Navigation guidance method and storage medium of the test vessel in the dynamic target detection test on the water surface

Abstract

This invention provides a navigation guidance method and storage medium for a test vessel in a dynamic surface target detection experiment. The method includes: drawing the route and path points on a display interface based on pre-set routes and path points; updating the vessel's position in real-time on the display interface based on the vessel's real-time positioning data; monitoring the interaction between the vessel and the pre-set path points, including the vessel's entry and departure from path points; and providing dynamic visual feedback to the operator by dynamically changing the visual style of the path points and speed windows. This method effectively replaces traditional physical guide lines and speed markers, eliminating the need for frequent deployment and maintenance of physical markers, and fundamentally solving the problems of high cost and low flexibility in traditional methods.

Description

Technical Field

[0001] This invention relates to the field of dynamic target detection tests on water surfaces, and more particularly to a method for guiding the navigation of a test vessel and a storage medium in dynamic target detection tests on water surfaces. Background Technology

[0002] Dynamic surface target detection equipment is specifically designed to monitor and identify various objects moving on the water surface, such as ships, buoys, and even human activities. These devices play a crucial role in maritime surveillance, search and rescue operations, and environmental monitoring. To ensure the performance and reliability of the equipment under various environmental conditions, it is essential to conduct experimental tests on dynamic surface target detection equipment.

[0003] In dynamic target testing on the water surface, speedboats are typically piloted by personnel to simulate moving targets. Dynamic target detection equipment needs to accurately detect and identify these speedboats. To ensure the scientific rigor and repeatability of the test, these speedboats must strictly adhere to a pre-set route and speed. However, without guide lines and target speed markers on the water surface, it is difficult for the pilot to accurately navigate the vessel at the designated speed and along the specified route. The traditional approach is to deploy guide lines and speed markers on the water surface to assist the pilot, but this method is not ideal. Deploying these physical facilities requires significant manpower and resources; water currents and wind can cause these guide lines and markers to shift or become damaged. Furthermore, fixed physical facilities limit the flexibility of the testing scenario; every change in test parameters, such as adjustments to the route or speed, necessitates the rearrangement of these facilities, which not only increases time and cost but may also delay the test schedule.

[0004] Therefore, there is an urgent need for an economical, efficient, and flexible method to assist crew members in completing trial voyages according to predetermined routes and speeds. Summary of the Invention

[0005] The purpose of this invention is to provide a navigation guidance method and storage medium for a test vessel in a dynamic surface target detection experiment. By installing a visual feedback-based navigation guidance system on the test vessel, the system's display interface shows the vessel's current position, preset route, and waypoints in real time. Dynamic visual feedback assists the driver in precisely controlling the course and speed. This method effectively replaces traditional physical guide lines and speed markers, eliminating the need for frequent deployment and maintenance of physical markers, and fundamentally solving the problems of high cost and low flexibility in traditional methods.

[0006] The specific technical solution of the present invention is as follows:

[0007] A method for guiding the navigation of a test vessel in a dynamic surface target detection experiment includes:

[0008] S10: Draw the preset flight path and waypoints.

[0009] Based on the pre-set flight path and path points, draw the flight path and path points on the display interface.

[0010] S20: Update the ship's position in real time on the display interface based on the ship's real-time positioning data.

[0011] S30: Monitor the interaction between vessels and waypoints.

[0012] The system monitors the interaction between vessels and preset waypoints, including vessels entering and leaving waypoints.

[0013] S40: Perform dynamic visual feedback.

[0014] By dynamically changing the visual style of the waypoint and speed floating windows, dynamic visual feedback is provided to the driver.

