Virtual-Scene-Based Landmark Positioning Training Method, System, and Storage Medium

Abstract

This application relates to the field of maritime simulation training technology, and discloses a teaching method, system, and storage medium for landmark positioning training based on a virtual scene. The method includes: S1, loading a pre-constructed virtual maritime scene, and generating a controllable virtual ship and at least three virtual landmarks in the virtual maritime scene, wherein the virtual landmarks have known geographical coordinates; S2, calculating the virtual true bearing of the virtual ship to each target virtual landmark based on the accurate position of the virtual ship, wherein the target virtual landmarks are three selected by the trainee from the virtual landmarks. This invention fully reproduces the entire landmark positioning process from observation, calculation to comparison in a virtual environment, realizing closed-loop verification and intuitive feedback of the trainee's operation results, and providing an effective solution for conducting repeatable, low-cost, and risk-free positioning skills training.

Description

Technical Field

[0001] This application relates to the field of maritime simulation training technology, and in particular to a method, system and storage medium for landmark positioning training based on virtual scenarios. Background Technology

[0002] Navigational landmark positioning, especially the three-marker method, is a core fundamental skill that navigators must master. This skill requires crew members to accurately calculate their ship's position by observing the positions of multiple known landmarks while navigating along the coast. Traditional landmark positioning training relies heavily on actual ship training, which has inherent drawbacks such as high cost, susceptibility to weather and sea conditions, low training efficiency, and safety risks. With the development of navigational simulator technology, landmark positioning training in a virtual environment has become an effective alternative and supplementary means. It can provide a repeatable, controllable, and risk-free training environment, helping trainees to master the positioning principles and operating procedures.

[0003] However, existing virtual landmark positioning training methods still have significant shortcomings. First, most systems only focus on simulating the observation and calculation operation process of trainees, resulting in a mechanical and monotonous training mode. They typically provide three fixed landmarks, and trainees passively practice observation, failing to simulate the decision-making process in real maritime scenarios that requires actively identifying and selecting the optimal combination of landmarks. Consequently, it is difficult to train and assess trainees' key situational judgment and decision-making abilities. Second, existing methods are mostly limited to simple assessments of the final ship position error, lacking a refined and comprehensive analysis of each stage of the positioning process (such as the geometric advantages and disadvantages of landmark selection and the accuracy of each observation), leading to one-sided evaluation results and incomplete teaching feedback. In addition, training scenarios are often too idealized, lacking simulation of complex environments (such as the presence of interference objects and erroneous information), causing a disconnect between training and real-world situations, which is not conducive to cultivating trainees' emergency response and anti-interference capabilities in actual maritime operations. Summary of the Invention

[0004] To overcome the shortcomings of existing virtual training systems in terms of decision-making ability cultivation, refined evaluation throughout the process, and simulation of realistic and complex environments, this application provides a landmark positioning training teaching method, system, and storage medium based on virtual scenarios.

[0005] Firstly, this application provides a landmark positioning training and teaching method based on virtual scenes, which adopts the following technical solution:

[0006] A virtual scene-based landmark localization training and teaching method, the method comprising:

[0007] 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;

[0008] 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;

[0009] S3. Receive the observation azimuth data of the three virtual landmarks input by the trainee and process them into the corresponding true observation azimuth.

[0010] 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.

[0011] S5. Compare the estimated ship position with the accurate ship position to generate a positioning accuracy assessment result;

[0012] S6. Visualize and provide feedback on the accurate ship position, the estimated ship position, the positioning accuracy evaluation result, and related training process data.

[0013] By adopting the above technical solution, a training and teaching process for landmark positioning based on virtual scenarios was constructed. By loading a virtual navigation scenario containing a controllable virtual ship and at least three virtual landmarks with known geographic coordinates, the virtual true bearing calculation, observation bearing data processing, ship position calculation by the three-marker bearing positioning algorithm, ship position comparison and accuracy evaluation, and training data visualization feedback were completed in sequence, realizing virtualized teaching of landmark positioning training.

[0014] Optionally, in step S2, the process of calculating the virtual true bearing of the virtual ship and each target virtual landmark includes:

[0015] 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.

[0016] Obtain the known location coordinates of the i-th target virtual landmark. ,in ;

[0017] ;

[0018] 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. ;

[0019] Among them, the function This is a two-parameter arctangent function that returns the vector rotated clockwise from true north. Angle, in radians;

[0020] For the calculated Convert to an angle system and standardize it so that its angle value ranges from 0 to 360 degrees.

