Ship conduction equipment practical training system based on VR technology

Abstract

The invention discloses a ship navigation equipment practical training system based on a VR technology. The ship navigation equipment practical training system comprises a data processing system, a ship simulation driving system, an interaction system, an environment system and a simulation system. The data processing system is used for constructing a practical training process; according to the ship simulation system, VR glasses and earphones are used for simulating conduction equipment in a cab and scenes outside the cab; the interaction system collects personnel motion information by using a motion sensor and a video collector and feeds back information to personnel according to the personnel motion information, and practical training personnel give instructions through heads, limbs and operation remote control equipment; the environment system uses 3D Max software to simulate the communication equipment in the cab and the scene outside the cab; and the simulation system uses a Unity 3D engine to render and simulate the personnel motion information and the personnel feedback information. According to the invention, a simulated ship channel equipment practical training platform can be conveniently constructed, immersive learning, training, examination communication equipment and scene simulation are realized, and the practical teaching value is high.

Description

Technical Field

[0001] The present invention relates to the technical field of VR and navigation equipment, and in particular to a ship navigation equipment training system based on VR technology. Background Art

[0002] Ship navigation equipment, also known as ship communication and navigation equipment, is a key technical equipment to ensure safe navigation and effective management of ships. These devices provide ships with the necessary communication, navigation and monitoring capabilities, enabling crew members to perform effective navigation operations in various sea conditions and environments. It mainly includes communication equipment represented by very high frequency radio, medium and high frequency radio, and International Maritime Satellite Organization equipment, navigation equipment represented by navigation radar, global positioning system, Beidou positioning system, and electronic chart display and information system, navigation aids represented by automatic identification system, safety equipment represented by satellite emergency radio beacon, as well as monitoring and recording equipment, navigation aids, etc., to provide protection for the safe navigation of ships, which can be said to be an essential tool for modern ship navigation.

[0003] VR technology, or virtual reality, as the name implies, is the combination of virtuality and reality (using specific technology to generate a virtual situation, but people feel it is real). Theoretically speaking, virtual reality technology (VR) is a computer simulation system that can create and experience a virtual world. It uses computers to generate a simulated environment to immerse users in the environment. Virtual reality technology uses real-life data, electronic signals generated by computer technology, and combines them with various output devices to transform them into phenomena that people can feel. These phenomena can be real objects in reality, or substances that are invisible to our naked eyes, expressed through three-dimensional models. Because these phenomena are not what we can see directly, but the real world simulated by computer technology, it is called virtual reality.

[0004] Virtual reality technology has been recognized by more and more people. Users can experience the most realistic feelings in the virtual reality world. The authenticity of the simulated environment is difficult to distinguish from the real world, making people feel as if they are in the real world. At the same time, virtual reality has all the perceptual functions that humans have, such as hearing, vision, touch, taste, smell and other perceptual systems. Finally, it has a super simulation system, which truly realizes human-computer interaction, allowing people to operate at will and get the most realistic feedback from the environment during the operation. It is the existence, multi-sensory, and interactive characteristics of virtual reality technology that make it popular with many people.

[0005] Using VR for ship driving teaching has become one of the important teaching methods in maritime vocational education, especially in special circumstances such as the epidemic. VR technology provides a safe and efficient training solution. For example, the ship driving virtual simulation training platform can build a realistic three-dimensional ship model and navigation environment based on the three-dimensional visual simulation software of the real ship type, and realize virtual ship driving experience and training. The system is divided into the coach end and the student end, providing advanced simulation functions such as three-dimensional basic interaction functions, weather environment parameter settings, environmental effect changes, and wave level settings. The advantage of VR teaching is that it can provide an immersive learning experience, allowing students to conduct actual combat exercises in a safe environment, and improve students' practical operation ability and learning interest. For example, the School of Navigation of Dalian Maritime University uses VR technology to design the teaching link of ship navigation at sea, so that students can obtain the experience of sea navigation at any time through mobile phones and VR devices, which effectively improves students' practical ability and learning interest. In addition, the VR simulation experience of ship navigation can enrich the teaching content, realize personalized teaching, and enable students to conduct multiple simulation practices according to their needs, so as to better adapt to the actual ship driving and operation.

