Land landmark positioning training teaching method and system based on virtual scene, and storage medium

Abstract

The invention relates to the technical field of navigation simulation training, and discloses a landmark positioning training teaching method and system based on a virtual scene and a storage medium, and the method comprises the steps: S1, loading a pre-constructed virtual navigation scene, and generating a controllable virtual ship and at least three virtual landmarks in the virtual navigation scene, the virtual landmark has known geographic coordinates; s2, according to the accurate ship position of the virtual ship, the virtual true orientation of the virtual ship to each target virtual landmark is calculated, and the target virtual landmarks are three selected from the virtual landmarks by students; according to the method, the whole landmark positioning process from observation, calculation to comparison is completely reproduced in the virtual environment, closed-loop inspection and visual feedback of operation results of trainees are realized, and an effective solution is provided for carrying out repeatable, low-cost and risk-free positioning skill training.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of navigation simulation training, in particular to a landmark positioning training teaching method and system based on a virtual scene and a storage medium. BACKGROUND

[0002] Landmark positioning, especially three landmark azimuth method, is a core basic skill that must be mastered by navigation personnel. The skill requires the crew to accurately calculate the position of the ship by observing the azimuth of multiple known landmarks when sailing along the coast. The traditional landmark positioning training highly depends on real ship teaching, which has inherent drawbacks such as high cost, restriction by weather and sea conditions, low training efficiency, and safety risks. With the development of navigation simulator technology, landmark positioning training in a virtual environment has become an effective alternative and complementary means. It can provide a repeatable, controllable, and risk-free training environment, which helps trainees master the positioning principle and operation process.

[0003] However, the existing virtual landmark positioning training method still has obvious defects. First, most systems only focus on simulating the observation and calculation operation process of trainees, and the training mode is mechanically single. They usually provide three landmarks fixedly, and trainees passively perform observation exercises, which cannot simulate the decision-making process of actively identifying and selecting the optimal landmark combination in real navigation scenarios, so it is difficult to exercise and evaluate the trainees' key situation judgment and decision-making ability. Second, the existing method is limited to simple evaluation of the final ship position error, and lacks detailed and comprehensive analysis of each link in the positioning process (such as the geometric advantages and disadvantages of landmark selection and the accuracy of each observation), resulting in one-sided evaluation results and incomplete teaching feedback. In addition, the training scene is often idealized, lacking simulation of complex environments (such as interference and false information), which makes the training disconnected from the real situation and is not conducive to cultivating the trainees' emergency disposal and anti-interference ability in actual navigation. SUMMARY

[0004] In order to overcome the shortcomings of the existing virtual training system in decision-making ability cultivation, detailed evaluation of the whole process, and simulation of real complex environments, the present application provides a landmark positioning training teaching method and system based on a virtual scene and a storage medium.

[0005] In a first aspect, the present application provides a landmark positioning training teaching method based on a virtual scene, which adopts the following technical solution: The landmark positioning training teaching method based on a virtual scene comprises the following steps: S1, loading a pre-constructed virtual navigation scene, and generating a controllable virtual ship and at least three virtual landmarks in the virtual navigation scene, wherein the virtual landmarks have known geographic coordinates; S2, according to the accurate ship position of the virtual own ship, calculate the virtual true bearing of the virtual own ship to each target virtual landmark, the target virtual landmark being three selected by the trainee from the virtual landmarks; S3, receive the observation bearing data of the three target virtual landmarks input by the trainee, and process the observation bearing data into corresponding observation true bearings; S4, according to the processed observation true bearings and the known geographic coordinates of the three target virtual landmarks, calculate the trainee's reckoning ship position by using a three landmark bearing positioning algorithm; S5, compare the reckoning ship position with the accurate ship position to generate a positioning accuracy evaluation result; S6, visually feedback the accurate ship position, the reckoning ship position, the positioning accuracy evaluation result and related training process data.

[0006] By adopting the above technical solution, a landmark positioning training teaching process based on a virtual scene is constructed. By loading a virtual navigation scene containing a controllable virtual own ship and at least three virtual landmarks with known geographic coordinates, the virtual true bearing calculation, observation bearing data processing, three landmark bearing positioning algorithm reckoning ship position calculation, ship position comparison and accuracy evaluation, and training data visual feedback are sequentially completed, and virtualized teaching of landmark positioning training is realized.