[0021] By adopting the above technical solution, the definition of the virtual geographic coordinate system was clarified. The virtual true bearing of the target virtual landmark relative to the virtual ship was calculated using the two-parameter arctangent function. After radian-to-angle conversion and 0-360 degree standardization, the calculation of the virtual true bearing was accurately realized.

[0022] Optionally, in step S3, the process of processing it into the corresponding observed true azimuth includes:

[0023] 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. ;

[0024] Obtain the simulated virtual compass difference The virtual compass error includes the system-preset standard error and random error;

[0025] ;

[0026] The true azimuth of observation as perceived by the student is obtained through the above formula analysis and calculation. .

[0027] By adopting the above technical solution, the observed compass azimuth input by the trainee through the simulated azimuth measurement device is received. Combined with the virtual compass error, which includes the system's preset standard error and random error, the trainee's corresponding true observed azimuth is calculated through a formula, thus completing the standardized processing of the observed azimuth data.

[0028] Optionally, in step S4, the process of calculating the trainee's estimated ship position using the three-point bearing positioning algorithm includes:

[0029] 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. :

[0030] ;

[0031] Among them, the coordinates that minimize the above objective function. This is the calculated ship position. .

[0032] By adopting the above technical solution, based on the known geographical coordinates and corresponding true observation bearings of three target virtual landmarks, a least squares objective function is constructed. The coordinates that minimize this function are used as the ship's position to calculate the bearing. This achieves the three-marker bearing positioning solution based on the least squares algorithm.

[0033] Optionally, in step S5, the process of generating the positioning accuracy evaluation result includes:

[0034] ;

[0035] 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.

[0036] ;

[0037] 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 ;

[0038] 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.

[0039] The accuracy level of this positioning operation is determined based on the comprehensive positioning error score.

[0040] By adopting the above technical solution, the planar distance deviation between the estimated ship position and the accurate ship position is first calculated, and then the angular deviation between each observed true bearing and the corresponding virtual true bearing is calculated. A comprehensive positioning error score is generated through a preset comprehensive analysis model, and then the accuracy level of the positioning operation is determined, thus forming a multi-dimensional positioning accuracy evaluation system.

[0041] Optionally, in step S6, the visual feedback includes:

[0042] 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.

[0043] 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.

[0044] 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.

[0045] By adopting the above technical solution, a multi-interface collaborative visualization feedback is provided: the accurate ship position, estimated ship position and observed bearing line are overlaid on the two-dimensional electronic chart; the three-dimensional immersive view renders the shape of the target landmark with the virtual ship as the viewpoint and overlays the observed true bearing line and the virtual true bearing line; the independent information panel displays various coordinates, deviation data and positioning accuracy scores, realizing a comprehensive visualization of the training process and results.

[0046] Optionally, the method further includes a landmark selection decision evaluation step:

[0047] 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.

[0048] 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.

[0049] By adopting the above technical solution, a new land landmark selection decision evaluation step is added. Based on the relative geometric relationship between the three target virtual land landmarks selected by the trainee and the virtual ship, the geometric strength evaluation value is calculated to evaluate the trainee's decision-making ability in land landmark identification and optimal combination selection. This evaluation value, together with the positioning accuracy score, constitutes the comprehensive training score, thus improving the training evaluation dimensions.

[0050] Optionally, the method further includes an environmental complexity adjustment step:

[0051] In the virtual navigation scenario, more than three virtual landmarks are generated and displayed for trainees to choose from;

[0052] Among them, the generated virtual landmarks include at least one special virtual landmark used to increase training complexity and realism;

[0053] The special virtual landmarks include at least one of the following types:

[0054] 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;

[0055] 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.

[0056] By adopting the above technical solution and adding an environmental complexity adjustment function, more than three virtual landmarks are generated in the virtual navigation scenario, including special types such as interfering landmarks and false landmarks, which improves the complexity and realism of training.

[0057] Secondly, this application provides a landmark positioning training and teaching system based on virtual scenarios, which adopts the following technical solution:

[0058] A landmark positioning training and teaching system based on a virtual scene includes a method for implementing landmark positioning training and teaching based on a virtual scene as described above. The system includes:

[0059] 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;

[0060] The ship dynamic simulation module is used to generate and update the navigation status data of the virtual ship.

[0061] The bearing calculation module is used to calculate the virtual true bearing of the virtual ship to each virtual landmark;

[0062] The human-computer interaction module is used to receive observation azimuth data and landmark selection instructions input by trainees and provide a visual interface;

[0063] 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.

[0064] The teaching logic management module is used to implement the environmental complexity adjustment steps and control the generation and attributes of special virtual landmarks.

