Underwater route planning method and device based on electronic chart

Abstract

The invention discloses an underwater route planning method and device based on an electronic chart. According to the method, underwater route planning is carried out based on the electronic chart, marine environment elements are fully considered, route planning point positions with timestamps can be given, the course, the voyage and the navigational speed of each subsection route can be calculated, and the method has important guiding significance for operation and control of the underwater vehicle. According to the method, the given task can be efficiently completed with low cost, and the method can be applied and popularized in the field of underwater navigation safety.

Description

Technical Field

[0001] The present invention relates to the field of underwater navigation technology, and in particular to an underwater route planning method and device based on an electronic nautical chart. Background Art

[0002] Underwater route planning is an important means and one of the key technologies to ensure the safety of underwater submersible navigation and the successful completion of missions. In order to find the optimal route to complete the navigation mission, it is necessary to design and select the best underwater route planning algorithm based on the physical constraints of the underwater submersible itself (maneuverability, navigation mode and communication characteristics, etc.), combined with the navigation mission (starting point, search range target, etc.) and the surface and underwater environment (seabed topography, hydroacoustic environment, ocean currents, threats, no-fly zones, etc.).

[0003] Scholars at home and abroad have conducted a lot of research on underwater route planning methods, mainly including four commonly used route planning methods: methods based on geometric model search, methods based on virtual potential fields and navigation functions, methods based on template matching, and methods based on biological intelligence. At present, research on underwater route planning mainly focuses on theoretical methods, and lacks devices or equipment for practical application. In order to further promote the practical application of underwater route planning algorithms, the present invention proposes an underwater route planning method and device based on electronic nautical charts for underwater submersibles that take into account marine environmental factors and are equipped with electronic nautical charts. Summary of the invention

[0004] In view of this, the present invention provides an underwater route planning method and device based on electronic nautical charts, which can efficiently complete a given task at a relatively low cost, and can be applied and promoted in the field of underwater navigation safety.

[0005] The underwater route planning method based on electronic nautical chart of the present invention comprises:

[0006] Step 1, load the electronic chart;

[0007] Step 2, describing the task requirements and navigation constraints in mathematical language; the task requirements include the starting position and the end position, and the navigation constraints include the speed range and the depth range;

[0008] Step 3, calling the electronic nautical chart and converting the marine environment data into a marine environment model; wherein the marine environment model is expressed as four types of constraint areas: restricted area, current area, threat area, and must-reach area, and is represented in the electronic nautical chart by polygons, cylinders, semi-ellipsoids, and polygons respectively;

[0009] Step 4: Based on the mission requirements and navigation constraints of step 2 and the ocean environment model of step 3, a route planning algorithm is used to output the positions of several waypoints;

[0010] Step 5, based on the waypoint positions output in step 4, calculate the heading, distance and speed of the segmented route, and pass the route planning results to the human-computer interaction interface to perform a three-dimensional route demonstration in the electronic nautical chart.

[0011] Preferably, in step 2, the starting position P0, the end position P, the speed V range and the depth D range are described in mathematical language:

[0012] P0=[t0 L0λ0 D0] T (1)

[0013] P z =[t z L z λ z D z ] T (2)

[0014] V∈[V a ,V b ](3)

[0015] D∈[D a ,D b ](4)

[0016] Where t0 represents the time of the starting point, L0 represents the latitude of the starting point, λ0 represents the longitude of the starting point, and D0 represents the depth of the starting point; t z Indicates the end time, L z represents the latitude of the end point, λ z Indicates the longitude of the end point, D z Indicates the depth of the end point; V a Indicates the minimum speed, V b Maximum speed; D a Indicates the minimum depth, D b Maximum depth.

[0017] Preferably, in step 3, the OGR library is used to read and parse the electronic chart data, and the ocean environment data in a custom format is converted into a custom vector chart.

[0018] Preferably, in step 3, the ocean current graph S3 represented by the cylinder is specifically:

[0019]

[0020] Among them, D 31 Indicates the depth of the upper surface of the cylinder, D 32 represents the depth of the bottom surface of the cylinder, represents the center coordinate of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder;

[0021] The semi-ellipsoid represents the threat area S4, which is:

[0022]

[0023] Where D 41 , D 42 Indicates the depth range of the semi-ellipsoid in the vertical direction, (x 40 ,y 40 ,D 41 ) represents the center coordinates of the upper surface of the ellipsoid.

[0024] Preferably, in step 4, the waypoint position is obtained by solving the objective function:

[0025] J k+1 =min||(L k+1 -L k ) 2 +(λ k+1 -λ k ) 2 cos 2 L k +(D k+1 -D k ) 2 ||2

[0026]

[0027] Where P k represents the planning result of the kth waypoint, t k represents the planned arrival time of the kth waypoint, L k represents the planned latitude of the kth waypoint, λ k represents the planned longitude of the kth waypoint, D k represents the planning depth of the kth waypoint; P k+1 represents the planning result of the k+1th waypoint, t k+1 represents the planned arrival time of the k+1th waypoint, L k+1 represents the planned latitude of the k+1th waypoint, λ k+1 represents the planned longitude of the k+1th waypoint, D k+1 Indicates the planning depth of the k+1th waypoint.