[0007] Optionally, in step S2, the process of calculating the virtual true bearing of the virtual own ship and each target virtual landmark includes: obtaining the accurate ship position of the virtual own ship in a virtual geographic coordinate system , wherein the X axis points to the east direction and the Y axis points to the north direction; obtaining the known position coordinates of the i-th target virtual landmark , wherein ; ; obtaining the virtual true bearing of the i-th target virtual landmark relative to the virtual own ship by analyzing and calculating the above formula ; , wherein the function is a two-parameter arctangent function, which returns the angle from the north direction clockwise to the vector , and the unit is radian; convert the calculated into an angle system and perform standardization processing to make the angle value range between 0 and 360 degrees.

[0008] By adopting the technical scheme, the definition of the virtual geographic coordinate system is determined, the virtual true bearing of the target virtual landmark relative to the virtual ship is calculated by using a double-parameter inverse tangent function, and the virtual true bearing is accurately calculated through radian-to-angle conversion and 0-360 degree standardization processing.

[0009] Optionally, in step S3, the process of processing the observation true bearing corresponding to the observation bearing includes: The observation bearing value input by the student through the simulated bearing measurement device is received, and the observation bearing value includes an observation gyro bearing ; The simulated virtual compass difference is obtained, and the virtual compass difference includes a system preset standard error and a random error; ; The observation true bearing considered by the student is obtained through analysis and calculation of the above formula .

[0010] By adopting the technical scheme, the observation gyro bearing input by the student through the simulated bearing measurement device is received, the virtual compass difference including the system preset standard error and the random error is combined, and the observation true bearing corresponding to the student is obtained through formula calculation, so that the standardization processing of the observation bearing data is completed.

[0011] Optionally, in step S4, the process of calculating the estimated ship position of the student by using the three-mark bearing positioning algorithm includes: Based on the known coordinates of three target virtual landmarks and the corresponding observation true bearings , the estimated ship position is calculated by solving the following target function least square problem : ; Wherein, the coordinates making the above target function minimum is the estimated ship position .

[0012] By adopting the technical scheme, based on the known geographic coordinates of three target virtual landmarks and the corresponding observation true bearings, the least square target function is constructed, and the coordinates making the function minimum are taken as the estimated ship position, so that the three-mark bearing positioning solution based on the least square algorithm is realized.

[0013] Optionally, in step S5, the process of generating the positioning accuracy evaluation result includes: ; The plane distance deviation D between the estimated ship position and the accurate ship position is obtained through analysis and calculation of the above formula ​; The angle deviation between each observed true bearing and the corresponding virtual true bearing is analyzed by the above formula , wherein ; Based on the plane distance deviation D and the three angle deviations , a comprehensive positioning error score is generated by a preset comprehensive analysis model; According to the comprehensive positioning error score, the precision level of this positioning operation is determined.

[0014] By adopting the above technical solution, the plane distance deviation between the estimated position and the accurate position is calculated first, then the angle deviation between each observed true bearing and the corresponding virtual true bearing is calculated, the comprehensive positioning error score is generated by the preset comprehensive analysis model, and then the precision level of the positioning operation is determined, forming a multi-dimensional positioning precision evaluation system.

[0015] Optionally, in step S6, the visual feedback includes: In the two-dimensional electronic chart display interface, the accurate position symbol, the estimated position symbol and the three bearing position lines based on the observed bearing data are superimposed and displayed; In the three-dimensional immersive visual display interface, the visual form of the target virtual landmark is rendered with the virtual ship as the viewpoint, and the observed bearing line and the virtual true bearing line are superimposed and displayed; In the independent information panel, the accurate position coordinates, the estimated position coordinates, the plane distance deviation D, the angle deviation of each observation value , and the positioning precision score are displayed.

[0016] By adopting the above technical solution, a multi-interface coordinated visual feedback is provided: the two-dimensional electronic chart superimposes and displays the accurate position, the estimated position and the observed bearing position line; the three-dimensional immersive visual renders the target landmark form with the virtual ship as the viewpoint and superimposes the observed true bearing line and the virtual true bearing line; the independent information panel displays various coordinates, deviation data and positioning precision score, realizing comprehensive visual presentation of the training process and results.