[0065] By adopting the above technical solutions, and through the synergistic effect of six modules—scenario construction and management, ship dynamic simulation, bearing calculation, human-computer interaction, positioning calculation and evaluation, and teaching logic management—the systematic implementation of virtual scenario landmark positioning training and teaching has been achieved.

[0066] Thirdly, this application provides a storage medium, which adopts the following technical solution:

[0067] A storage medium storing a program for a virtual scene-based landmark positioning training and teaching method as described in any one of the above.

[0068] In summary, this application includes at least one of the following beneficial technical effects:

[0069] (1) This invention constructs a simulation scenario that includes a virtual ship and multiple known coordinate landmarks. First, it calculates the virtual true bearing of each landmark from the actual ship position as a reference. Then, it receives and converts the observation data of the trainees and calculates their 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 fully reproduces the entire process of landmark positioning from observation, calculation to comparison in a virtual environment, realizes the closed-loop verification and intuitive feedback of the trainees' operation results, and provides an effective solution for carrying out repeatable, low-cost and risk-free positioning skills training.

[0070] (2) This invention uses a multi-level visualization feedback system that links two-dimensional nautical charts, three-dimensional visual scenes and data panels to concretize abstract errors, which greatly improves the intuitiveness of teaching. By introducing an independent decision evaluation dimension based on the geometric strength of positioning graphics, the assessment of trainees' abilities is expanded from single operational precision to a comprehensive evaluation that includes preliminary judgment, which solves the drawback of traditional training that emphasizes operation and neglects decision-making. By constructing a complex virtual environment that includes multiple landmarks and interference and false items, the identification challenges and information risks in real navigation are systematically embedded in the simulation training for the first time, which significantly improves the practicality and comprehensiveness of the training, so that virtual training can not only hone skills, but also cultivate trainees' key judgment and risk response capabilities. Attached Figure Description

[0071] Figure 1 This is a flowchart of the steps of the landmark positioning training and teaching method based on virtual scenes proposed in this invention.

[0072] Figure 2 This is a schematic diagram of the landmark positioning training and teaching system based on virtual scenes proposed in this invention. Detailed Implementation

[0073] The embodiments of this application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0074] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0075] This application discloses a landmark positioning training and teaching method based on virtual scenes, referring to... Figure 1 The method includes:

[0076] S1. Load a pre-built virtual navigation scenario. In this scenario, the system generates a virtual ship that can be controlled by the trainee, as well as at least three virtual landmarks. The virtual landmarks have known geographical coordinates. The virtual ship represents a digital model of the ship operated by the trainee, and its movement is driven by a simulation engine. The virtual landmarks are fixed navigation marks such as lighthouses, hilltops, and islands in reality. Their "known geographical coordinates" are precisely set and stored in the system database when the scenario is built, serving as the reference for positioning calculation.

[0077] S2. Based on the accurate position of the virtual ship, calculate the virtual true bearing of the virtual ship to each target virtual landmark. The target virtual landmarks are the three selected by the trainee from the virtual landmarks. The accurate position refers to the real and precise position of the virtual ship in the simulation world as known by the system. It usually comes from the ship dynamic simulation module and is the only objective benchmark for evaluating the trainee's operational accuracy. The target virtual landmarks refer to the three landmarks selected by the trainee based on training requirements and their own judgment. The virtual true bearing refers to the direction angle measured clockwise from true north to the target landmark.

[0078] S3. Receive the observation azimuth data of the three virtual landmarks input by the trainee and process them into the corresponding true observation azimuth.

[0079] 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.

[0080] S5. Compare the estimated ship position with the accurate ship position to generate a positioning accuracy assessment result;

[0081] S6. Visualize and provide feedback on the accurate ship position, the estimated ship position, the positioning accuracy evaluation result, and related training process data.

[0082] 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.

[0083] In one embodiment, step S2, calculating the virtual true bearing of the virtual ship and each target virtual landmark, includes:

[0084] 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;

[0085] Obtain the known location coordinates of the i-th target virtual landmark from the pre-set scene database. ,in ;

[0086] ;

[0087] 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. ;

[0088] 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.

[0089] For the calculated Convert to an angle system and standardize it so that its angle value ranges from 0 to 360 degrees.

[0090] 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 orientation calculations and can stably and automatically generate virtual true orientations as evaluation standards. This lays a reliable data foundation for objectively quantifying trainees' observation errors and achieving accurate training effect evaluation, ensuring the scientific nature and effectiveness of virtual training.