[0006] Chinese invention patent CN107168535B A training method and system for ship navigation equipment fault inspection based on VR technology: 1. Construct a VR training base library for ship navigation equipment; 2. Select a troubleshooting tree according to the set fault, call the equipment 3D model library, generate a VR fault scene, and display a visualized 3D model of the initial state node of the troubleshooting tree; 3. Obtain the user's actual operation behavior and compare it with the user behavior edge of the current state node of the troubleshooting tree. If it matches, execute step 4; if it does not match, the task fails and enters step 5; 4. Determine whether the current state node of the troubleshooting tree is the final state node. If so, the training task is successful and ends; if not, enter the next state node of the matched user behavior edge and repeat step 3; 5. For the training task that failed in step 3, use the multimedia teaching library to push relevant information to students and return to step 3. This invention mainly detects the faults of individual navigation equipment and does not have the training function of navigation equipment in actual navigation.

[0007] Chinese invention patent CN109992902A is a method for constructing a ship cabin experience system based on virtual reality. It uses VR technology to construct a three-dimensional immersive ship cabin experience system, imports a pre-set cabin model into a computer, generates a three-dimensional cabin scene, and the experiencer observes the three-dimensional cabin scene at any angle through a head-mounted three-dimensional display device, and interacts with the cabin scene with an operating handle to change the scene, replace materials, and move objects, and feel the changes in air flow, temperature, light, and sound. This invention only describes the structure of the ship experience cabin, and it is relatively complex.

[0008] At present, there is no public way to solve the problem of systematic cognitive training of ship navigation equipment that can be completed through learning, training, and examination at a low cost without the need for an experience warehouse, and with the help of only a small amount of external equipment such as VR glasses, headphones, video collectors, and joysticks. Summary of the invention

[0009] The present invention provides a ship navigation equipment training system based on VR technology to solve the technical problems of the existing VR ship training system, such as complex structure, high cost, weak training pertinence and poor training effect.

[0010] In order to solve the above technical problems, the present invention provides the following technical solutions: The present invention provides a ship navigation equipment training system based on VR technology, comprising: Data processing system, ship driving simulation system, interactive system, environmental system, simulation system; The data processing system is used to construct a training process; The ship simulation system uses VR glasses and headphones to simulate navigation equipment in the wheelhouse and scenes outside the wheelhouse; The interactive system uses motion sensors and video collectors to collect personnel motion information, and gives personnel feedback information based on the personnel motion information. The trainees give instructions through their heads, limbs, and operating remote control devices; The environmental system uses 3D Max software to simulate the navigation equipment in the cab and the scene outside the cab; The simulation system uses the Unity3D engine to render and simulate the personnel movement information and personnel feedback information.

[0011] Furthermore, the data processing system is used to construct a training process, which includes an interface login module, a scene switching module, a training module, a teaching module, an examination module, and an evaluation module.

[0012] Furthermore, the training process includes an interface login module, a scene switching module, a training module, and a teaching module, wherein: The interface login module includes user registration function, user login function and user authority management function; The user registration function is used to record the basic information of trainees, the user login function is used for trainees to log into the system, and the user authority function is used to record basic information, training records, and test scores; The scene switching module is used to switch the training scene and the navigation equipment; The training module is used to train trainees to use communication and navigation equipment to complete basic information reading of communication and navigation equipment, electronic chart setting, route editing, and collision avoidance navigation operations.

[0013] Furthermore, the examination module and the evaluation module include: The teaching module is used to teach the content of the training module, which is completed through video teaching with human-computer interaction. The video teaching allows segmented playback, pause, loop playback, and sequential playback of the content of the teaching training module; The test module is used to judge the trainees' operations and decisions in a certain training scenario and when using communication and navigation equipment, and to give test scores based on the trainees' operation accuracy, decision rationality, and time factors; The evaluation module is used to record the training records, teaching records and test scores of the trainees, and analyze the comprehensive training level of the user.

[0014] Furthermore, the ship simulation system uses VR glasses and headphones to simulate navigation equipment in the cab and scenes outside the cab, wherein: The VR glasses are used to display the training environment in 360 degrees, including the display screen of the channel equipment in the cab and the scene outside the cab; The earphones are used to listen to the prompt sounds of the communication and navigation equipment training system, the prompt sounds of the channel equipment in the cab, and the simulated sounds of the scenes outside the cab.

