A navigation simulation training system and method based on a real ship bridge

Abstract

The application discloses a kind of navigation simulation training system and method based on real ship bridge.It is realized that navigation simulation training or navigation scheme simulation demonstration verification is carried out when ship is moored or anchored.The system can realize the function of trainee training with the ship,which can effectively shorten the training time on land.The hydrodynamic characteristics of the ship in the simulator are calibrated according to the hydrodynamic characteristics of the real ship,which is more beneficial to the trainee to improve the experience of real ship operation.Meanwhile,using the real ship bridge,control equipment and display device for simulation training is consistent with the real ship,which is beneficial for the trainee to master the real ship equipment operation proficiency.In the potential navigation danger area during navigation,feasibility of navigation scheme can be verified through simulation navigation exercise in mooring or anchoring and other safe scenarios,which releases the navigation risk.

Description

Technical Field

[0001] This invention relates to a system and method for completing navigation simulation training and navigation scheme simulation verification and evaluation using a real ship's bridge and real ship's maneuvering equipment, belonging to the field of ship navigation simulator technology. Background Technology

[0002] With the continuous development of the shipbuilding industry, the number of civilian and military vessels in my country has increased significantly, leading to a surge in demand for navigation command and control personnel in both sectors. Training a qualified navigation command and control officer for civilian and military vessels requires not only necessary theoretical training but also a prescribed amount of ship handling training on a navigation simulator. Currently, navigation simulators are primarily land-based, such as those established on land by various maritime universities and training institutions. Dalian Maritime University is one of the earliest institutions in my country to develop navigation simulators and possess independent intellectual property rights. In 2006, Dalian Maritime University filed an invention patent for "High-Quality Navigation Simulator and Its Development Platform" (authorization number: CN100561543C). Its key feature is the use of a computer cluster and multi-channel columnar projection to generate a 360° field of view within an independent land-based simulation chamber, providing ship operators with simulated navigation visuals and ship handling techniques to achieve navigation training, teaching, and scientific experiments. In 2013, the Dalian Naval Academy of the Chinese People's Liberation Army Navy proposed "CN103631148B," a real-time virtual augmented simulation system and method for ship bridges based on AIS. Its features include a virtual simulation system composed of director monitoring software, ship dynamic model calculation software, electronic chart software, navigation radar software, and ship driving visual software. It also proposes a simulated navigation method. Through this system and method, operators can interact with the machine and obtain a realistic navigation experience.

[0003] The following diagram illustrates the typical components of a land-based navigation simulator.

[0004]

[0005] Summary of the Invention

[0006] The technical problem this invention aims to solve is that while existing land-based navigation simulators are powerful and have realistic animation effects, they suffer from the following disadvantages:

[0007] 1) Trainees must spend a lot of time training on land, making it impossible for trainees to train on board ships, resulting in a long talent training cycle;

[0008] 2) The built-in ship model in the land navigation simulator differs significantly from the actual ship in terms of the layout of the control equipment, blind spots, and hydrodynamic characteristics, making it difficult to accurately reflect reality.

[0009] 3) Land-based navigation simulation training devices occupy a large space and cannot be installed in the bridge of a real ship, making it impossible to use real ship control equipment for training.

[0010] 4) When encountering potentially dangerous navigation areas during actual ship navigation plans, it is not possible to immediately use a land-based navigation simulator to conduct simulation demonstrations, verify the feasibility of the navigation plan, and mitigate navigation risks.

[0011] 5) The projection equipment in the visual system is affected by the swaying and rocking of the ship, resulting in poor imaging effect on the screen and easy blurring. Therefore, the visual technology solution of the land navigation simulator is not suitable for application on actual ships.

[0012] To address the aforementioned technical problems, the present invention discloses a navigation simulation training system based on a real ship's bridge, characterized in that it includes a director / trainer station, a model calculation workstation, a visual simulator, a radar simulator, and real ship maneuvering equipment; the director / trainer station, model calculation workstation, visual simulator, and radar simulator are connected via Ethernet and exchange information; the real ship maneuvering equipment is connected to the model calculation workstation via Ethernet or a serial port to exchange simulated navigation and maneuvering information of the ship.