[0091] In one embodiment, step S3, the process of processing it into the corresponding true observation azimuth, includes:

[0092] The system receives the observed azimuth values ​​input by the student through a simulated azimuth measuring device (such as a virtual compass) via an interface. These observed azimuth values ​​include the observed compass azimuth. It simulates the bearing readings that crew members would take from a magnetic compass or gyrocompass on an actual ship;

[0093] Obtain the simulated virtual compass difference To enhance the realism of the training, the system will obtain a virtual compass difference. This parameter is a pre-set error model designed to simulate the instrument errors present in a real compass. It typically consists of two parts: one is the system-preset standard error (such as fixed magnetic difference or gyrocompass error), and the other is random error (used to simulate uncertainties such as reading fluctuations and environmental interference).

[0094] ;

[0095] Based on the fundamental principles of marine positioning, the trainee's perceived true bearing is obtained through analysis and calculation using the above formula. .

[0096] Step S4, the process of calculating the trainee's estimated ship position using the three-point bearing positioning algorithm, includes:

[0097] The system uses the known coordinates of three target virtual landmarks. and the corresponding true azimuth of observation As input, each azimuth line can be represented as a line passing through a point And the direction angle is The goal is to find an optimal ship's position from these imprecise bearing lines. The estimated ship position can be calculated by solving the following least squares problem with the objective function. :

[0098] ;

[0099] The objective function described above represents finding a point that minimizes the sum of the squares of its perpendicular distances to the three azimuth lines. Mathematically, this provides an optimal fitting point, which is the coordinate of the point where the objective function reaches its minimum value. This is the calculated ship position. .

[0100] Through the above technical solution, this embodiment provides a core algorithm for virtual training that accurately processes student operation data and intelligently calculates positioning results. The method introduces a configurable virtual compass difference to simulate real errors and converts student input into standard bearing data. Then, it uses the least squares method to optimally fit the contradictory observation equations and robustly solves the estimated ship position. This method not only completely reproduces the actual operation process from observation to conversion to calculation, but more importantly, its mathematical processing mechanism can objectively and scientifically extract the optimal solution from the data containing errors. This lays a solid and reliable technical foundation for the subsequent fair and accurate evaluation of the student's operation level and overcomes the shortcomings of the simple geometric intersection method, which cannot give a definite solution or has unstable solution when errors exist.

[0101] In one embodiment, step S5, the process of generating the positioning accuracy evaluation result, includes:

[0102] ;

[0103] The estimated ship position is obtained through analysis and calculation using the above formula. With the accurate ship position The smaller the planar distance deviation D between them, the more accurate the positioning result is in space;

[0104] ;

[0105] The true azimuth of each observed azimuth is analyzed using the above formula. Its corresponding virtual true orientation Angle deviation between ,in ;

[0106] Based on the planar distance deviation D and the three included angle deviations A comprehensive positioning error score is generated through calculation using a preset comprehensive analysis model. This preset comprehensive analysis model can be a weighted fusion algorithm, the core of which is to normalize and weight-sum the error indicators of different properties and units to obtain a single comprehensive positioning error score S. This model can be expressed as:

[0107] ;

[0108] in, and It is a normalization function, designed to eliminate dimensions and bring indicators to comparable orders of magnitude. For example, dividing the distance deviation D by a reference distance, or the angle deviation... Divide by a reference angle, It is a weighting coefficient assigned to the planar distance deviation, reflecting the importance of the overall position error in the evaluation. These are weighting coefficients assigned to the three observation angle deviations, and their values ​​can be equal (indicating equal importance to all observations) or different depending on the training intent (e.g., assigning higher weights to observations in key directions). , The key to adjusting the assessment focus is the pre-set teaching syllabus or training difficulty. The comprehensive positioning error score S is a scalar value calculated by the model. Generally, the smaller the S value, the higher the comprehensive positioning accuracy.

[0109] The accuracy level of this positioning operation is determined based on the comprehensive positioning error score. The system predefines multiple accuracy levels (e.g., "Excellent", "Good", "Pass", "Fail") corresponding to the S value range. By comparing the calculated S with these threshold ranges, the final accuracy level of this positioning operation is automatically determined.

[0110] Through the above technical solution, this embodiment provides a multi-dimensional and quantifiable virtual positioning training evaluation method. The method achieves a comprehensive diagnosis of the positioning results and their causes by parallelly calculating the planar distance deviation, which represents the absolute position error, and the angular deviation, which represents the accuracy of each observation operation. Furthermore, through a public, configurable weighted comprehensive analysis model, these heterogeneous error indicators are intelligently integrated into a comprehensive score and a clear accuracy level, overcoming the shortcomings of traditional evaluation methods that are singular and one-sided. It can provide trainees and instructors with a clear structure and specific, refined evaluation feedback, not only informing them of how much the result is wrong, but also assisting in analyzing where the error may lie, thereby greatly improving the teaching effect and scientific nature of the training.