[0015] Furthermore, the interactive system uses motion sensors and video collectors to collect personnel motion information and gives personnel feedback information based on the personnel motion information, wherein: The motion sensor uses a head-mounted inertial measurement unit,

[0016]

[0017] in, is the sensor time constant, k is the static sensitivity or amplification factor; The inertial measurement unit is composed of a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer, and is used to measure and track the motion parameters of the trainee's head and various parts of the body; Calculate the inertial measurement unit disturbance value :

[0018] in, is the curvature value of the inertial measurement unit, is the measured value; The video collector uses a camera to capture the user's movements, which is used to assist the motion sensor, solve the occlusion problem, and improve the accuracy and robustness of motion capture.

[0019] Furthermore, the trainee gives instructions by using the head, limbs and operating the remote control device, wherein: The instructions given by the head and limbs are collected by motion sensors and video collectors; The operation remote control device is controlled by the trainee's hands and is used to complete fine operations that are not easily captured by motion sensors and video collectors. The fine operations refer to the operation selections in the training module and the examination module.

[0020] Furthermore, the environmental system uses 3D Max software to simulate the navigation equipment in the cab and the scene outside the cab, wherein: The communication and navigation equipment in the cab is simulated by using 3D Max software, and the communication and navigation equipment is simulated by using 3D Max software. The channel equipment includes automatic identification system (AIS), satellite navigation (GPS / BDS), marine radar (RADAR), navigation warning receiver (NAVTEX), compass (COMPASS), and very high frequency radio (VHF); The 3D Max software is used to simulate the outdoor scene outside the cab, and the outdoor scene outside the cab includes the water surface, water surface obstacles, land, land attachments, and weather.

[0021] Furthermore, the simulation system uses Unity3D engine to render and simulate the personnel movement information and personnel feedback information, wherein: The rendering of the simulated personnel motion information is to construct and render the motion model and actions of the simulated personnel themselves in the cab; The rendering simulation personnel feedback information refers to the movement and changes of the communication and navigation equipment in the cab and the simulated environment outside the cab according to the instructions after the user gives the instructions.

[0022] Furthermore, the communication and navigation equipment training system can train, learn and test the use of communication equipment, navigation equipment, navigation aids, safety equipment, communication and navigation equipment inspection, emergency communications, and navigation practice projects.

[0023] The beneficial effects brought about by the technical solution provided by the present invention include at least: The present invention discloses a ship navigation equipment training system based on VR technology, including a data processing system, a ship simulation driving system, an interactive system, an environmental system, and a simulation system; the data processing system is used to construct a training process; the ship simulation system uses VR glasses and headphones to simulate navigation equipment in the cab and scenes outside the cab; the interactive system uses motion sensors and video collectors to collect personnel movement information, gives personnel feedback information according to the personnel movement information, and the trainees give instructions through the head, limbs and operating remote control devices; the environmental system uses 3D Max software to simulate the navigation equipment in the cab and scenes outside the cab; the simulation system uses Unity3D engine rendering to simulate the personnel movement information and personnel feedback information. The present invention can conveniently construct a simulated ship channel equipment training platform, immersive learning, training, examination navigation equipment and scene simulation, and has high teaching practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a block diagram of a ship navigation equipment training system based on VR technology provided by an embodiment of the present invention; Figure 2 A schematic diagram of a cab provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of a marine radar FR-8062 in the communication and navigation equipment of an embodiment of the present invention; Figure 4 A block diagram of channel device types provided for an embodiment of the present invention; Figure 5 A schematic diagram of an operation interface provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Example

[0027] This embodiment provides a ship navigation equipment training system based on VR technology, including: Data processing system, ship simulation driving system, interactive system, environmental system, simulation system.

[0028] Please refer to Figure 1Block diagram of a ship navigation equipment training system based on VR technology provided by an embodiment of the present invention.

