Electronic chart cooperative display method and device

Abstract

This invention discloses an electronic nautical chart collaborative display method and apparatus. By decomposing the display of electronic nautical chart point elements into two collaborative stages: backend standardized representation result generation and frontend scenario-based joint scheduling, the backend rule center outputs a standardized point representation semantic information set at once. The frontend dynamically identifies three target display scenarios—overview, operation, and detailed reading—based on scaling level, scene mode, and candidate point density. Then, an icon-label joint avoidance cost aggregation model performs joint collision detection and iterative optimal retention on icon rectangles and label rectangles within a unified screen space. This method can support dynamic adaptation of the frontend to the screen space state while retaining the unified control function of the backend standard rules, significantly improving the consistency of display scale, annotation readability, and map reading stability in nearshore high-density sea areas under two-dimensional and three-dimensional scenes.

Description

Technical Field

[0001] This invention relates to the field of electronic chart display technology, and in particular to a method and apparatus for collaborative display of electronic charts. Background Technology

[0002] Electronic nautical charts, as the core display medium for maritime situational awareness and maritime GIS (Geographic Information System) applications, are widely used in maritime simulation platforms, operational training nodes, operational support nodes, and maritime situational awareness terminals. These application scenarios often simultaneously require standardized chart representation, 2D and 3D multi-view browsing, high-performance display of massive point features, and stable chart reading in dense near-shore areas, placing high demands on the front-end and back-end collaborative display links for electronic nautical charts.

[0003] Existing electronic chart display technologies commonly fall into two categories. The first category involves the backend rendering all chart elements into raster tiles before sending them to the frontend for display. With a large number of point elements, point symbols and annotations are directly baked into the raster image, resulting in a significant decrease in clarity after scaling. Furthermore, it's difficult to simultaneously maintain the visual size of the same batch of point symbols and the readability of annotations in both 2D and 3D scenes. When elements such as lights, buoys, and hazards are densely packed in a local sea area, the backend struggles to perform fine-grained avoidance based on the frontend's current viewpoint and screen space. The second category involves the frontend directly consuming the original S-57 chart object, handling all symbolization and display control. In this category, the complex attributes of the original S-57 object require the frontend to repeatedly parse standard rules. Inconsistencies in symbol rule versions between the frontend and backend can easily lead to display divergences. Additionally, the frontend bears a heavy burden of rule reasoning and material parsing, resulting in significant performance pressure in high-frequency interactive scenarios such as business training and situational awareness. However, the aforementioned existing technologies have the following three technical defects: First, under the full back-end rasterization path, point symbols and annotations are baked into the raster image, resulting in poor scaling clarity, difficulty in maintaining consistency between 2D and 3D display scales, and inability to perform fine-grained avoidance in local high-density areas; Second, under the full front-end interpretation path, the front end needs to parse complex S-57 attributes and standard rules, and the front and back ends are prone to display forks due to inconsistencies in rule versions, and the performance pressure is relatively high in high-frequency interaction scenarios; Third, regardless of the above-mentioned path, when multiple types of point elements such as beacons, navigational aids, hazards, and depth points are densely superimposed in local sea areas, there is a lack of unified family priority, screen budget, and icon-label joint avoidance control, resulting in congested display and poor map reading stability in nearshore high-density sea areas. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a method and apparatus for collaborative display of electronic nautical charts. The backend parses the chart point elements into a standardized set of point representation semantic information containing symbols, variants, annotations and avoidance parameters, and then sends it to the frontend. The frontend dynamically identifies the display scene based on the zoom level, scene mode and candidate point density and performs joint avoidance on icons and labels. While retaining the unified control function of the backend standard rules, it supports the dynamic adaptation of the frontend to the actual screen space state, improves the consistency of the two-dimensional and three-dimensional chart display links and the stability of chart reading in high-density nearshore sea areas.

[0005] To address the aforementioned technical problems, a first aspect of the present invention discloses a method for collaborative display of electronic nautical charts, the method comprising: S1, acquire multi-source nautical chart data information set, current view status information and symbol catalog information; S2, process the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set; S3, perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid sign annotation subtype information set; S4, perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view status information to obtain target display scene information, scheduling priority information set, and hierarchical budget information set; S5, perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

[0006] A second aspect of this invention discloses an electronic chart collaborative display device for implementing some or all of the steps of the electronic chart collaborative display method disclosed in the first aspect of this invention. The device includes: The acquisition module is used to acquire multi-source nautical chart data information sets, current view status information, and symbol catalog information; The base map rendering module is used to process the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set; The representation parsing module is used to perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid sign annotation subtype information set. The scenario-based scheduling module is used to perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view status information to obtain target display scenario information, scheduling priority information set, and hierarchical budget information set; The joint avoidance module is used to perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

[0007] A third aspect of this invention discloses another electronic chart collaborative display device for implementing some or all of the steps of the electronic chart collaborative display method disclosed in the first aspect of this invention. The device includes: processor; A memory containing executable program code is coupled to the processor; The processor calls the executable program code stored in the memory to execute some or all of the steps of the electronic chart collaborative display method disclosed in the first aspect of the present invention.