[0111] In step S6, the visual feedback includes:

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The method also includes a landmark selection decision evaluation step:

[0116] 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 relative geometric relationship mainly refers to the relationship between the three landmarks. The angle between each pair of azimuth lines is determined. The geometric strength evaluation value can be obtained through a function. Or a similar function can be used to calculate this value. The principle is that when the three landmarks are evenly distributed (with an angle close to 120°), the value is the largest, indicating that the geometric strength of the positioning pattern is high and the ability to resist observation errors is strong; when the landmarks are concentrated (with a very small angle), the value approaches zero, indicating that the pattern strength is weak.

[0117] 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, thereby comprehensively evaluating the trainee's ability.

[0118] The method also includes an environmental complexity adjustment step:

[0119] In the virtual navigation scenario, more than three virtual landmarks are generated and displayed for trainees to choose from;

[0120] Among them, the generated virtual landmarks include at least one special virtual landmark used to increase training complexity and realism;

[0121] The special virtual landmarks include at least one of the following types:

[0122] Interference landmarks: They are identical or similar to valid landmarks in terms of visual (e.g., light color, tower shape) or temporal characteristics (e.g., flashing rhythm, period), which can easily lead to misidentification. Their geographical coordinates are accurate and valid, but because the geometric shape they form with other landmarks is weak, they are not the best or second-best choice under the current geometric conditions. They are mainly used to test students' ability to identify similar targets and select the best one based on geometric knowledge.

[0123] False landmarks: The known geographic coordinates marked on them have a preset error (such as being offset by hundreds of meters). If trainees use this incorrect coordinates for calculations, it will introduce systematic bias. Or the characteristics of the markers displayed (such as the light quality) do not match the characteristics that the coordinate point should have in the nautical chart data. They are used to simulate real risks caused by outdated nautical charts, information entry errors, or light malfunctions, and to train trainees to cross-verify information and develop a sense of skepticism.

[0124] Through the above technical solutions, this embodiment provides an advanced virtual training method that integrates immersive feedback, intelligent decision evaluation, and highly realistic environment simulation. The method uses a multi-layered visual feedback system that links two-dimensional nautical charts, three-dimensional visual scenes, and data panels to concretize abstract errors, greatly enhancing the intuitiveness of teaching. By introducing an independent decision evaluation dimension based on the geometric strength of positioning graphics, the assessment of trainees' abilities is expanded from single operational precision to a comprehensive evaluation including prior judgment, solving the drawback of traditional training that emphasizes operation but neglects decision-making. By constructing a complex virtual environment containing multiple landmarks, interference items, and false items, the method systematically incorporates the identification challenges and information risks of real navigation into simulated training for the first time, significantly improving the practicality and comprehensiveness of training. This allows virtual training not only to hone skills but also to cultivate trainees' critical judgment and risk response capabilities.

[0125] This application also discloses a landmark positioning training and teaching system based on a virtual scene, used to implement the landmark positioning training and teaching method based on a virtual scene as described above. The system includes:

[0126] 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;

[0127] The ship dynamic simulation module is used to generate and update the navigation status data of the virtual ship.

[0128] The bearing calculation module is used to calculate the virtual true bearing of the virtual ship to each virtual landmark;

[0129] The human-computer interaction module is used to receive observation azimuth data and landmark selection instructions input by trainees and provide a visual interface;

[0130] 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.

[0131] The teaching logic management module is used to implement the environmental complexity adjustment steps and control the generation and attributes of special virtual landmarks.

[0132] Through the above technical solution, this embodiment provides a landmark positioning training and teaching system based on a virtual scene. The system collaboratively constructs and provides a high-precision simulation benchmark 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 calculation and evaluation module, it accurately collects student operation data, executes core algorithms, and generates dual evaluation results covering both operation accuracy and decision quality. Finally, through a teaching logic management module, it dynamically adjusts the scene complexity to simulate real interference and risks. This system upgrades the traditional single operation process simulation into a comprehensive training platform integrating environment simulation, operation training, intelligent evaluation, and adaptive teaching. It effectively solves the core defects of existing technologies, such as mechanical training modes, one-sided evaluations, and scenarios detached from reality, and significantly improves the efficiency, depth, and practicality of landmark positioning skills training.

[0133] This application also discloses a storage medium storing a program for the virtual scene-based landmark positioning training and teaching method described in any one of the above embodiments.

[0134] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this 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 the relevant training process data. 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. 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.

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. 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 6, 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.

8. 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 1-6.

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