[0015] Furthermore, the specific steps for drawing the preset flight path and waypoints in S10 are as follows:

[0016] S11) Create a flat scene view on the display interface to simulate a map;

[0017] S12) Traverse the preset waypoint array, create a marker for each waypoint during the traversal, and draw a circle centered on the waypoint;

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

[0019] Furthermore, the step of updating the ship's position in real time on the display interface based on the ship's real-time positioning data in S20 includes:

[0020] S21) Periodically acquire real-time ship positioning data

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

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

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

[0024] S32) Determine whether the test boat has entered or left the circular area of ​​the currently traversed path point.

[0025] Furthermore, the method in S32 for determining whether the accompanying vessel has entered or left the circular area of ​​the currently traversed path point is as follows:

[0026] S321) Initialize the interactive state and the circular area counter for continuous entry and exit path points.

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

[0028] (S323) If the set of vessel IDs that has entered the circular area of ​​the waypoint does not contain the ID of the accompanying vessel, and the current detection indicates that it is already within the area, then the "Entering the Circular Area" counter is incremented. If the counter reaches the set threshold, it is determined that the accompanying vessel has entered the waypoint. At this time, the vessel intersects with the waypoint.

[0029] S324) If the vessel ID list contains the ID of the accompanying vessel that has entered the circular area of ​​the waypoint, but the current detection indicates that it is no longer in the area, then the number of times it is leaving is incremented. If the same threshold is reached, it is confirmed that the vessel has left the circular area of ​​the waypoint.

[0030] (S325) If the entry or departure of a vessel fails to continue after each detection cycle, the corresponding counter is reset.

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

[0032] S41) Periodically check the path points that should be highlighted;

[0033] S42) For the currently highlighted path point, periodically change its color and transparency to achieve a blinking effect;

[0034] S43) Read the current ship's speed data;

[0035] S44) Adjust the background color of the speed display dashboard according to the speed range, and use different colors to distinguish different speed levels, such as green for safe speed and red for excessive speed;

[0036] Furthermore, the method for periodically checking the path points that should be highlighted in S41 is as follows:

[0037] S411) Obtain the path point number of the most recent interaction with the ship;

[0038] S412) The path point that should be highlighted at present is the point whose index is the index of the most recent interaction point plus 1;

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

[0040] A computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of a method for guiding the navigation of a test vessel in a dynamic surface target detection experiment as described in this invention.

[0041] The beneficial effects of this invention include:

[0042] This invention effectively replaces traditional physical guide lines and speed markers, eliminating the need for frequent deployment and maintenance of physical markers, and fundamentally solving the problems of high cost and low flexibility in traditional methods. Attached Figure Description

[0043] Figure 1 This is a flowchart of a visual feedback-based navigation guidance system for a test vessel in one embodiment.

[0044] Figure 2 This is a display effect diagram of a visual feedback-based navigation guidance system for a test vessel in one embodiment. Detailed Implementation

[0045] like Figure 1 The diagram shown is a flowchart of a visual feedback-based navigation guidance system for a test vessel in one embodiment. The following are the specific implementation steps of this embodiment:

[0046] Step 1: Draw the preset flight path and waypoints.

[0047] S11) Create a blue-background flat scene view on the display interface to simulate a map;

[0048] S12) Use an array to store the preset waypoint data, traverse the preset waypoint array, and draw a circle centered on the waypoint during the traversal.

[0049] S13) Use brown dashed lines to connect adjacent waypoints in sequence to form a path line;

[0050] Step 2: Update the ship's position in real time on the display interface based on the ship's real-time positioning data.

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

[0052] S22) Check if the ship to which the current data belongs is already in the scene. If not, add the ship icon to the view. If it is, update the existing ship position.

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

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

[0055] S32) Determine whether the test boat has entered or left the circular area of ​​the currently traversed path point.

[0056] The method for determining whether the accompanying vessel has entered or left the circular region of the currently traversed path point is as follows:

[0057] S321) Initialize the interactive state and the circular area counter for continuous entry and exit path points.

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

[0059] (S323) If the set of vessel IDs that has entered the circular area of ​​the waypoint does not contain the ID of the accompanying vessel, and the current detection indicates that it is already within the area, then the counter for entering the circular area is incremented. If the counter reaches 3, it is determined that the accompanying vessel has entered the waypoint. At this time, the vessel intersects with the waypoint.