[0013] The director / trainer station is equipped with director / trainer station software, which has the following functions: entering / exiting simulation training mode; issuing simulation training inquiry signals and simulation training hold signals, starting / ending practice; editing training scenarios and training content, setting the initial state of the main vessel and manipulating the target vessel's simulated motion; comprehensive navigation information functions including simulated electronic charts and AIS; and scheduling and controlling the training process.

[0014] The model solving workstation is equipped with a model solving workstation for simulating and generating motion characteristic data of the main ship model, receiving operation commands generated by the actual control equipment in response to the operation of the trainers, and parsing them into motion control data of the main ship; the model solving workstation is also used to receive the director and trainer station's entry / exit simulation training signals, forward the entry / exit training request signals and training hold signals to the actual control equipment in the bridge, and receive the status messages fed back by the actual control equipment;

[0015] The visual simulator is equipped with visual simulation software, which is used to receive information including electronic charts from the director and trainer station, AIS, weather and other external water environment information, and to receive motion calculation data and motion control data information of the main ship from the model calculation workstation, thereby generating external visual images of the main ship's simulated navigation, and displaying the visual images through the monitors of the corresponding real ship equipment in the bridge, so as to realize interaction with the trainees.

[0016] The radar simulator is equipped with radar simulation software, which is used to receive water environment information such as electronic charts and AIS from the director and training station, and generate radar echo information based on the virtual main ship, which is then displayed on the real ship's navigation radar display.

[0017] The ship maneuvering equipment has two modes: normal mode and simulation training mode, which are switched via an "inquiry-confirmation" method. In normal mode, the ship maneuvering equipment can manipulate the corresponding actuators. In simulation training mode, the ship maneuvering equipment can only control the virtual ship movement in the simulation device, and the corresponding actuators do not move. The ship maneuvering equipment enters the simulation training state after receiving a simulation training inquiry signal confirmation. If the ship maneuvering equipment does not receive the simulation training hold signal within a specified delay period, it exits the simulation training state. The ship maneuvering equipment is equipped with entry and exit confirmation buttons for normal entry and exit from the simulation training mode.

[0018] Preferably, the actual ship handling equipment includes one of the following: a steering instrument, a propulsion controller, a lateral thrust controller, a navigation signal light controller, an integrated bridge system, a navigation radar, an actual ship display, a telegraph, a roll stabilization fin control panel, and an integrated bridge system. In this case, the corresponding navigation maneuvering control means can specifically be to control the main ship's navigation in the water through equipment in the bridge.

[0019] Preferably, the director-instructor station is in the form of a portable computer and interacts with the outside world via Ethernet; during training, the director-instructor station is placed on a chart workbench or other work platform in the cockpit.

[0020] Preferably, the model solving workstation is a ruggedized computer that interacts with the outside world via Ethernet, CAN, and serial port, and can be installed inside the driver's console.

[0021] Preferably, the visual simulator is a ruggedized computer with Ethernet and HDMI video interfaces, and can be installed inside the driver's console.

[0022] Preferably, the visual simulator can receive information from the model director / trainer station, including external water environment, weather, initial state, electronic charts, and AIS, to generate a simulated external environment image of the main ship during navigation. The visual simulator also receives motion and control data from the model solving workstation, generating an animation of the main ship's motion in the simulated visual environment. This allows trainees to realistically see feedback from operating the actual control equipment during simulation training, ensuring the effectiveness of the navigation simulation training and the training effect on the simulated trainees. Furthermore, the visual simulator can receive playback control information from the director / trainer station, and then play back the corresponding visual content based on this playback control information.

[0023] Preferably, the radar simulator is a ruggedized computer with an Ethernet interface and can be installed inside the control console.

[0024] Another aspect of the present invention discloses a navigation simulation training method based on a real ship's bridge, characterized by comprising the following steps:

[0025] a) When the actual ship is moored or anchored, the navigation simulation training system is put into simulation training mode through an "inquiry-confirmation" method. That is, the director / trainer station sends a simulation training inquiry signal and a simulation training hold signal to the actual ship's control equipment. After receiving the simulation training inquiry signal, the actual ship's control equipment confirms and enters the simulation training mode, and disconnects the linkage function with the actuators.

