Method for guiding sailing of accompanying test boat in water surface dynamic target detection test and storage medium

Abstract

The invention provides an accompanying test boat navigation guiding method in a water surface dynamic target detection test and a storage medium, and the method comprises the steps: drawing a route and path points on a display interface according to a route and path points which are preset before the test; updating the position of the ship in a display interface in real time according to the real-time positioning data of the ship; the system monitors interaction of the ship with a preset waypoint, including entry and exit of the ship from the waypoint; dynamic visual feedback is provided for a driver by dynamically changing the visual styles of the path points and the speed floating window. According to the method, traditional physical guide lines and speed identifiers are effectively replaced, the requirement for frequently laying and maintaining physical identifiers is eliminated, and the problems of high cost and low flexibility in a traditional method are fundamentally solved.

Description

Technical Field

[0001] The invention relates to the field of surface dynamic target detection test, and in particular to a navigation guidance method and storage medium for a companion boat in a surface dynamic target detection test. Background Art

[0002] Surface dynamic target detection equipment is specially designed to monitor and identify various objects moving on the water surface, such as ships, buoys, and even human activities on the water. These devices play an important role in maritime surveillance, search and rescue operations, and environmental monitoring. In order to ensure the performance and reliability of the equipment under various environmental conditions, it is necessary to conduct surface dynamic target detection equipment test.

[0003] When conducting surface dynamic target tests, people usually drive speedboats to simulate moving targets, and surface dynamic target detection equipment needs to accurately detect and identify these speedboats. To ensure the scientificity and repeatability of the test, these speedboats must strictly follow the preset route and speed. However, without the layout of guide lines and target speed signs on the water surface, it is difficult for the driver to accurately drive the boat at the specified speed on the specified route. The traditional practice is to lay out guide lines and speed signs on the water surface to assist the driver, but this method is not ideal. The layout of these physical facilities requires a lot of manpower and material resources. Water flow and wind may cause these guide lines and signs to be displaced or damaged. At the same time, fixed physical facilities also limit the flexibility of the test scenario. Every time the test parameters change, such as the adjustment of the route or speed, these facilities need to be rearranged, which not only increases the burden on time and cost, but also may delay the progress of the test.

[0004] Therefore, there is an urgent need for an economical, efficient and flexible method to assist the crew to complete the trial voyage according to the predetermined route and speed. Summary of the invention

[0005] The purpose of the present invention is to provide a navigation guidance method and storage medium for a test boat in a surface dynamic target detection test. By installing a test boat navigation guidance system based on visual feedback on the test boat, the current position, preset route and path points of the boat are displayed in real time on the display interface of the system, and dynamic visual feedback is used to assist the driver to accurately control the course and speed. This method effectively replaces the traditional physical guide lines and speed markings, eliminates the need for frequent deployment and maintenance of physical markings, and fundamentally solves the problems of high cost and low flexibility in traditional methods.

[0006] The specific technical solutions of the present invention are as follows:

[0007] A navigation guidance method for a companion boat in a surface dynamic target detection test, comprising:

[0008] S10: Draw the preset route and waypoints.

[0009] According to the preset routes and waypoints before the test, the routes and waypoints are drawn on the display interface.

[0010] S20: According to the real-time positioning data of the vessel, the position of the vessel is updated in real time in the display interface.

[0011] S30: Monitoring the interaction of the vessel with the waypoint.

[0012] The system monitors the vessel's interaction with pre-set waypoints, including the vessel's entry and exit from waypoints.

[0013] S40: Execute dynamic visual feedback.

[0014] Provide dynamic visual feedback to the driver by dynamically changing the visual style of the waypoint and speed pop-up windows.

[0015] Furthermore, the specific steps of drawing the preset routes and path points in S10 are as follows:

[0016] S11) creating a plane scene view on the display interface for simulating a map;

[0017] S12) traversing a preset waypoint array, creating a mark for each waypoint during the traversal process, and drawing a range circle centered on the waypoint;

[0018] S13) connecting adjacent waypoints in sequence to form a path line;

[0019] Furthermore, the step of updating the position of the vessel in the display interface in real time according to the real-time positioning data of the vessel in S20 includes:

[0020] S21) Periodically obtain real-time vessel positioning data

[0021] S22) Check whether the ship is already in the scene. If not, add a ship icon to the view. If so, update the existing ship position.

[0022] Furthermore, the specific steps of monitoring the waypoint interaction of the vessel in S30 are as follows:

[0023] S31) Traverse the circular area of ​​all path points.