[0060] S324) If the vessel ID list contains the ID of the accompanying vessel, but the current detection indicates that it is no longer in the area, then increment the departure count counter. If it reaches 3, it is confirmed that the vessel has left the circular area of ​​the waypoint.

[0061] (S325) If the entry or departure of a vessel fails to continue after each detection cycle, the corresponding counter is reset.

[0062] Step 4: Implement dynamic visual feedback.

[0063] S41) Periodically check the path points that should be highlighted;

[0064] The method for periodically checking which path points should be highlighted is as follows:

[0065] S411) Obtain the path point number of the most recent interaction with the ship;

[0066] S412) The path point that should be highlighted at present is the point whose index is the index of the most recent interaction point plus 1;

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

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

[0069] S43) Read the current ship's speed data;

[0070] 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. Green indicates safe speed, red indicates too fast, and yellow indicates too slow.

Claims

1. A method for guiding the navigation of a test vessel in a dynamic surface target detection experiment, characterized in that, Includes the following steps: S1, based on the pre-set flight path and waypoints, draw the flight path and waypoints on the display interface, specifically including: S11, Create a flat scene view on the display interface for simulating a map; S12, traverse the preset waypoint array, create a marker for each waypoint during the traversal, and draw a circle centered on the waypoint; S13 connects adjacent waypoints in sequence to form a path; S2 updates the ship's position in real time on the display interface based on the ship's real-time positioning data, specifically including: S21, periodically acquire real-time vessel positioning data; S22, check if the ship is already in the scene. If not, add a ship icon to the view. If it is, update the existing ship position. S3, the system monitors the interaction between the vessel and the preset entry and exit path points, specifically including: S31, traverse all circular regions of path points; S32, determine whether the accompanying vessel has entered or left the circular region of the currently traversed path point, including: S321, Initialize the interaction state and the circular area counter for continuous entry and exit path points; S322, by comparing the current position of the test vessel with the geometric boundary of the path point, determine whether the vessel is located within the circular area of ​​the path point; S323, if there is no accompanying vessel ID in the set of vessel IDs that has entered the circular area of ​​the path point, and the current detection indicates that the accompanying vessel is already in the area, then the counter for entering the circular area is incremented. If the counter reaches the set threshold, it is determined that the accompanying vessel has entered the path point, and at this time the vessel and the path point intersect. S324. If the vessel ID list contains the ID of the accompanying vessel, but the current detection indicates that the accompanying vessel is no longer in the area, then increment the departure count counter. If the same threshold is reached, then the vessel is confirmed to have left the circular area of ​​the waypoint. S325, at the end of each detection cycle, if the entry or departure of a vessel fails to continue, the corresponding counter is reset; S4 provides dynamic visual feedback to the driver by dynamically changing the visual style of the waypoint and speed floating windows, specifically including: S41, periodically check the path points that should be highlighted; S42, for the currently highlighted path point, periodically change its color and transparency to achieve a blinking effect; S43, Read the current ship's speed data; S44 adjusts the background color of the speed display dashboard according to the speed range, using different colors to distinguish different speed levels.

2. The navigation guidance method for the test vessel according to claim 1, characterized in that, Step S41 specifically includes: S411, Get the path point number of the most recent interaction with the ship; S412, The path point that should be highlighted at present is the point whose index is the index of the most recent interaction point plus 1; S413 If there are no intersecting path points yet, the path point that should be highlighted is the path point with the sequence number 1.

3. The navigation guidance method for the test vessel according to any one of claims 1-2, characterized in that, In step S44, the different speed levels distinguished by different colors include using green to represent safe speed and red to represent excessive speed.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the steps of the navigation guidance method for the test vessel in a dynamic surface target detection test as described in any one of claims 1-3.

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