[0026] b) Set the initial state of the main ship, the state of the replica ship, the training water area, the sea state, and the weather in the director training station, and start the navigation simulation exercise. At this time, the director training station sends a simulation training hold signal to the actual ship's control equipment to keep the actual ship's control equipment in the simulation training state. The director training station sends the initial state of the main ship, the state of the replica ship, the training water area, the sea state, the weather, and AIS to the visual simulator, sends the parameter information of the main ship, the replica ship, and other things involved in the navigation process in each navigation exercise in the training water area, and AIS information to the radar simulator, sends the inherent parameter information of the main ship to the model solving workstation, and sends the integrated navigation and AIS information to the display in the actual ship's control equipment.

[0027] c) Trainees send control information such as the main ship's rudder, engine, bow thrusters, navigation lights, and radar to the navigation simulation system by operating the actual ship's control equipment. They then operate the main ship in the navigation simulation training system to simulate navigation and obtain simulated navigation information and navigation visual animations through the actual ship's equipment display. In the director's training station, the replica ship can be controlled to conduct interactive training with the trainees.

[0028] d) The model solving workstation receives the main ship's inherent parameter information sent by the director and trainer station, and receives the maneuvering control information sent by the actual ship control equipment. After solving, it generates the main ship's motion characteristics and control data, and sends them to the director and trainer station and the visual simulator.

[0029] e) The visual simulator receives the initial state of the main ship, the state of the replica ship, the training water area, sea state, weather, and AIS from the director and instructor station. It also receives the motion characteristics and control data of the main ship sent by the model solving workstation, generates a visual animation of navigation simulation training in the designated sea area, and displays the visual animation through the real ship display equipment, so that the trainees can experience a realistic navigation and operation environment.

[0030] f) The radar simulator receives parameter information and AIS information from the main vessel, the replica vessel, and other entities involved in the navigation process during various navigation exercises in the training waters. It generates navigation radar simulated echo information and sends it to the actual ship's navigation radar, enabling the display of the navigation simulation scene radar image on the navigation radar and allowing related operations to be performed at the navigation radar station.

[0031] g) After the navigation practice is completed, the practice is ended through the director and instructor station, and the practice process can be replayed and the practice results can be evaluated through the software module;

[0032] h) After the navigation simulation training is completed, the director and instructor station uses the "question-confirmation" method to exit the navigation simulation training mode. The director and instructor send a question to the actual ship's control equipment to exit the simulation training. After each device confirms and exits, it can return to normal mode and restore the linkage function with the actuators.

[0033] i) The director / instructor station assessment module can generate objective assessment scores and review the training process to evaluate the feasibility of the navigation plan.

[0034] Preferably, the time and distance required for the simulated training device to reach the specified speed at full speed forward and full speed backward under the same sea conditions should have an error of less than 10% compared with the actual ship.

[0035] Preferably, the turning radius of the simulation training device should be within 10% of that of the actual ship; the visual image refresh rate should be no less than 25 frames / s to ensure the presentation effect of the visual image.

[0036] This invention proposes a marine navigation simulation training system and method. The system is installed in the bridge of a real ship, using the bridge as the training ground for ship handling and navigation plan practice. It utilizes the ship's steering gear, engine telegraph, and thruster controllers to control the main vessel in simulated navigation scenarios. The information display equipment in the bridge displays simulated integrated navigation information and navigation scenario animations, enabling navigation simulation training or navigation plan demonstration and verification while the ship is moored or anchored. This system allows trainees to train on board, effectively shortening land-based training time. The hydrodynamic characteristics of the ship in the simulator are calibrated according to the actual ship's hydrodynamic characteristics, further enhancing trainees' experience in actual ship handling. Simultaneously, the use of the actual ship's bridge, control equipment, and display equipment for simulation training provides complete consistency with the real ship, facilitating trainees' mastery of the ship's equipment operation. When encountering potentially hazardous navigation areas during navigation, the feasibility of navigation plans can be verified in real-time through simulated navigation exercises in safe scenarios such as mooring or anchoring, mitigating navigation risks.