[0024] S32) judging whether the accompanying test boat enters or leaves the circular area of ​​the path point currently traversed.

[0025] Further, the method for judging whether the accompanying test boat enters or leaves the circular area of ​​the currently traversed path point in S32 is:

[0026] S321) Initialize the interaction state and the counter of continuous entry and exit of the circular area of ​​the waypoint.

[0027] S322) By comparing the current position of the accompanying boat with the geometric boundary of the path point, it is determined whether the boat is located in the circular area of ​​the path point.

[0028] S323) If there is no ID of the accompanying test boat in the set of vessel IDs of the circular area of ​​the waypoint, and the current detection shows that it is already in the area, then the counter of entering the circular area is accumulated, and if the counter reaches the set threshold, it is determined that the accompanying test boat has entered the waypoint. At this time, the vessel intersects with the waypoint.

[0029] S324) If the ID of the accompanying boat is in the list of boat IDs that have entered the circular area of ​​the waypoint, but the current detection shows that it is no longer in the area, the leaving times counter is accumulated. If the same threshold is reached, it is confirmed that the boat has left the circular area of ​​the waypoint.

[0030] S325) After each detection cycle ends, if the entry or exit behavior of the vessel fails to continue, the corresponding counter is reset.

[0031] Furthermore, the specific steps of implementing the dynamic visual feedback in S40 are as follows:

[0032] S41) regularly checking the path points that should be highlighted at present;

[0033] S42) for the currently highlighted path point, periodically changing its color and transparency to achieve a flashing effect;

[0034] S43) reading the current speed data of the vessel;

[0035] S44) adjusting the background color of the speed display instrument panel according to the speed range, using different colors to distinguish different speed levels, such as green for safe speed and red for too fast speed;

[0036] Furthermore, the method of periodically checking the path point that should be highlighted in the S41 is:

[0037] S411) obtaining the sequence number of the waypoint most recently interacted with the vessel;

[0038] S412) The path point that should be highlighted currently is the point whose serial number is the serial number of the nearest interaction point plus 1;

[0039] S413) If there is no intersecting path point, the path point that should be highlighted currently is the path point with sequence number 1.

[0040] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the steps of a method for guiding a test boat in a surface dynamic target detection test according to the present invention.

[0041] The beneficial effects of the present invention include:

[0042] The present invention effectively replaces traditional physical guide lines and speed markings, eliminates the need for frequent deployment and maintenance of physical markings, and fundamentally solves the problems of high cost and low flexibility in traditional methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The present invention is a flow chart of a navigation guidance system for a test boat based on visual feedback in one embodiment.

[0044] Figure 2 The figure is a display effect diagram of a navigation guidance system for a test boat based on visual feedback in an embodiment. DETAILED DESCRIPTION

[0045] like Figure 1 The figure shows a flowchart of a navigation guidance system for a test boat based on visual feedback in one embodiment. The following are the specific implementation steps of the embodiment:

[0046] Step 1: Draw a preset route and waypoints.

[0047] S11) creating a plane scene view with a blue background on the display interface for simulating a map;

[0048] S12) using an array to store preset navigation path point data, traversing the preset waypoint array, and drawing a range circle centered on the waypoint during the traversal process;

[0049] S13) using brown dotted lines to sequentially connect adjacent waypoints to form a path line;

[0050] Step 2: Based on the real-time positioning data of the vessel, the position of the vessel is updated in real time on the display interface.

[0051] S21) Periodically receive and analyze the real-time positioning data of the vessel from the domain network.

[0052] S22) Check whether the vessel to which the current data belongs is already in the scene. If not, add a vessel icon to the view. If so, update the existing vessel position.

[0053] Step 3: Monitor the interaction between the vessel and the waypoint.

[0054] S31) Traverse the circular area of ​​all path points.

[0055] S32) Determine whether the accompanying test boat enters or leaves the currently traversed path point circular area.

[0056] The method to determine whether the accompanying test boat enters or leaves the circular area of ​​the currently traversed path point is:

[0057] S321) Initialize the interaction state and the counter of continuous entry and exit of the circular area of ​​the waypoint.

[0058] S322) By comparing the current position of the accompanying boat with the geometric boundary of the path point, it is determined whether the boat is located in the circular area of ​​the path point.

[0059] S323) If there is no ID of the accompanying test boat in the set of vessel IDs of the circular area of ​​the waypoint, and the current detection shows that it is already in the area, then the counter of entering the circular area is accumulated, and if the counter reaches 3, it is determined that the accompanying test boat has entered the waypoint. At this time, the vessel intersects with the waypoint.