[0029] The data processing system is used to construct a training process; The ship simulation system uses VR glasses and headphones to simulate navigation equipment in the wheelhouse and scenes outside the wheelhouse; The interactive system uses motion sensors and video collectors to collect personnel motion information, and gives personnel feedback information based on the personnel motion information. The trainees give instructions through their heads, limbs, and operating remote control devices; The environmental system uses 3D Max software to simulate the navigation equipment in the cab and the scene outside the cab; The simulation system uses the Unity3D engine to render and simulate the personnel movement information and personnel feedback information.

[0030] 1. Data processing system: Used to construct a practical training process, which includes an interface login module, a scene switching module, a training module, a teaching module, an examination module, and an evaluation module.

[0031] 1. Interface login module: It includes user registration, user login, and user authority management. Teaching instructors use administrator authority to view other users' learning progress, test scores, and other data. Training scenarios and channel equipment are set as plug-in components during development to improve the developability of the overall system. At the same time, administrators can modify scenarios through the data processing system.

[0032] It should be noted that the database concept is actually used here to manage personnel, scenes, and communication equipment, and the functions of adding, deleting, modifying, and checking can all be realized.

[0033] The user registration function is used to record basic information of trainees, the user login function is used for trainees to log into the system, and the user authority function is used to record basic information, training records, and test scores.

[0034] Scene switching module: Please refer to Figure 2 A schematic diagram of a cab provided by an embodiment of the present invention.

[0035] Used to switch between practical training scenes and communication and navigation equipment. Both practical training scenes and communication and navigation equipment are installed in plug-in style.

[0036] The training scenarios include common scenarios of sailing a ship.

[0037] Communication and navigation equipment mainly includes communication equipment represented by very high frequency radio, medium and high frequency radio, and International Maritime Satellite Organization equipment, navigation equipment represented by marine radar, global positioning system, Beidou positioning system, electronic nautical chart display and information system, navigation aids represented by automatic identification system, safety equipment represented by satellite emergency radio position-indicating beacon, as well as monitoring and recording equipment, navigation aids, etc.

[0038] For example: Set up the communication device: Please refer to Figure 3 Schematic diagram of the ship radar FR-8062 in the communication and navigation equipment according to an embodiment of the present invention.

[0039] The automatic identification system is the SI-108 shipborne AIS collision avoidance equipment; The satellite navigation system is GPS-180; The ship radar is FR-8062; The navigation warning receiver is NT-1002; The compass is a CPT-130D domestic Class B liquid magnetic compass; The VHF radio is the STR600D domestically produced marine VHF radio communication device.

[0040] 3. Training module: It is used to train trainees to use communication and navigation equipment to complete basic information reading of communication and navigation equipment, electronic chart setting, route editing, and collision avoidance navigation operations.

[0041] 4. Teaching modules: Used for teaching and training module content, it is completed through video teaching combined with human-computer interaction. The video teaching allows segmented playback, pause, loop playback, and sequential playback of the teaching and training module content.

[0042] It should be noted that teaching videos, presented through video and human-computer interaction, can provide students with an immersive learning experience and greatly enhance the learning effect.

[0043] 5. Examination module: It is used to judge the trainees' operations and decisions in a certain training scenario and when using communication and navigation equipment, and to give test scores based on the trainees' operation accuracy, decision rationality and time factors.

[0044] It should be noted that during the test, students need to complete the prescribed actions according to the scene and the status of the communication and navigation equipment within the specified time. The prescribed actions are completed through action acquisition and video acquisition on the one hand, and students can complete them through the remote control unit, i.e. the joystick on the other hand. For example, for multiple-choice questions, students need to complete the selection through the joystick.

[0045] 6. Evaluation Module: Used to record the training records, teaching records and test scores of trainees, and analyze the user's comprehensive training level.

[0046] It should be noted that the evaluation module here is based on a comprehensive analysis of the students' learning progress and test module scores. Wrong choices, inadequate actions, and time exceeding the set time in the test will affect the final evaluation. Administrators can view the evaluation reports of all students and export them in the background.

[0047] 2. Ship simulation system: Use VR glasses and headphones to simulate the navigation equipment in the cab and the scenes outside the cab, including: The VR glasses are used to display a 360-degree training environment, which includes the display screen of the channel equipment in the cab and the scene outside the cab.

[0048] It should be noted that in order to reduce modeling computing power and cost overhead, a full 360° display is not actually required here. Only the front half can be displayed, mainly showing the scene inside the cab. Please refer to the actual ship cab for details.