[0008] The fourth aspect of the present invention discloses a computer-readable storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps of the electronic chart collaborative display method disclosed in the first aspect of the present invention.

[0009] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In this embodiment of the invention, a multi-source nautical chart data information set, current view status information, and symbol catalog information are acquired; the multi-source nautical chart data information set and the current view status information are processed to obtain a base map tile information set and an original point element information set; the original point element information set is subjected to representation parsing processing to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid annotation subtype information set; the standardized point representation semantic information set, the category family information set, the navigational aid annotation subtype information set, and the current view status information are subjected to scenario-based scheduling processing to obtain target display scenario information, a scheduling priority information set, and a hierarchical budget information set; the standardized point representation semantic information set, the category family information set, the target display scenario information, the scheduling priority information set, the hierarchical budget information set, the symbol catalog information, and the base map tile information set are subjected to joint avoidance processing to obtain target collaborative display result information. As can be seen, this application breaks down the display of electronic nautical chart point elements into two collaborative stages: the generation of standardized display results at the backend and the joint scheduling of scene-based methods at the frontend. The backend rule hub outputs a standardized point display semantic information set at once, including symbol identifiers, variant identifiers, annotation content, annotation priority, annotation retention spacing, annotation offset, annotation font, annotation halo, icon retention spacing, icon outline, and color scheme. The frontend dynamically identifies three target display scenarios—overview, operation, and detailed reading—based on scaling level, scene mode, and candidate point density. Under these three scenarios, it performs scheduling priority matrix fusion and hierarchical budget calculation for four families: beacons, hazards, navigational aids, and depth points. Then, using an icon-label joint avoidance cost aggregation model, it performs joint collision detection and iterative optimal retention of icon rectangles and label rectangles within a unified screen space. This approach can support dynamic adaptation of the frontend to the screen space state while retaining the unified control function of the backend standard rules, significantly improving the consistency of display scale, annotation readability, and map reading stability in nearshore high-density sea areas under two-dimensional and three-dimensional scenes. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating an electronic chart collaborative display method disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an electronic nautical chart collaborative display device disclosed in an embodiment of the present invention; Figure 3This is a schematic diagram of another electronic nautical chart collaborative display device disclosed in an embodiment of the present invention. Detailed Implementation

[0012] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0014] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0015] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0016] It should be noted that since the method in this application embodiment is executed in a computer device, the processing objects of each computer device exist in the form of data or information, such as time, which is essentially time information. It is understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data that exist so that the computer device can process them. Specific details will not be elaborated here.

[0017] This application provides an electronic nautical chart collaborative display method and apparatus, which will be described in detail below.

[0018] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a collaborative display method for electronic nautical charts disclosed in an embodiment of the present invention. Wherein, Figure 1 The described electronic chart collaborative display method is applied to electronic chart collaborative display systems, such as local servers or cloud servers used in maritime simulation platforms, operational training nodes, operational support nodes, or maritime situation display terminals. This invention does not limit the application of such methods. Figure 1 As shown, the method includes the following steps: S1: Obtain multi-source nautical chart data information set, current view status information, and symbol catalog information.

[0019] It should be noted that the multi-source nautical chart data information set includes several multi-source nautical chart data information, each corresponding to a nautical chart data source accessed hierarchically according to priority. This data source includes a data source priority value, a minimum display level value, a spatial range value, and an original feature set field. The original feature set field carries the geometric and attribute data of all line features, polygon features, and point features contained in the nautical chart data source. The current view status information includes a zoom level value, a scene mode value, and a view extent value. The zoom level value is an integer zoom level, the scene mode value is 2 representing a two-dimensional scene and 3 representing a three-dimensional scene, and the view extent value is the latitude and longitude boundary corresponding to the currently displayed view. The symbol catalog information is a pre-compiled offline standard symbol material set, consisting of several symbol identifiers and corresponding basic primitive definitions. The symbol catalog information can be retrieved from the symbol catalog publishing interface by the front-end at startup and remain resident in memory, or it can be loaded from a pre-installed symbol package by the front-end at startup. Specifically, this embodiment of the invention does not limit the specific implementation.

[0020] It should be noted that the line and polygon features in the original feature set field of the multi-source nautical chart data information set are used to be rasterized into base map tile images during the base map rendering stage, and the point features are used to be parsed into standardized point representation semantics during the representation parsing stage. The multi-source nautical chart data information set can be organized in the form of GeoPackage, Shapefile, or S-57 native dataset, etc., and the specific implementation of this invention is not limited thereto.

[0021] S2, process the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set.

[0022] It should be noted that the base map tile information set includes several base map tile information sets. Each base map tile information set contains a tile index value, a tile pixel raster field, and a tile spatial range value. The tile pixel raster field is a two-dimensional pixel array obtained after rasterizing line and polygon features. The original point feature information set includes several original point feature information sets. Each original point feature information set contains an object category code, a set of attribute key-value pairs, and the latitude and longitude coordinates of the point. The object category code corresponds to the OBJL encoding in the S-57 standard.