[0037] Compared with existing technical solutions, the present invention has the following advantages:

[0038] Installed in the actual ship's bridge, this device allows for training during mooring and anchoring, effectively increasing training time and shortening the navigation skills development cycle. Training in the actual ship's bridge provides a realistic experience, mirroring the actual ship's operating environment. It eliminates the need for a simulated bridge cabin (including a simulated steering wheel, engine telegraph, and other control equipment), a duplicate workstation, a panoramic screen, and other hardware, simplifying equipment and reducing costs. Considering the ship's rolling and swaying, it utilizes a display screen integrated with the bridge equipment, avoiding the blurring of projected images caused by rolling and swaying. This invention can interact and link with the actual navigation control equipment in the bridge, making navigation simulation training in the actual ship's bridge more realistic. When encountering potentially hazardous areas during navigation, simulation exercises can be conducted beforehand to verify the feasibility of navigation plans and mitigate risks. Furthermore, except for the portable computer used in the director / trainer station, all other hardware is installed inside the bridge control console, requiring no separate cabin space and not occupying normal bridge activity space, thus saving overall resources. Attached Figure Description

[0039] Figure 1 A schematic diagram of the organizational structure of a marine bridge navigation simulation training system;

[0040] Figure 2 This is a schematic diagram of the organizational structure of an embodiment of a ship navigation simulation training system. Detailed Implementation

[0041] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0042] In this specification, the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” “in one embodiment,” “in some embodiments,” or “in other embodiments” may be used to refer to one or more of the same or different embodiments of the present invention.

[0043] Specific embodiments of the invention will now be described with reference to the accompanying drawings; however, it should be understood that the embodiments described are merely examples of the invention and can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to ascertain the true intent based on the user's historical operations, and to avoid unnecessary or redundant details that could obscure the invention. Therefore, the specific structural and functional details of the invention are not intended to be limiting, but merely serve as the basis and representative basis of the claims to teach those skilled in the art to use the invention in substantially any suitable variety of detailed structures.

[0044] This invention provides a marine bridge navigation simulation training system. Under moored and anchored conditions, it enables simulated navigation and maneuvering control in various navigation and mission scenarios using real ship control equipment within the bridge. It provides simulated three-dimensional navigation visuals and allows trainees in the bridge to undergo multi-part coordination simulation ship handling training. The system also includes training evaluation functions. This invention primarily aims to improve trainees' navigation command experience and proficiency in using navigation control equipment. The system principle is as follows: Figure 2 As shown, the navigation simulation training system specifically includes:

[0045] The director / trainer station uses a portable computer, which is placed on the chart workbench during training and stored away when not in use. The director / trainer station is connected to the ship's information network switch via Ethernet. The director / trainer station has the following functions:

[0046] a) Edit training scenarios, including but not limited to the selection of training sea areas, wind, currents, waves, clouds, rain, snow, visibility, time, sunlight, etc.

[0047] b) Control the initial motion state of the vessel;

[0048] c) Control the training vessel model to conduct simulated combat training against the main vessel model;

[0049] d) Start / end practice, schedule and control the training process;

[0050] e) Create practice scripts;

[0051] f) Issue a start / exit simulation training mode query signal and display the feedback status of the actual ship handling equipment;

[0052] g) Simulated electronic nautical charts and AIS information;

[0053] h) Simulated navigation and hydro-meteorological parameter information;

[0054] i) Replay the training process;

[0055] j) Auxiliary evaluation function.

[0056] The model solving workstation, mainly composed of a ruggedized computer host, is equipped with Ethernet and RS485 interfaces and is located inside the control tower. The model solving workstation is connected to the ship's information network switch via Ethernet and has the following functions:

[0057] a) The model solving workstation can interact with the director / trainer station and the visual simulator via Ethernet to exchange ship simulation parameter information and control information, etc.

[0058] b) Receive control commands from the ship's engine telegraph, side thrust control board, and other control equipment via the RS485 interface, and generate simulated parameters such as the ship's hydrodynamics in response to the commands;

[0059] c) Receive and forward signals from the director / trainer station to the actual ship handling equipment indicating entry and exit from the simulation training mode; receive and forward status information from the actual ship handling equipment to the director / trainer station; play simulated sounds such as waves, main engine, and whistle.

