An underwater route planning method and device based on an electronic chart

Abstract

The application discloses an underwater route planning method and device based on an electronic sea chart. The application plans an underwater route based on an electronic sea chart, fully considers marine environmental elements, can not only give a timestamped route planning point position, but also can calculate the heading, distance and speed of each segmented route, and has important guiding significance for the steering control of an underwater vehicle. The application can efficiently complete a given task at a small cost, and can be applied and popularized in the field of underwater navigation safety.

Description

Technical Field

[0001] This invention relates to the field of underwater navigation technology, and specifically to an underwater route planning method and apparatus based on electronic nautical charts. Background Technology

[0002] Underwater route planning is a crucial means and key technology for ensuring the safe navigation of underwater vehicles and the successful completion of their missions. To find the optimal route for completing the mission, it is necessary to design and select the best underwater route planning algorithm based on the underwater vehicle's own physical constraints (maneuverability, navigation methods, and communication characteristics, etc.), as well as the navigation mission (starting point, search range, targets, etc.) and the surface and underwater environment (seabed topography, underwater acoustic environment, ocean currents, threats, restricted areas, etc.).

[0003] Domestic and international scholars have conducted extensive research on underwater route planning methods, mainly including four commonly used 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 bio-intelligence. Currently, research on underwater route planning primarily focuses on theoretical methods, lacking practical applications of devices or equipment. To further advance the practical application of underwater route planning algorithms, this invention proposes an underwater route planning method and device based on electronic nautical charts, specifically for underwater vehicles equipped with electronic nautical charts and considering marine environmental factors. Summary of the Invention

[0004] In view of this, the present invention provides an underwater route planning method and apparatus 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 charts of the present invention includes:

[0006] Step 1: Load the electronic nautical chart;

[0007] Step 2: Describe the task requirements and navigation constraints using mathematical language; the task requirements include the starting position and the ending position, and the navigation constraints include the speed range and the depth range.

[0008] Step 3: Call the electronic nautical chart and convert the marine environmental data into a marine environmental model. The marine environmental model is expressed as four types of constrained areas: restricted area, current area, threat area, and unreachable area. These are represented on the electronic nautical chart as polygons, cylinders, semi-ellipsoids, and polygons, respectively.

[0009] Step 4: Based on the task requirements and navigation constraints in Step 2, and the marine environment model in Step 3, output the locations of several waypoints using a route planning algorithm.

[0010] Step 5: Based on the waypoint positions output in Step 4, calculate the heading, distance, and speed of the segmented route, and transmit the route planning results to the human-computer interaction interface for a 3D route demonstration on the electronic nautical chart.

[0011] Preferably, in step two, the starting position P0, the ending position P, the range of speed V, and the range of depth D are described using 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 at 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 L represents the time at the finish line. z The latitude of the endpoint, λ z The longitude of the destination, D z V represents the depth at the endpoint; a V represents the minimum speed. b Maximum speed; D a D represents the minimum depth. b Maximum depth.

[0017] Preferably, in step 3, the OGR library is used to read and parse electronic nautical chart data, and marine environmental data in a custom format is used to construct a custom vector nautical chart.

[0018] Preferably, in step 3, the current map S3 represented by the cylinder is specifically as follows:

[0019]

[0020] Among them, D 31 D represents the depth of the upper surface of the cylinder. 32 This indicates the depth of the lower surface of the cylinder. r represents the center coordinates of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder;

[0021] The semi-ellipsoid represents the threat zone S4 as follows:

[0022]

[0023] In the formula, D 41 D 42 The semi-ellipsoid represents the range of depth values ​​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 positions are 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] In the formula, P k t represents the planning result for the k-th waypoint. k L represents the planned arrival time of the k-th waypoint. k Let λ represent the planned latitude of the k-th waypoint. k D represents the longitude of the planned waypoint k. k P represents the planned depth of the k-th waypoint; k+1 t represents the planning result for the (k+1)th waypoint. k+1 L represents the planned arrival time of the (k+1)th waypoint. k+1 Let λ represent the planned latitude of the (k+1)th waypoint. k+1 D represents the longitude of the planned waypoint k+1. k+1 This represents the planning depth of the (k+1)th waypoint.