[0049] The earphones are used to listen to the prompt sounds of the communication and navigation equipment training system, the prompt sounds of the channel equipment in the cab, and the simulated sounds of the scenes outside the cab.

[0050] It should be noted that in order to ensure the degree of true restoration, the scene prompt sounds are collected from real channel equipment and sounds on other ships.

[0051] 3. Interactive system: Use motion sensors and video collectors to collect personnel movement information and provide personnel with feedback information based on the personnel movement information, including: The motion sensor uses a head-mounted inertial measurement unit,

[0052]

[0053] in, is the sensor time constant, k is the static sensitivity or amplification factor; The inertial measurement unit is composed of a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer, and is used to measure and track the motion parameters of the trainee's head and various parts of the body; Calculate the inertial measurement unit disturbance value :

[0054] in, is the curvature value of the inertial measurement unit, is the measured value; The video collector uses a camera to capture the user's movements, which is used to assist the motion sensor, solve the occlusion problem, and improve the accuracy and robustness of motion capture.

[0055] The trainee gives instructions through the head, limbs and operating remote control equipment, wherein: The instructions given by the head and limbs are collected by motion sensors and video collectors; The operation remote control device is controlled by the trainee's hands and is used to complete fine operations that are not easily captured by motion sensors and video collectors. The fine operations refer to the operation selections in the training module and the examination module.

[0056] 4. Environmental system: 3D Max software was used to simulate the navigation equipment in the cab and the scene outside the cab, where: The communication and navigation equipment in the cab is simulated using 3D Max software, and the communication and navigation equipment is modeled and simulated using 3D Max software. The channel equipment includes an automatic identification system (AIS), a satellite navigation system (GPS / BDS), a marine radar (RADAR), a navigation warning receiver (NAVTEX), a compass (COMPASS), and a very high frequency radio (VHF).

[0057] Please refer to Figure 4 A block diagram of channel device types provided by an embodiment of the present invention.

[0058] It should be noted that the level of detail required for device modeling is only required to allow students to see what type and model of communication and navigation equipment it is. After selecting a specified communication and navigation equipment, the specific operation interface and display interface of the channel equipment should be presented.

[0059] The 3D Max software is used to simulate the outdoor scene outside the cab, and the outdoor scene outside the cab includes the water surface, water surface obstacles, land, land attachments, and weather.

[0060] It should be noted that scene environments such as weather environment have a great impact on the training effect, which is also a feature of this embodiment.

[0061] 5. Simulation system: The Unity3D engine is used to render and simulate the personnel movement information and personnel feedback information, wherein: The rendering of the simulated personnel motion information is to construct and render the motion model and actions of the simulated personnel themselves in the cab.

[0062] The rendering simulation personnel feedback information refers to the movement and changes of the communication and navigation equipment in the cab and the simulated environment outside the cab according to the instructions after the user gives the instructions.

[0063] Please refer to Figure 5A schematic diagram of an operation interface provided by an embodiment of the present invention.

[0064] The communication and navigation equipment training system can train, learn and test the use of communication equipment, navigation equipment, navigation aids, safety equipment, communication and navigation equipment inspection, emergency communications and navigation practical projects.

[0065] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0066] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0068] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0069] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A ship navigation equipment training system based on VR technology, characterized in that: include: Data processing system, ship driving simulation system, interactive system, environmental system, simulation system; The data processing system is used to construct a training process; The ship simulation system uses VR glasses and headphones to simulate navigation equipment in the wheelhouse and scenes outside the wheelhouse; The interactive system uses motion sensors and video collectors to collect personnel motion information, and gives personnel feedback information based on the personnel motion information. The trainees give instructions through their heads, limbs, and operating remote control devices; The environmental system uses 3D Max software to simulate the navigation equipment in the cab and the scene outside the cab; The simulation system uses the Unity3D engine to render and simulate the personnel movement information and personnel feedback information.

2. The ship navigation equipment training system based on VR technology as claimed in claim 1 is characterized in that: The data processing system is used to construct a training process, which includes an interface login module, a scene switching module, a training module, a teaching module, an examination module, and an evaluation module.