[0060] The visual simulator, primarily composed of a ruggedized computer host, is connected to the ship's information network switch via Ethernet and is typically housed within the bridge control console. The visual simulator has the following functions:

[0061] a) Receive data information sent by the model solving workstation and the director / coach station, and generate navigation simulation visual images of the designated training sea area and the designated ships;

[0062] b) Transmit simulated navigation visuals to the displays of the actual ship equipment or virtual reality display devices.

[0063] The radar simulator, primarily composed of a ruggedized computer mainframe, is connected to the ship's information network switch via Ethernet and is typically housed within the bridge control console. It has the following functions:

[0064] a) Generate virtual radar simulation radar information;

[0065] b) Generate simulated echo information of the training vessel based on the training vessel information and AIS information from the director's training station;

[0066] c) Displayed on the radar station of the actual ship equipment via Ethernet.

[0067] The actual ship equipment linked with the bridge navigation simulation training system includes: steering gear, engine telegraph, side thrust control panel, integrated bridge equipment, bridge top information display equipment, and navigation radar.

[0068] In this embodiment, the model solving workstation is also used to: continuously send simulation training hold signals to the actual control device so that the actual control device maintains the simulation training state;

[0069] If the actual control device does not receive the simulation training hold signal within a preset time period, the actual control device will maintain the simulation training state for a delay period and issue an alarm.

[0070] In some embodiments of the present invention, if the actual operating device does not receive the simulation training hold signal within the delay period, it exits the simulation training state.

[0071] The navigation simulation training system for a ship's bridge provided in the above embodiments of the present invention can achieve the following functions:

[0072] a) Routine navigation and maneuvering training:

[0073] (1) Training in navigation command and maneuvering in restricted waters;

[0074] (2) Navigation command and maneuvering training in open waters;

[0075] (3) Training in navigation command and maneuvering when berthing (or leaving) the dock;

[0076] (4) Navigation command and maneuvering training in poor visibility;

[0077] (5) Simulated training in situations of encounter, crossover, and overtaking;

[0078] (6) Training in commanding and maneuvering when anchoring and dropping anchor;

[0079] b) Navigation maneuvering training under special mission modes;

[0080] c) Emergency response training:

[0081] Navigation command and maneuvering training for emergency situations such as steering gear failure, propulsion failure, fire, and power station failure;

[0082] d) It has the ability to set up the environment, which can set the environment and duration for different training stages. The environment types that can be set include wind, current, waves, weather, visibility, etc.

[0083] e) Possesses the capability to deploy combat training vessels;

[0084] f) Provides a virtual view, simulating the external view during navigation, and can provide environmental sound simulation:

[0085] (7) It has the ability to interact and link with the steering system, side thrusters, engine telegraph and integrated bridge, top information display and navigation radar station in the bridge;

[0086] (8) It has comprehensive training evaluation capabilities, can record and replay the training process, and can generate training evaluation results.

[0087] The main performance indicators of the cockpit-based navigation simulation training system provided in the above embodiments of the present invention are as follows:

[0088] a) The visual image refresh rate shall not be less than 30 frames / s to ensure the presentation effect of the visual image;

[0089] b) The system can set no fewer than 30 ship type specifications;

[0090] c) Vessels other than this vessel may have no fewer than 30 turning points;

[0091] d) The system can simulate sea state levels ranging from at least 0 to 7.

[0092] In actual work, entering and exiting the navigation simulation training state should be done safely.

[0093] In summary, the navigation simulation training system based on the bridge provided by the above embodiments of the present invention, through data interaction and linkage design with the navigation control equipment (such as steering gear, bow thrusters, engine telegraph, and integrated bridge equipment) installed in the bridge, makes full use of the original equipment installed in the bridge, greatly simplifies the composition of the navigation simulation training system, reduces costs, and avoids occupying the normal activity space of the bridge; it realizes the function of conducting navigation simulation training on a real ship, and has the function of conducting simulation exercises in dangerous sea areas in advance to reduce risks.