[0028] Preferably, in step 5, the heading, distance, and speed of the segmented route are as follows:

[0029]

[0030] In the formula, Δr represents the segmented route heading between the k-th waypoint and the (k+1)-th waypoint. kΔV represents the segmented route distance between the k-th waypoint and the (k+1)-th waypoint. k This represents the segmental route speed between the k-th waypoint and the (k+1)-th waypoint.

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

[0032] 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, as well as 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, uses the above method to transform the marine environment data into a marine environment model, and uses a route planning algorithm to output the positions of several waypoints. The positions of these waypoints are then transmitted to the human-computer interaction unit for a three-dimensional route demonstration.

[0035] Beneficial effects:

[0036] (1) The underwater route planning method and device based on electronic chart proposed in this invention have clear and concise execution steps and well-defined functional units, and have strong operability and feasibility.

[0037] (2) The underwater route planning method and device based on electronic chart proposed in this invention can not only provide the location of route planning points with timestamps, but also calculate the course, distance and speed of each segment of the route, which has important guiding significance for the operation and control of underwater vehicles.

[0038] (3) The underwater route planning method and device based on electronic chart proposed in this invention have strong versatility. Based on the hardware and software architecture set up in this invention, only the specific route planning algorithm model needs to be changed, which makes it easy to extend the application to other carriers. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the device composition of the present invention. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] This invention provides an underwater route planning method and apparatus 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 nautical chart into the data storage unit and display it in three dimensions through the human-computer interaction unit;

[0043] Step 2: Describe the task requirements and navigation constraints using mathematical language, input the settings through the human-computer interaction unit, and transmit them to the data processing unit in the form of control commands;

[0044] Step 2.1: Describe the starting position P0, ending position P, speed V range, and depth D range using mathematical language:

[0045] P0 = [t0 L0λ0 D0] T (1)

[0046] P z =[t z L z λ z D z ] T (2)

[0047] In the formula, t0 represents the time at 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 L represents the time at the finish line. z The latitude of the endpoint, λ z The longitude of the destination, D z Indicates the depth at the endpoint;

[0048] V∈[V a V b (3)

[0049] D∈[D a D b (4)

[0050] In the formula, V a V represents the minimum speed. b Maximum speed; D a D represents the minimum depth. b Maximum depth.

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

[0052] Step 2.3: Transmit the starting position P0, ending position P, speed range V, and depth range D to the data processing unit via data packets in the form of control commands.

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

[0054] Step 3.1: Use the OGR library to read and parse electronic nautical chart data, and use the data to create a custom vector nautical chart from the marine environmental data in a custom format;

[0055] Step 3.2: Express the marine environment model as four types of constrained areas: restricted area, current area, threat area, and unreachable area;

[0056] Step 3.3: Represent the three-dimensional constrained areas in the electronic chart using geometric shapes. Polygons represent the restricted area S1 and the inaccessible area S2, cylinders represent the ocean current map S3, and semi-ellipsoids represent the threat area S4.

[0057]

[0058] In the formula, D 31 D represents the depth of the upper surface of the cylinder. 32 This indicates the depth of the lower surface of the cylinder. r represents the center coordinates of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder;

[0059]

[0060] In the formula, D 41 D 42 The semi-ellipsoid represents the range of depth values ​​in the vertical direction, (x 40 ,y 40 D 41 () represents the center coordinates of the upper surface of the ellipsoid.

[0061] L z The latitude of the endpoint, λ z The longitude of the destination, D z V represents the depth at the endpoint; a V represents the minimum speed. b Maximum speed; D a D represents the minimum depth. 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 commands in Step 2 and the marine environment model in Step 3 to 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] In the formula, P k t represents the planning result for the k-th waypoint. k L represents the planned arrival time of the k-th waypoint. k Let λ represent the planned latitude of the k-th waypoint. k D represents the longitude of the planned waypoint k. k P represents the planned depth of the k-th waypoint; k+1 t represents the planning result for the (k+1)th waypoint. k+1 L represents the planned arrival time of the (k+1)th waypoint. k+1 Let λ represent the planned latitude of the (k+1)th waypoint. k+1 D represents the longitude of the planned waypoint k+1. k+1 This represents the planning depth of the (k+1)th waypoint;

[0066] Step 5: Based on the waypoint positions output in Step 4, calculate the heading, distance, and speed of the segmented route, and transmit the route planning results to the human-computer interaction interface for a 3D route demonstration on the electronic nautical chart.