[0028] Preferably, in step 5, the heading, range and speed of the segmented route are specifically:

[0029]

[0030] In the formula, represents the segment route heading between the kth waypoint and the k+1th waypoint, Δr krepresents the segmented route distance between the kth waypoint and the k+1th waypoint, ΔV k Indicates the speed of the segment route between the kth waypoint and the k+1th waypoint.

[0031] The present invention also provides an underwater route planning device based on an electronic nautical chart, comprising a data storage unit, a data processing unit and a human-computer interaction unit;

[0032] Wherein, the data storage unit is used to store electronic nautical charts;

[0033] The human-computer interaction unit is used to input task requirements and navigation constraints in the human-computer interaction interface, and to display route planning results;

[0034] The data processing unit receives the task requirements and navigation constraints input by the human-computer interaction unit, calls the electronic nautical chart stored in the data storage unit, converts the ocean environment data into an ocean environment model using the above method, and uses a route planning algorithm to output a number of waypoint positions, and transmits the several waypoint positions to the human-computer interaction unit for three-dimensional route demonstration.

[0035] Beneficial effects:

[0036] (1) The underwater route planning method and device based on electronic nautical chart proposed in the present invention have clear and concise execution steps, clear division of labor among functional units, and strong operability and feasibility;

[0037] (2) The underwater route planning method and device based on electronic nautical chart proposed in the present invention can not only provide the location of the route planning point with a time stamp, but also calculate the heading, range and speed of each segmented route, which has important guiding significance for the operation and control of underwater submersibles;

[0038] (3) The underwater route planning method and device based on electronic nautical chart proposed in the present invention have strong versatility. Based on the software and hardware architecture set up in the present invention, only the specific route planning algorithm model needs to be changed to facilitate expansion and application to other carriers. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the composition of the device of the present invention. DETAILED DESCRIPTION

[0040] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0041] The present invention provides an underwater route planning method and device based on electronic nautical charts, such as Figure 1 As shown, it includes a data storage unit, a data processing unit, and a human-computer interaction unit. The execution process includes the following steps:

[0042] Step 1: Load the electronic chart into the data storage unit and display it in three dimensions through the human-computer interaction unit;

[0043] Step 2: Describe the mission requirements and navigation constraints in mathematical language, set them up and input them through the human-computer interaction unit, and pass them to the data processing unit in the form of control instructions;

[0044] Step 2.1: Use mathematical language to describe the starting position P0, the end position P, the speed V range and the depth D range:

[0045] P0=[t0 L0λ0 D0] T (1)

[0046] P z =[t z L z λ z D z ] T (2)

[0047] Where t0 represents the time of the starting point, L0 represents the latitude of the starting point, λ0 represents the longitude of the starting point, and D0 represents the depth of the starting point; z Indicates the end time, L z represents the latitude of the end point, λ z Indicates the longitude of the end point, D z Indicates the depth of the end point;

[0048] V∈[V a ,V b ](3)

[0049] D∈[D a ,D b ](4)

[0050] Where V a Indicates the minimum speed, V b Maximum speed; D a Indicates the minimum depth, D b Maximum depth.

[0051] Step 2.2: Input the starting position P0, the end position P, the speed V range and the depth D range through the human-computer interaction interface;

[0052] Step 2.3: The starting position P0, the end position P, the speed V range and the depth D range are transmitted to the data processing unit in the form of control instructions via data packets.

[0053] Step 3: The data processing unit calls the electronic nautical chart and converts the marine environment data into a marine environment model through the database support module;

[0054] Step 3.1: Use the OGR library to read and parse the electronic chart data, and convert the ocean environment data in a custom format to form a custom vector chart;

[0055] Step 3.2: Express the marine environment model into four types of constraint areas: restricted area, current area, threat area, and must-reach area;

[0056] Step 3.3: Use geometric shapes to represent three-dimensional constraint areas in the electronic nautical chart. Polygons represent restricted areas S1 and must-reach areas S2. Cylinders represent current charts S3. Semi-ellipsoids represent threat areas S4.

[0057]

[0058] Where D 31 Indicates the depth of the upper surface of the cylinder, D 32 represents the depth of the bottom surface of the cylinder, represents the center coordinate of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder;

[0059]

[0060] Where D 41 , D 42 Indicates the depth range of the semi-ellipsoid in the vertical direction, (x 40 ,y 40 ,D 41 ) represents the center coordinate of the upper surface of the ellipsoid

[0061] L z represents the latitude of the end point, λ z Indicates the longitude of the end point, D z Indicates the depth of the end point; V a Indicates the minimum speed, V b Maximum speed; D a Indicates the minimum depth, D b Maximum depth.