[0094] The aforementioned marine bridge navigation simulation training system can be installed in the bridge of a real ship, allowing training to be conducted while moored and anchored, effectively increasing training time. It eliminates the need for separate bridge simulation cabins, duplicate workstations, gateways, panoramic screens, and other hardware, simplifying equipment composition and reducing costs. Considering the ship's rolling and swaying, it uses the display of the integrated bridge equipment on the real ship for imaging, ensuring the view is not blurred by vibrations. This invention can interact and link with the navigation control equipment installed in the bridge, making navigation simulation training in the real ship's bridge more realistic. When encountering potentially hazardous navigation areas during navigation, simulation exercises can be conducted in advance to verify navigation plans and mitigate risks.

[0095] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A navigation simulation training system based on a real ship's bridge, characterized in that, It includes a director and trainer station, a model solving workstation, a visual simulator, a radar simulator, and actual ship handling equipment; the director and trainer station, the model solving workstation, the visual simulator, and the radar simulator are connected via Ethernet and exchange information; the actual ship handling equipment is connected to the model solving workstation via Ethernet or serial port to exchange simulated ship navigation and handling information. The director / trainer station is equipped with director / trainer station software, which has the following functions: entering / exiting simulation training mode; issuing simulation training inquiry signals and simulation training hold signals, starting / ending practice; editing training scenarios and training content, setting the initial state of the main vessel and manipulating the target vessel's simulated motion; comprehensive navigation information functions including simulated electronic charts and AIS; and scheduling and controlling the training process. The model solving workstation is equipped with a model solving workstation for simulating and generating motion characteristic data of the main ship model, receiving operation commands generated by the actual ship's control equipment in response to the trainees' operations, and parsing them into motion control data of the main ship; the model solving workstation is also used to receive the director / trainer station's entry / exit simulation training signals, forward entry / exit training request signals and training hold signals to the actual ship's control equipment in the bridge, and receive status messages fed back by the actual ship's control equipment; The visual simulator is equipped with visual simulation software, which is used to receive information including electronic charts from the director and trainer station, AIS, weather, and external water environment, as well as motion calculation data and motion control data from the model calculation workstation of the main ship. This generates external visual images of the main ship's simulated navigation, and displays the visual images on the monitors of the corresponding real ship equipment in the bridge, enabling interaction with the trainees. The radar simulator is equipped with radar simulation software, which is used to receive electronic charts, AIS and external water environment information from the director and training station, and generate radar echo information based on the virtual main ship, which is then displayed on the real ship's navigation radar display. The ship's maneuvering equipment has two modes: normal mode and simulation training mode. The mode can be switched through an "inquiry-confirmation" method. In normal mode, the actual ship maneuvering equipment can manipulate the corresponding equipment actuators; in simulation training mode, the actual ship maneuvering equipment can only control the virtual ship movements in the simulation device, and the corresponding actuators do not move; the actual ship maneuvering equipment enters the simulation training state after receiving the simulation training query signal confirmation; if the actual ship maneuvering equipment still does not receive the simulation training hold signal within the specified delay time, it exits the simulation training state. The actual ship handling equipment is equipped with confirmation buttons for entering and exiting the simulation training mode, which are used to enter and exit the simulation training mode normally.

2. The navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The actual ship handling equipment includes one of the following: steering gear, propulsion controller, side thrust controller, navigation signal light controller, integrated bridge equipment, navigation radar, actual ship display, engine telegraph and anti-roll fin control panel. The corresponding navigation handling control means is to operate and control the main ship in the water through the equipment in the bridge.

3. The navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The director / instructor station is in the form of a portable computer and interacts with the outside world via Ethernet. During training, the director / instructor station is placed on a chart workbench or other work platform in the bridge.

4. The navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The model solving workstation is a ruggedized computer that interacts with the outside world via Ethernet, CAN, and serial port, and is located inside the driver's console.

5. A navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The visual simulator is a ruggedized computer with Ethernet and HDMI video interfaces, and is located inside the driver's console.