[0067]

[0068] In the formula, Δr represents the segmented route heading between the k-th waypoint and the (k+1)-th waypoint. k ΔV represents the segmented route distance between the k-th waypoint and the (k+1)-th waypoint. k This represents the segmental route speed between the k-th waypoint and the (k+1)-th waypoint.

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

Claims

1. A method for underwater route planning based on electronic nautical charts, characterized in that, include: Step 1: Load the electronic nautical chart; Step 2: Describe the task requirements and navigation constraints using mathematical language; the task requirements include the starting position and the ending position, and the navigation constraints include the speed range and the depth range. Step 3: Call the electronic nautical chart and convert the marine environmental data into a marine environmental model. The marine environmental model is expressed as four types of constrained areas: restricted area, current area, threat area, and unreachable area. These are represented on the electronic nautical chart as polygons, cylinders, semi-ellipsoids, and polygons, respectively. Specifically, the ocean current diagram S3, represented by the cylinder, is as follows: Among them, D 31 D represents the depth of the upper surface of the cylinder. 32 This indicates the depth of the lower surface of the cylinder. r represents the center coordinates of the cylinder, and r3 represents the radius of the upper and lower surfaces of the cylinder; The semi-ellipsoid represents the threat zone S4 as follows: In the formula, D 41 D 42 The semi-ellipsoid represents the range of depth values ​​in the vertical direction, (x 40 ,y 40 D 41 () represents the coordinates of the center of the upper surface of the ellipsoid; Step 4: Based on the task requirements and navigation constraints in Step 2, and the marine environment model in Step 3, a route planning algorithm is used to output the positions of several waypoints; specifically, the waypoint positions are obtained by solving the objective function. In the formula, P k t represents the planning result for the k-th waypoint. k L represents the planned arrival time of the k-th waypoint. k Let λ represent the planned latitude of the k-th waypoint. k D represents the longitude of the planned waypoint k. k P represents the planned depth of the k-th waypoint; k+1 t represents the planning result for the (k+1)th waypoint. k+1 L represents the planned arrival time of the (k+1)th waypoint. k+1 Let λ represent the planned latitude of the (k+1)th waypoint. k+1 D represents the longitude of the planned waypoint k+1. k+1 This represents the planning depth of the (k+1)th waypoint; Step 5: Based on the waypoint positions output in Step 4, calculate the heading, distance, and speed of the segmented route, and transmit the route planning results to the human-computer interaction interface for a 3D route demonstration on the electronic nautical chart. The specific heading, distance, and speed of the segmented routes are as follows: In the formula, Δr represents the segmented route heading between the k-th waypoint and the (k+1)-th waypoint. k ΔV represents the segmented route distance between the k-th waypoint and the (k+1)-th waypoint. k This represents the segmental route speed between the k-th waypoint and the (k+1)-th waypoint.

2. The method as described in claim 1, characterized in that, In step two, the starting position P0, the ending position P, the range of speed V, and the range of depth D are described using 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 at 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 L represents the time at the finish line. z The latitude of the endpoint, λ z The longitude of the destination, D z V represents the depth at the endpoint; a V represents the minimum speed. b Maximum speed; D a D represents the minimum depth. b Maximum depth.

3. The method as described in claim 1, characterized in that, In step 3, the OGR library is used to read and parse electronic nautical chart data, and marine environmental data in a custom format is used to construct a custom vector nautical chart.

4. An underwater route planning device based on electronic nautical charts, characterized in that, It includes a data storage unit, a data processing unit, and a human-computer interaction unit; The data storage unit is used to store electronic nautical charts; The human-computer interaction unit is used to input mission requirements and navigation constraints into the human-computer interaction interface, and Presenting 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, uses the method described in any one of claims 1 to 3 to convert the marine environment data into a marine environment model, uses a route planning algorithm to output several waypoint positions, and transmits the several waypoint positions to the human-computer interaction unit for three-dimensional route demonstration.

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