3. The ship navigation equipment training system based on VR technology as claimed in claim 2 is characterized in that: The training process includes an interface login module, a scene switching module, a training module, and a teaching module, wherein: The interface login module includes user registration function, user login function and user authority management function; The user registration function is used to record the basic information of trainees, the user login function is used for trainees to log into the system, and the user authority function is used to record basic information, training records, and test scores; The scene switching module is used to switch the training scene and the navigation equipment; The training module is used to train trainees to use communication and navigation equipment to complete basic information reading of communication and navigation equipment, electronic chart setting, route editing, and collision avoidance navigation operations.

4. The ship navigation equipment training system based on VR technology as claimed in claim 2 is characterized in that: The examination module and the assessment module include: The teaching module is used to teach the content of the training module, which is completed through video teaching with human-computer interaction. The video teaching allows segmented playback, pause, loop playback, and sequential playback of the content of the teaching training module; The test module is used to judge the trainees' operations and decisions in a certain training scenario and when using communication and navigation equipment, and to give test scores based on the trainees' operation accuracy, decision rationality, and time factors; The evaluation module is used to record the training records, teaching records and test scores of the trainees, and analyze the comprehensive training level of the user.

5. The VR-based ship navigation equipment training system according to claim 1 is characterized in that: The ship simulation system uses VR glasses and headphones to simulate navigation equipment in the cab and scenes outside the cab, wherein: The VR glasses are used to display the training environment in 360 degrees, including the display screen of the channel equipment in the cab and the scene outside the cab; The earphones are used to listen to the prompt sounds of the communication and navigation equipment training system, the prompt sounds of the channel equipment in the cab, and the simulated sounds of the scenes outside the cab.

6. The ship navigation equipment training system based on VR technology as claimed in claim 1 is characterized in that: The interactive system uses motion sensors and video collectors to collect personnel motion information and gives personnel feedback information based on the personnel motion information, wherein: The motion sensor uses a head-mounted inertial measurement unit, ； ； in, is the sensor time constant, k is the static sensitivity or amplification factor; The inertial measurement unit is composed of a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer, and is used to measure and track the motion parameters of the trainee's head and various parts of the body; Calculate the inertial measurement unit disturbance value : ； in, is the curvature value of the inertial measurement unit, is the measured value; The video collector uses a camera to capture the user's movements, which is used to assist the motion sensor, solve the occlusion problem, and improve the accuracy and robustness of motion capture.

7. The VR-based ship navigation equipment training system according to claim 1 is characterized in that: The trainee gives instructions through the head, limbs and operating remote control equipment, wherein: The instructions given by the head and limbs are collected by motion sensors and video collectors; The operation remote control device is controlled by the trainee's hands and is used to complete fine operations that are not easily captured by motion sensors and video collectors. The fine operations refer to the operation selections in the training module and the examination module.

8. The ship navigation equipment training system based on VR technology as claimed in claim 1 is characterized in that: The environmental system uses 3D Max software to simulate the navigation equipment in the cab and the scene outside the cab, wherein: The communication and navigation equipment in the cab is simulated by using 3D Max software, and the communication and navigation equipment is simulated by using 3D Max software. The channel equipment includes automatic identification system (AIS), satellite navigation (GPS / BDS), marine radar (RADAR), navigation warning receiver (NAVTEX), compass (COMPASS), and very high frequency radio (VHF); The 3D Max software is used to simulate the outdoor scene outside the cab, and the outdoor scene outside the cab includes the water surface, water surface obstacles, land, land attachments, and weather.

9. The ship navigation equipment training system based on VR technology as claimed in claim 1, characterized in that: The simulation system uses the Unity3D engine to render and simulate the personnel movement information and personnel feedback information, wherein: The rendering of the simulated personnel motion information is to construct and render the motion model and actions of the simulated personnel themselves in the cab; The rendering simulation personnel feedback information refers to the movement and changes of the communication and navigation equipment in the cab and the simulated environment outside the cab according to the instructions after the user gives the instructions.

10. The ship navigation equipment training system based on VR technology as claimed in claim 1, characterized in that: The communication and navigation equipment training system can train, learn and test the use of communication equipment, navigation equipment, navigation aids, safety equipment, communication and navigation equipment inspection, emergency communication and navigation practical projects.

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