[0017] Optionally, the method further includes a landmark selection decision evaluation step: In the step S5, the system calculates the corresponding positioning figure geometric intensity evaluation value according to the relative geometric relationship between the three target virtual landmarks selected by the student and the virtual ship; The geometric intensity evaluation value is used to evaluate the decision-making ability of the student in landmark identification and optimal combination selection, and together with the positioning precision score, constitutes a comprehensive training result.

[0018] By adopting the technical scheme, a new landmark selection decision evaluation link is added, a geometric intensity evaluation value is calculated based on the relative geometric relationship between the three target virtual landmarks selected by the trainee and the virtual own ship, the decision-making ability of the trainee in landmark identification and optimal combination selection is evaluated, and the training evaluation dimension is perfected.

[0019] Optionally, the method further comprises an environment complexity adjustment step: In the virtual navigation scene, more than three virtual landmarks are generated and displayed for the trainee to select; Among the generated virtual landmarks, at least one special virtual landmark is included for increasing training complexity and authenticity; The special virtual landmark includes at least one of the following types: An interfering landmark: it is the same as the effective landmark in visual or timing identification features, but it is not the optimal or suboptimal choice under the current geometric condition; A false landmark: the known geographic coordinates marked have a preset error, or the displayed identification features do not match the real coordinates.

[0020] By adopting the technical scheme, an environment complexity adjustment function is added, more than three virtual landmarks are generated in the virtual navigation scene, and special types such as interfering landmarks and false landmarks are included, thereby improving the complexity and authenticity of the training.

[0021] In a second aspect, the present application provides a virtual scene-based landmark positioning training teaching system, which adopts the following technical scheme: A virtual scene-based landmark positioning training teaching system, which comprises a virtual scene-based landmark positioning training teaching method as described above, and the system comprises: A scene construction and management module for loading, rendering and managing a virtual navigation scene comprising a virtual own ship and a plurality of virtual landmarks; A ship dynamic simulation module for generating and updating the navigation state data of the virtual own ship; An azimuth calculation module for calculating the virtual true bearing of the virtual own ship to each virtual landmark; A human-computer interaction module for receiving the observed bearing data and landmark selection instructions input by the trainee and providing a visual interface; A positioning solution and evaluation module for executing the three-mark azimuth positioning algorithm to solve the calculated ship position, and generating the positioning accuracy evaluation result and the landmark selection decision evaluation result; A teaching logic management module for implementing the environment complexity adjustment step and controlling the generation and attributes of the special virtual landmark.

[0022] By adopting the technical scheme, through the synergistic effect of the six modules of scene construction and management, ship dynamic simulation, bearing calculation, human-computer interaction, positioning solution and evaluation, and teaching logic management, the virtual scene landmark positioning training teaching systematization landing is realized.

[0023] In a third aspect, the present application provides a storage medium, which adopts the technical scheme as follows: A storage medium, which stores the program of the virtual scene-based landmark positioning training teaching method according to any one of the preceding aspects.

[0024] To sum up, the present application includes at least one of the following beneficial technical effects: (1) The present application first calculates the virtual true bearing of each landmark observed from the real ship position as a reference by constructing a simulation scene containing a virtual ship and a plurality of known coordinate landmarks; then receives and converts the observation data of the students, and solves the calculated ship position through the positioning algorithm; finally, the calculation result is compared with the real reference to generate visual evaluation feedback. This method completely reproduces the whole process of landmark positioning from observation, calculation to comparison in a virtual environment, realizes the closed-loop inspection and intuitive feedback of the operation results of the students, and provides an effective solution for developing repeatable, low-cost and risk-free positioning skill training.