[0060] S324) If the ID of the accompanying boat is in the list of boat IDs that have entered the circular area of ​​the waypoint, but the current detection shows that it is no longer in the area, the leaving times counter is accumulated, and if it reaches 3, it is confirmed that the boat has left the circular area of ​​the waypoint.

[0061] S325) After each detection cycle ends, if the entry or exit behavior of the vessel fails to continue, the corresponding counter is reset.

[0062] Step 4: Implement dynamic visual feedback.

[0063] S41) regularly checking the path points that should be highlighted at present;

[0064] A method that periodically checks which waypoint should currently be highlighted is:

[0065] S411) obtaining the sequence number of the waypoint most recently interacted with the vessel;

[0066] S412) The path point that should be highlighted currently is the point whose serial number is the serial number of the nearest interaction point plus 1;

[0067] S413) If there is no intersecting path point, the path point that should be highlighted currently is the path point with sequence number 1.

[0068] S42) for the currently highlighted path point, periodically changing its color to yellow and its transparency from 100 to 40 to achieve a yellow flashing effect;

[0069] S43) reading the current speed data of the vessel;

[0070] S44) adjusting the background color of the speed display instrument panel according to the speed range, using different colors to distinguish different speed levels, green indicating a safe speed, red indicating too fast, and yellow indicating too slow.

Claims

1. A navigation guidance method for a test boat in a surface dynamic target detection test, characterized in that: The following steps are involved: S1, drawing the route and path points on the display interface according to the preset route and path points before the test, specifically including: S11, creating a plane scene view on a display interface for simulating a map; S12, traversing a preset waypoint array, creating a mark for each waypoint during the traversal process, and drawing a range circle centered on the waypoint; S13, sequentially connecting adjacent waypoints to form a path line; S2, based on the real-time positioning data of the vessel, the position of the vessel is updated in real time in the display interface, specifically including: S21, periodically obtaining real-time vessel positioning data; S22, checking whether the ship is already in the scene, if not, adding a ship icon to the view, if yes, updating the existing ship position; S3, the system monitors the interaction of the vessel with the preset entry and exit waypoints, including: S31, traverse the circular area of ​​all path points; S32, determining whether the accompanying test boat enters or leaves the circular area of ​​the currently traversed path point; S4 provides dynamic visual feedback to the driver by dynamically changing the visual style of the waypoint and speed pop-up windows, including: S41, periodically checking the waypoint that should be highlighted at present; S42, for the currently highlighted waypoint, periodically changing its color and transparency to achieve a flashing effect; S43, reading the current speed data of the ship; S44, adjust the background color of the speed display instrument panel according to the speed range, and use different colors to distinguish different speed levels.

2. The navigation guidance method for the accompanying test boat according to claim 1, characterized in that: Step S32 specifically includes: S321, initializing the interactive state and the circular area counters of the continuous entry and exit of the waypoints; S322, determining whether the vessel is located within the circular area of ​​the path point by comparing the current position of the accompanying test boat with the geometric boundary of the path point; S323, if the ID of the accompanying test boat is not included in the set of boat IDs that have entered the circular area of ​​the waypoint, and the current detection shows that it is already in the area, then the number is accumulated into the counter of entering the circular area. If the counter reaches the set threshold, it is determined that the accompanying test boat has entered the waypoint, and the boat intersects with the waypoint at this time; S324, if the ID of the accompanying boat is in the list of boat IDs that have entered the circular area of ​​the waypoint, but the current detection shows that it is no longer in the area, then the leaving times counter is accumulated, and if the same threshold is reached, it is confirmed that the boat has left the circular area of ​​the waypoint; S325, after each detection cycle ends, if the entry or exit behavior of the vessel fails to continue, the corresponding counter is reset.

3. The navigation guidance method for the accompanying test boat according to claim 1, characterized in that: Step S41 specifically includes: S411, obtaining the sequence number of the waypoint for the most recent interaction with the ship; S412, the path point that should be highlighted currently is the point whose serial number is the serial number of the nearest interaction point plus 1; S413: If there is no intersecting path point, the path point that should be highlighted currently is the path point with sequence number 1.

4. The navigation guidance method for a test boat according to any one of claims 1 to 3, characterized in that: In step S44, differentiating different speed levels with different colors includes using green to indicate a safe speed and red to indicate an excessive speed.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the steps of a method for guiding navigation of a companion boat in a surface dynamic target detection test as described in any one of claims 1 to 4.

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