[0062] Step 4: Load the route planning algorithm software into the route planning module of the data processing unit, combine the control instructions in step 2 and the ocean environment model in step 3, drive the execution of the pre-loaded route planning algorithm software, solve the objective function and calculate and output the positions of several waypoints;

[0063] J k+1 =min||(L k+1 -L k ) 2 +(λ k+1 -λ k ) 2 cos 2 L k +(Dk+1 -D k ) 2 ||2

[0064]

[0065] Where P k represents the planning result of the kth waypoint, t k represents the planned arrival time of the kth waypoint, L k represents the planned latitude of the kth waypoint, λ k represents the planned longitude of the kth waypoint, D k represents the planning depth of the kth waypoint; P k+1 represents the planning result of the k+1th waypoint, t k+1 represents the planned arrival time of the k+1th waypoint, L k+1 represents the planned latitude of the k+1th waypoint, λ k+1 represents the planned longitude of the k+1th waypoint, D k+1 Indicates the planning depth of the k+1th waypoint;

[0066] Step 5: Based on the waypoint positions output in step 4, the heading, distance and speed of the segmented route are calculated, and the route planning results are passed to the human-computer interaction interface to perform a three-dimensional route demonstration in the electronic nautical chart.

[0067]

[0068] In the formula, represents the segment route heading between the kth waypoint and the k+1th waypoint, Δr k represents the segmented route distance between the kth waypoint and the k+1th waypoint, ΔV k Indicates the speed of the segment route between the kth waypoint and the k+1th waypoint.

[0069] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for underwater route planning based on electronic nautical chart, characterized in that: include: Step 1, load the electronic chart; Step 2, describing the task requirements and navigation constraints in mathematical language; the task requirements include the starting position and the end position, and the navigation constraints include the speed range and the depth range; Step 3, calling the electronic nautical chart and converting the marine environment data into a marine environment model; wherein the marine environment model is expressed as four types of constraint areas: restricted area, current area, threat area, and must-reach area, and is represented in the electronic nautical chart by polygons, cylinders, semi-ellipsoids, and polygons respectively; Step 4: Based on the mission requirements and navigation constraints of step 2 and the ocean environment model of step 3, a route planning algorithm is used to output the positions of several waypoints; Step 5, according to the waypoint positions output in step 4, the heading, distance and speed of the segmented route are calculated, and the route planning results are passed to the human-computer interaction interface to perform a three-dimensional route demonstration in the electronic nautical chart.

2. The method according to claim 1, characterized in that In step 2, the starting position P0, the end position P, the speed V range and the depth D range are described in mathematical language: P0=[t0 L0λ0 D0] T (1) P z =[t z L z λ z D z ] T (2) V∈[V a ,V b ](3)D∈[D a ,D b ](4) Where t0 represents the time of the starting point, L0 represents the latitude of the starting point, λ0 represents the longitude of the starting point, and D0 represents the depth of the starting point; t z Indicates the end time, L z represents the latitude of the end point, λ z Indicates the longitude of the end point, D z Indicates the depth of the end point; V a Indicates the minimum speed, V b Maximum speed; D a Indicates the minimum depth, D b Maximum depth.

3. The method according to claim 1, characterized in that In step 3, the OGR library is used to read and parse the electronic chart data, and the ocean environment data in a custom format is converted into a custom vector chart.

4. The method according to claim 1 or 3, characterized in that In step 3, the ocean current graph S3 represented by the cylinder is specifically: Among them, D 31 Indicates the depth of the upper surface of the cylinder, D 32 represents the depth of the bottom surface of the cylinder, represents the center coordinate of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder; The semi-ellipsoid represents the threat area S4, which is: Where D 41 , D 42 Indicates the depth range of the semi-ellipsoid in the vertical direction, (x 40 ,y 40 ,D 41 ) represents the center coordinates of the upper surface of the ellipsoid.

5. The method according to claim 1, characterized in that In step 4, the waypoint position is obtained by solving the objective function: Where P k represents the planning result of the kth waypoint, t k represents the planned arrival time of the kth waypoint, L k represents the planned latitude of the kth waypoint, λ k represents the planned longitude of the kth waypoint, D k represents the planning depth of the kth waypoint; P k+1 represents the planning result of the k+1th waypoint, t k+1 represents the planned arrival time of the k+1th waypoint, L k+1 represents the planned latitude of the k+1th waypoint, λ k+1 represents the planned longitude of the k+1th waypoint, D k+1 Indicates the planning depth of the k+1th waypoint.

6. The method according to claim 1 or 5, characterized in that In step 5, the heading, range and speed of the segmented route are specifically: In the formula, represents the segment route heading between the kth waypoint and the k+1th waypoint, Δr k represents the segmented route distance between the kth waypoint and the k+1th waypoint, ΔV k Indicates the speed of the segment route between the kth waypoint and the k+1th waypoint.

7. An underwater route planning device based on electronic nautical chart, characterized in that: It includes a data storage unit, a data processing unit and a human-computer interaction unit; Wherein, the data storage unit is used to store electronic nautical charts; The human-computer interaction unit is used to input task requirements and navigation constraints in the human-computer interaction interface, and to display route planning results; The data processing unit receives the task requirements and navigation constraints input by the human-computer interaction unit, calls the electronic nautical chart stored in the data storage unit, converts the marine environment data into a marine environment model using any method described in claims 1 to 6, uses a route planning algorithm to output a plurality of waypoint positions, and transmits the plurality of waypoint positions to the human-computer interaction unit for three-dimensional route demonstration.

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