[0025] (2) The present application greatly improves the teaching intuitiveness by the multi-level visual feedback system of the linkage of the two-dimensional chart, the three-dimensional view and the data panel, which turns abstract errors into concrete ones; expands the examination of the students' ability from single operation accuracy to comprehensive evaluation including early judgment by introducing an independent decision evaluation dimension based on the geometric strength of the positioning figure; solves the disadvantages of traditional training which emphasizes operation and ignores decision by constructing a complex virtual environment containing multiple landmarks and interference items and false items; first systematically implants the identification challenge and information risk in real navigation in the simulation training, thereby significantly improving the practicality and comprehensiveness of the training, so that the virtual training not only can hone skills, but also can cultivate the key judgment and risk response ability of the students. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the step flow chart of the virtual scene-based landmark positioning training teaching method proposed by the present application.

[0027] Figure 2 is the outline block diagram of the virtual scene-based landmark positioning training teaching system proposed by the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0029] In the description of the present specification, the description of the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the described embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] The embodiment of the present application discloses a landmark positioning training teaching method based on a virtual scene, referring to Figure 1 , the method comprises: S1, load a pre-constructed virtual navigation scene, in which a virtual own ship controllable by a trainee and at least three virtual landmarks are generated by the system, the virtual landmarks have known geographic coordinates, wherein the virtual own ship represents a digital model of a ship operated by the trainee, the movement of which is driven by a simulation engine, the virtual landmarks are fixed navigation marks such as lighthouses, hills and islands in the simulation, and the "known geographic coordinates" are accurately set and stored in the system database during scene construction as a reference for positioning calculation; S2, according to the accurate ship position of the virtual own ship, calculate the virtual true bearing of the virtual own ship to each target virtual landmark, the target virtual landmark is three selected by the trainee from the virtual landmarks, wherein the accurate ship position refers to the true and accurate position of the virtual own ship in the simulation world mastered by the system, which is usually derived from the ship dynamic simulation module and is the only objective reference for evaluating the operation accuracy of the trainee, the target virtual landmark refers to three landmarks selected by the trainee according to the training requirements and his own judgment, and the virtual true bearing refers to the direction angle measured clockwise from the true north direction to the target landmark; S3, receive the observation bearing data of the three target virtual landmarks input by the trainee, and process it into the corresponding observed true bearing; S4, according to the processed observed true bearing and the known geographic coordinates of the three target virtual landmarks, the trainee's reckoning ship position is calculated by using the three landmark bearing positioning algorithm; S5, compare the reckoning ship position with the accurate ship position to generate a positioning accuracy evaluation result; S6, visually feedback the accurate ship position, the reckoning ship position, the positioning accuracy evaluation result and the related training process data.

[0031] Through the above technical solution, this embodiment provides a training method for landmark positioning in a virtual scenario. The method constructs a simulation scenario containing a virtual ship and multiple landmarks with known coordinates. First, it calculates the virtual true bearing of each landmark from the actual ship position as a reference. Then, it receives and transforms the trainee's observation data and calculates the estimated ship position through a positioning algorithm. Finally, it compares the estimated result with the real reference and generates a visual evaluation feedback. This method completely reproduces the entire landmark positioning process from observation and calculation to comparison in a virtual environment, realizing closed-loop verification and intuitive feedback of the trainee's operation results. It provides an effective solution for conducting repeatable, low-cost, and risk-free positioning skills training.

[0032] In one embodiment, step S2, calculating the virtual true bearing of the virtual ship and each target virtual landmark, includes: The system obtains the accurate position of the virtual ship in the virtual geographic coordinate system from the ship dynamic simulation module. This coordinate system adopts the common conventions of navigation and mapmaking, defining the X-axis as pointing east and the Y-axis as pointing north; Obtain the known location coordinates of the i-th target virtual landmark from the pre-set scene database. ,in ; ; The virtual true bearing of the i-th target virtual landmark relative to the virtual ship is obtained through the above formula analysis and calculation. ; Among them, the function This is a two-parameter arctangent function, also known as the quadrant arctangent function. Its core feature is that it can automatically determine the quadrant in which the vector lies based on the signs of the two input parameters, thus returning an unambiguous angle value. In this application, the function is configured to return the angle value obtained by rotating the vector clockwise from true north (i.e., the positive Y-axis direction) to the quadrant in the quadrant in the positive Y-axis direction. The angle is expressed in radians, which is the standard mathematical method for converting Cartesian coordinates to polar coordinates. For the calculated Convert to an angle system and standardize it so that its angle value ranges from 0 to 360 degrees.