6. The navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The visual simulator can receive information from the director / trainer station, including external water environment, weather, initial state, electronic charts, and AIS, to generate simulated external environment images of the main vessel. It also receives motion and control data from the model solving workstation, generating animations of the main vessel's movement within the simulated visual environment. This allows trainees to realistically see feedback from operating the actual ship's control equipment during simulation training, ensuring the effectiveness of the navigation simulation training and the training results for the trainees. Furthermore, the visual simulator can receive playback control information from the director / trainer station and then replay the corresponding visual content based on this information.

7. A navigation simulation training system based on a real ship's bridge as described in claim 1, characterized in that, The radar simulator is a ruggedized computer with an Ethernet interface, and is located inside the control console.

8. A navigation simulation training method based on a real ship's bridge, characterized in that, Includes the following steps: a) When the actual ship is moored or anchored, the navigation simulation training system is put into simulation training state through the "inquiry-confirmation" method. That is, the director and instructor station sends simulation training inquiry signal and simulation training hold signal to the actual ship's control equipment. After receiving the simulation training inquiry signal, the actual ship's control equipment confirms and enters the simulation training state, and disconnects the linkage function with the actuator. b) Set the initial state of the main ship, the state of the replica ship, the training water area, the sea state, and the weather in the director training station, and start the navigation simulation exercise. At this time, the director training station sends a simulation training hold signal to the actual ship's control equipment to keep the actual ship's control equipment in the simulation training state. The director training station sends the initial state of the main ship, the state of the replica ship, the training water area, the sea state, the weather, and AIS to the visual simulator, sends the parameter information of the main ship, the replica ship, and other things involved in the navigation process in each navigation exercise in the training water area, and AIS information to the radar simulator, sends the inherent parameter information of the main ship to the model solving workstation, and sends the integrated navigation and AIS information to the display in the actual ship's control equipment. c) Trainees send control information, including the main ship's rudder, engine, bow thrusters, navigation lights, and radar, to the navigation simulation training system by operating the actual ship's control equipment. They then operate the main ship in the navigation simulation training system to simulate navigation and obtain simulated navigation information and navigation visual animations through the actual ship's display. In the director's training station, the trainees can control the replica ship to conduct interactive training with the trainees. d) The model solving workstation receives the main ship's inherent parameter information sent by the director and trainer station, and receives the maneuvering control information sent by the actual ship's maneuvering equipment. After solving, it generates the main ship's motion characteristics and control data, and sends them to the director and trainer station and the visual simulator. e) The visual simulator receives the initial state of the main ship, the state of the replica ship, the training water area, the sea state, the weather, and the AIS from the director and instructor station. It also receives the motion characteristics and control data of the main ship sent by the model solving workstation, generates a visual animation of navigation simulation training in the designated sea area, and displays the visual animation through the real ship display, so that the trainees can experience a realistic navigation and maneuvering environment. f) The radar simulator receives parameter information and AIS information from the main ship, the replica ship, and other entities involved in the navigation process during each navigation exercise in the training waters. It generates navigation radar simulated echo information and sends it to the actual ship's navigation radar, enabling the display of the navigation simulation scene radar image on the navigation radar and allowing related operations to be performed at the navigation radar station. g) After the navigation practice is completed, the practice is ended through the director and instructor station, and the practice process can be replayed and the practice results can be evaluated through the software module; h) After the navigation simulation training is completed, the director and instructor station uses the "question-confirmation" method to exit the navigation simulation training mode. The director and instructor station sends a question to the actual ship's control equipment to exit the simulation training. After each device confirms and exits, it can return to normal mode and restore the linkage function with the actuator. i) The director-instructor station evaluation module can generate objective evaluation scores and replay the training process for review and evaluation of the feasibility of the navigation plan.

9. A navigation simulation training method based on a real ship's bridge as described in claim 8, characterized in that, The time and distance required for the navigation simulation training system to reach the specified speed at full speed forward and reverse under the same sea conditions should have an error of less than 10% compared with the actual ship.

10. A navigation simulation training method based on a real ship's bridge as described in claim 8, characterized in that, The turning radius of the navigation simulation training system should be within 10% of that of the actual ship; the visual image refresh rate should be no less than 25 frames / s to ensure the presentation effect of the visual image.

Images