel chart, it corresponds to the coordinate (x, y) on the ship's track chart, μ x is the center point of the Gaussian function in the horizontal axis direction on the electronic channel chart, μ y is the center point of the Gaussian function in the vertical axis direction on the electronic channel chart.

6. The electronic navigation chart processing system based on the HarmonyOS according to claim 5, characterized in that, The function T(x, y) for characterizing the coordinate (x, y) on the ship track chart includes: Among them, x i is the abscissa of the ship on the ship's track chart at the i-th moment, and y i is the ordinate of the ship on the ship's track chart at the i-th moment. δ is the Dirac function, which is used to characterize the ship's navigation on the ship's track chart.

7. The electronic navigation chart processing system based on the HarmonyOS according to claim 5, wherein, The function P(x, y) for controlling the shape of the coordinate (x, y) on the ship track chart includes: P(x,y) = a·x i′ ·y j′ + b·sin(c·x)·sin(d·y) + k·e f·(x+y) Wherein, a is the first weight, i' is the abscissa adjustment factor, j' is the ordinate adjustment factor, b is the second weight, c is the third weight, d is the fourth weight, k is the fifth weight, and f is the comprehensive adjustment factor.

8. The electronic navigational chart processing system based on the HarmonyOS as claimed in claim 5, wherein The function Q(x, y) for adjusting the direction of the coordinate (x, y) on the ship track chart includes: Q(x,y) = b'·sin(c'x)·cos(d'y) + k'·sin(x + y) Wherein, k' is the ninth weight, b' is the sixth weight, c' is the seventh weight, and d' is the eighth weight.

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