[0033] Through the above technical solution, this embodiment provides a method for generating a high-precision positioning reference in a virtual training environment. The method utilizes the known ship position and land landmark coordinates within the system, and employs correctly configured... The function performs accurate azimuth calculation, can stably and automatically generate virtual true azimuth as an evaluation standard, lays a reliable data foundation for objectively evaluating the observation error of trainees and realizing accurate training effect evaluation, and ensures the scientificity and effectiveness of virtual training.

[0034] In an embodiment, in step S3, the process of processing the observation azimuth into the corresponding virtual true azimuth includes: The system receives the observation azimuth value input by the trainee through the simulated azimuth measurement device (such as a virtual compass) interface, and the observation azimuth value includes an observation compass azimuth , simulating the azimuth reading read by the crew on the actual ship from the magnetic compass or gyro compass; Obtain the simulated virtual compass difference To improve the authenticity of training, the system will obtain a virtual compass difference This parameter is a man-made error model, which aims to simulate the instrument error of the real compass, and is usually composed of two parts: one is the standard error (such as fixed magnetic difference or gyro compass difference) preset by the system, and the other is the random error (used to simulate reading fluctuations, environmental interference, etc. Uncertainty); ; According to the basic principle of navigation positioning, the observation true azimuth thought by the trainee is obtained by analyzing and calculating the above formula.

[0035] In step S4, the process of calculating the trainee's calculated ship position using the three-marker azimuth positioning algorithm includes: The system takes the known coordinates of the three target virtual landmarks and the corresponding observation true azimuth as input, and each azimuth line can be expressed as a straight line passing through point and the direction angle is In order to find an optimal ship position point from these inaccurate azimuth lines, the calculated ship position can be calculated by solving the least squares problem of the following objective function : ; Wherein, the above objective function represents solving a point, so that the sum of the squares of the perpendicular distances from the point to the three azimuth lines is minimized, which provides an optimal fitting point in mathematics, that is, the coordinates of the minimum value of the above objective function is the calculated ship position .

[0036] By the technical solution, the embodiment provides a virtual training core algorithm for accurately processing operation data of a trainee and intelligently calculating a positioning result. The method introduces a configurable virtual compass difference to simulate a real error, converts trainee input into standard bearing data, and then uses a least square method to optimally fit a contradictory observation equation set, thereby stably solving a calculated position. The method not only completely reproduces an actual operation process from observation to conversion to calculation, but more importantly, a mathematical processing mechanism thereof can objectively and scientifically extract an optimal solution from data containing errors, thereby laying a solid and reliable technical foundation for subsequent fair and accurate evaluation of the operation level of the trainee, and overcoming the defects that a simple geometric intersection method cannot give a certain solution or cannot stably calculate when errors exist.

[0037] In an embodiment, in step S5, the process of generating the positioning accuracy evaluation result includes: ; The plane distance deviation D between the calculated position and the accurate position is obtained through the above formula analysis and calculation, and the smaller the value, the more accurate the positioning result in space is; ; The included angle deviation between the true bearing of each observation bearing and the corresponding virtual true bearing is obtained through the above formula analysis, where ; Based on the plane distance deviation D and the three included angle deviations , a comprehensive positioning error score is generated through a preset comprehensive analysis model. The preset comprehensive analysis model can be a weighted fusion algorithm, the core of which is to normalize and weight sum error indicators of different properties and different units, thereby obtaining a single comprehensive positioning error score S. The model can be expressed as: ; wherein, and are normalization functions, which are intended to eliminate dimensions and make each index comparable in order of magnitude. For example, the distance deviation D is divided by a reference distance, and the angle deviation is divided by a reference angle is a weight coefficient given to the plane distance deviation, reflecting the importance of the overall position error in evaluation, are weight coefficients respectively given to the three observation included angle deviations, the values of which can be equal (indicating equal attention to all observations) or different according to training intentions (for example, higher weight is given to observations in key directions). 、 The teaching syllabus or training difficulty is preset, which is the key to adjust the evaluation focus. The comprehensive positioning error score S is a scalar value calculated by the model. Generally, the smaller the S value is, the higher the comprehensive positioning accuracy is. According to the comprehensive positioning error score, the accuracy level of the current positioning operation is determined. The system predefines a plurality of accuracy levels (for example, "excellent", "good", "qualified", and "unqualified") corresponding to the S value interval. By comparing the calculated S with these threshold intervals, the final accuracy level of the current positioning operation is automatically determined.

[0038] Through the above technical solution, the embodiment provides a multi-dimensional and quantifiable virtual positioning training evaluation method. The method represents the plane distance deviation of the absolute position error and the angle deviation representing the accuracy of each observation operation through parallel calculation, thereby realizing comprehensive diagnosis of the positioning result and its causes. Furthermore, through an open and configurable weight comprehensive analysis model, these heterogeneous error indicators are intelligently integrated into a comprehensive score and a clear accuracy level, overcoming the defects of single and one-sided traditional evaluation methods. The method can provide clear structure and clear feedback to students and teachers, not only telling the result, but also assisting in analyzing where the error may be, thereby greatly improving the teaching effect and evaluation scientificity of the training.

[0039] In step S6, the visual feedback includes: In the two-dimensional electronic chart display interface, the accurate ship position symbol, the estimated ship position symbol, and the three bearing position lines based on the observation bearing data are superimposed and displayed. In the three-dimensional immersive visual display interface, the visual form of the target virtual landmark is rendered with the virtual ship as the viewpoint, and the observation bearing line and the virtual true bearing line are superimposed and displayed. In the independent information panel, the accurate ship position coordinates, the estimated ship position coordinates, the plane distance deviation D, the angle deviation of each observation value, and the positioning accuracy score are displayed. The method further includes a landmark selection decision evaluation step:

[0040] In step S5, the system calculates the corresponding positioning figure geometric intensity evaluation value according to the relative geometric relationship between the three target virtual landmarks selected by the student and the virtual ship. The relative geometric relationship mainly refers to the angle between the two bearing lines determined by the three landmarks The geometric intensity evaluation value can be calculated by the function ​​Or similar function calculation, the principle is, when three landmarks are evenly distributed (included angle close to 120 °), the value is maximum, indicates that the positioning figure geometry intensity is high, the ability of resisting observation error is strong;When the distribution of land mark is concentrated (included angle is very small), the value tends to zero, indicating that the figure intensity is weak; The geometry intensity evaluation value is used to evaluate the decision-making ability of the trainee in land mark identification and optimal combination selection, and together with the positioning accuracy score, forms a comprehensive training result, so as to comprehensively evaluate the ability of the trainee.

[0041] The method further comprises an environment complexity adjustment step: In the virtual navigation scene, more than three virtual landmarks are generated and displayed for the trainee to select; Among the generated virtual landmarks, at least one special virtual landmark is included for increasing training complexity and reality; The special virtual landmark comprises at least one of the following types: Interference landmark: it is the same or similar to the effective landmark in visual (such as light color, tower shape) or time sequence identification (such as flashing rhythm, period) characteristics, easy to cause misrecognition, its geographical coordinates are accurate and effective, but the geometric figure formed by it and other landmarks has low intensity, but it is not the optimal or suboptimal choice under the current geometric condition, mainly for testing the ability of the trainee to identify similar targets and make optimal choices according to geometric knowledge; False landmark: the known geographical coordinates marked by it have a preset error (such as offset by hundreds of meters), if the trainee uses this error coordinate to calculate, it will introduce systematic deviation, or the displayed identification feature (such as the displayed light quality) does not match the feature that the coordinate point should have in the chart data, which is used to simulate the real risk caused by outdated charts, information input errors or light failure, and train the trainee's information cross verification and suspicion consciousness.

[0042] Through the above technical solution, the embodiment provides an advanced virtual training method integrating immersive feedback, intelligent decision evaluation and high reality environment simulation, the method visualizes the abstract error through the multi-level visual feedback system of the linkage of two-dimensional chart, three-dimensional view and data panel, greatly improves the teaching intuitiveness;By introducing an independent decision evaluation dimension based on the geometric intensity of the positioning figure, the examination of the trainee's ability is expanded from single operation accuracy to comprehensive evaluation including early judgment, solving the disadvantages of traditional training focusing on operation and ignoring decision-making;By constructing a complex virtual environment including multiple landmarks and interference items and false items, the identification challenge and information risk in real navigation are systematically implanted in the simulation training for the first time, thereby significantly improving the practicality and comprehensiveness of the training, so that the virtual training not only can hone the skills, but also can cultivate the key judgment and risk response ability of the trainee.

[0043] The embodiment of the present application also discloses a landmark positioning training teaching system based on a virtual scene, which is used for implementing the landmark positioning training teaching method based on a virtual scene. a scene construction and management module, which is used for loading, rendering and managing a virtual navigation scene containing a virtual own ship and a plurality of virtual landmarks; a ship dynamic simulation module, which is used for generating and updating navigation state data of the virtual own ship; a bearing calculation module, which is used for calculating a virtual true bearing of the virtual own ship to each virtual landmark; a human-computer interaction module, which is used for receiving observed bearing data and landmark selection instructions input by a student and providing a visual interface; a positioning solution and evaluation module, which is used for executing the three-landmark bearing positioning algorithm to solve a calculated ship position and generating a positioning precision evaluation result and a landmark selection decision evaluation result; a teaching logic management module, which is used for implementing the environment complexity adjustment step and controlling generation and attributes of special virtual landmarks.

[0044] Through the above technical solution, the embodiment provides a landmark positioning training teaching system based on a virtual scene, the system cooperatively constructs and provides a high-precision simulation reference environment through a scene construction and management module, a ship dynamic simulation module and a bearing calculation module; through a human-computer interaction module and a positioning solution and evaluation module, student operation data is accurately collected, a core algorithm is executed and double evaluation results covering operation precision and decision quality are generated; finally, a teaching logic management module dynamically controls scene complexity, simulates real interference and risks, the system upgrades a traditional single operation process simulation to a comprehensive training platform integrating environment simulation, operation training, intelligent evaluation and adaptive teaching, effectively solves core defects of a training mode being mechanical, evaluation being one-sided and a scene being unrealistic in the prior art, and significantly improves efficiency, depth and practicality of landmark positioning skill training.

[0045] The embodiment of the present application also discloses a storage medium, which stores a program of the landmark positioning training teaching method based on a virtual scene.

[0046] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A training and teaching method for landmark positioning based on virtual scenarios, characterized in that, The method includes: S1. Load a pre-built virtual navigation scene, and generate a controllable virtual ship and at least three virtual landmarks in the virtual navigation scene, wherein the virtual landmarks have known geographical coordinates; S2. Based on the accurate position of the virtual ship, calculate the virtual true bearing of the virtual ship to each target virtual landmark, where the target virtual landmarks are the three selected by the trainee from the virtual landmarks; S3. Receive the observation azimuth data of the three virtual landmarks input by the trainee and process them into the corresponding true observation azimuth. S4. Based on the processed observed true bearing and the known geographical coordinates of the three virtual landmarks, the trainee's estimated ship position is calculated using the three-marker bearing positioning algorithm. S5. Compare the estimated ship position with the accurate ship position to generate a positioning accuracy assessment result; S6. Visualize and provide feedback on the accurate ship position, the estimated ship position, the positioning accuracy evaluation result, and related training process data.

2. The land landmark positioning training and teaching method based on virtual scenes according to claim 1, characterized in that, Step S2, the process of calculating the virtual true bearing of the virtual ship and each target virtual landmark includes: Obtain the accurate position of the virtual ship in the virtual geographic coordinate system. The X-axis points east and the Y-axis points north. Obtain the known location coordinates of the i-th target virtual landmark. ,in ; ； The virtual true bearing of the i-th target virtual landmark relative to the virtual ship is obtained through the above formula analysis and calculation. ; Among them, the function This is a two-parameter arctangent function that returns the vector rotated clockwise from true north. Angle, in radians; For the calculated Convert to an angle system and standardize it so that its angle value ranges from 0 to 360 degrees.

3. The land landmark positioning training and teaching method based on virtual scenes according to claim 2, characterized in that, Step S3, the process of processing it into the corresponding observed true azimuth includes: The system receives the observed azimuth values ​​input by the trainee through a simulated azimuth measurement device, the observed azimuth values ​​including the observed compass azimuth. ; Obtain the simulated virtual compass difference The virtual compass error includes the system-preset standard error and random error; ； The true azimuth of observation as perceived by the student is obtained through the above formula analysis and calculation. .

4. The landmark positioning training and teaching method based on virtual scenes according to claim 3, characterized in that, Step S4, the process of calculating the trainee's estimated ship position using the three-point bearing positioning algorithm, includes: Based on the known coordinates of the three target virtual landmarks. and its corresponding true azimuth. The estimated ship position is calculated by solving the following least squares problem with the objective function. : ； Among them, the coordinates that minimize the above objective function. This is the calculated ship position. .

5. The land landmark positioning training and teaching method based on virtual scenes according to claim 4, characterized in that, Step S5, the process of generating the positioning accuracy assessment result includes: ； The planar distance deviation D between the estimated ship position and the accurate ship position is obtained by analyzing and calculating using the above formula. ； The above formula is used to analyze the angular deviation between the true azimuth of each observed azimuth and its corresponding virtual true azimuth. ,in ; Based on the planar distance deviation D and the three included angle deviations A comprehensive positioning error score is generated by calculating using a pre-set comprehensive analysis model. The accuracy level of this positioning operation is determined based on the comprehensive positioning error score.

6. The land landmark positioning training and teaching method based on virtual scenes according to claim 5, characterized in that, In step S6, the visual feedback includes: In the two-dimensional electronic nautical chart display interface, the accurate ship position symbol, the estimated ship position symbol, and three bearing lines based on the observed bearing data are overlaid and displayed. In the three-dimensional immersive visual display interface, the visual form of the target virtual landmark is rendered from the perspective of the virtual ship, and the observation azimuth line and the virtual true azimuth line are superimposed and displayed. The independent information panel displays the accurate ship position coordinates, the estimated ship position coordinates, the horizontal distance deviation D, and the angular deviation of each observation. And positioning accuracy score.

7. The land landmark positioning training and teaching method based on virtual scenes according to claim 6, characterized in that, The method also includes a landmark selection decision evaluation step: In step S5, the system calculates the corresponding geometric strength evaluation value of the positioning graphic based on the relative geometric relationship between the three target virtual landmarks selected by the trainee and the virtual ship. The geometric strength evaluation value is used to assess the trainee's decision-making ability in landmark identification and optimal combination selection, and together with the positioning accuracy score, constitutes the comprehensive training score.

8. The land landmark positioning training and teaching method based on virtual scenes according to claim 7, characterized in that, The method also includes an environmental complexity adjustment step: In the virtual navigation scenario, more than three virtual landmarks are generated and displayed for trainees to choose from; Among them, the generated virtual landmarks include at least one special virtual landmark used to increase training complexity and realism; The special virtual landmarks include at least one of the following types: Interfering landmarks: They are identical to valid landmarks in terms of visual or temporal identification features, but are not the optimal or suboptimal choice under the current geometric conditions; False landmarks: The known geographic coordinates marked on them have a preset error, or the characteristics of the markers displayed do not match their true coordinates.

9. A landmark positioning training and teaching system based on virtual scenarios, characterized in that, The system is used to implement the virtual scene-based landmark positioning training and teaching method as described in claim 8, the system comprising: The scene construction and management module is used to load, render, and manage virtual navigation scenes that include a virtual ship and multiple virtual landmarks; The ship dynamic simulation module is used to generate and update the navigation status data of the virtual ship. The bearing calculation module is used to calculate the virtual true bearing of the virtual ship to each virtual landmark; The human-computer interaction module is used to receive observation azimuth data and landmark selection instructions input by trainees and provide a visual interface; The positioning calculation and evaluation module is used to execute the three-beacon bearing positioning algorithm to calculate the ship's position and generate the positioning accuracy evaluation result and the land beacon selection decision evaluation result. The teaching logic management module is used to implement the environmental complexity adjustment steps and control the generation and attributes of special virtual landmarks.

10. A storage medium, characterized in that, The program stores the virtual scene-based landmark positioning training and teaching method as described in any one of claims 1-8.

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