[0023] S3, perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid annotation subtype information set.

[0024] It should be noted that the standardized point representation semantic information set includes several standardized point representation semantic information sets, each of which contains 14 fields: symbol identifier value, rule identifier value, variant identifier value, annotation text value, annotation priority value, annotation retention spacing ratio value, annotation bias X component value, annotation bias Y component value, annotation bias intensity value, annotation font scaling value, annotation halo width value, icon retention spacing ratio value, icon stroke scaling value, and color scheme value; among which, the symbol identifier value is used to retrieve the corresponding base symbol in the symbol catalog information. The basic primitive definition includes: rule identifier value for identifying the corresponding representation rule entry; variant identifier value for identifying different variant forms under the same rule; annotation text value for carrying the annotation text content corresponding to the point element; annotation priority value, annotation spacing ratio value, annotation offset X component value, annotation offset Y component value, annotation offset intensity value, annotation font scaling value, and annotation halo width value for constraining the scheduling behavior of annotations; icon spacing ratio value and icon stroke scaling value for constraining the scheduling behavior of icons; and color scheme value for constraining the final color scheme of symbols and annotations. The category family information set includes several category family information sets, each containing a category family value, which can be any one of "light", "hazard", "aton", or "other". The navigational aid mark annotation subtype information set includes several navigational aid mark annotation subtype information sets, each containing a navigational aid mark annotation subtype value, which can be any one of "short_code", "name", or "other". The i-th category family information set and the i-th navigational aid mark annotation subtype information set correspond one-to-one with the i-th standardized point representation semantic information set.

[0025] S4, perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid mark annotation subtype information set, and the current view status information to obtain target display scene information, scheduling priority information set, and hierarchical budget information set.

[0026] It should be noted that the target display scene information includes a target scene type value, which can be any one of "strategic", "operational", or "tactical", corresponding to the overview scene, operation scene, and detailed reading scene, respectively. The scheduling priority information set includes several scheduling priority information items, each containing a scheduling priority value, and the i-th scheduling priority information item in the scheduling priority information set corresponds one-to-one with the i-th standardized point performance semantic information item in the standardized point performance semantic information set. The hierarchical budget information set includes several hierarchical budget information items, each corresponding to a family of values, including a budget ceiling value; the hierarchical budget information set also includes a total budget ceiling value and a depth point independent budget ceiling value.

[0027] S5, perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

[0028] It should be noted that the target collaborative display result information includes a base map raster layer field, a dot symbol layer field, an annotation layer field, and a scene mode marker field. The dot symbol layer field is used to carry the icon position sequence and corresponding symbol drawing parameters preserved through joint avoidance, and the annotation layer field is used to carry the annotation text and corresponding placement coordinates preserved through joint avoidance.

[0029] As can be seen, the electronic chart collaborative display method described in this embodiment of the invention decomposes the electronic chart point element display link into two collaborative stages: backend standardized performance result generation and frontend scenario-based joint scheduling. The backend outputs a standardized point performance semantic information set containing 14 fields at once, and the frontend dynamically identifies three target display scenarios—overview, operation, and detailed reading—based on scaling level, scene mode, and candidate point density. Under the three scenarios, priority matrix fusion and hierarchical budget calculation are performed on four families: beacons, hazards, navigational aids, and depth points. Then, a joint collision detection and iterative optimal retention are performed in a unified screen space using an icon-label joint avoidance cost aggregation model. This method can support the dynamic adaptation of the frontend to the screen space state while retaining the unified control function of the backend standard rules, significantly improving the consistency of display scale, annotation readability, and map reading stability in nearshore high-density sea areas under two-dimensional and three-dimensional scenes.

[0030] In an optional embodiment, the processing of the multi-source nautical chart data information set and the current view state information to obtain the base map tile information set and the original point feature information set includes: S21, perform hierarchical data access processing on the multi-source nautical chart data information set and the current view status information to obtain a hierarchical candidate data source information set; It should be noted that the hierarchical candidate data source information set includes several hierarchical candidate data source information sets, each containing a data source index value, a data source priority value, a minimum display level value, and a spatial range value. The hierarchical data access processing is used to sort the multi-source nautical chart data information set according to the data source priority value in each multi-source nautical chart data information set, and to read the zoom level value from the current view status information, filtering out data sources that do not meet the display level conditions based on the zoom level value and the minimum display level value in each multi-source nautical chart data information set. The hierarchical data access processing can be performed using methods such as priority queue loading or querying a pre-compiled hierarchical index table; specifically, this embodiment of the invention does not limit the specific methods used.

[0031] S22, process the hierarchical candidate data source information set and the current view state information to obtain a candidate feature information set within the tile range; It should be noted that the candidate feature information set within the tile range includes several candidate feature information sets within the tile range. Each candidate feature information set within the tile range contains a feature geometry field, a set of feature attribute key-value pairs, a feature geometry type value, and a data source index value. The feature geometry type value can be any one of "line", "polygon", or "point". The above processing is used to extract features from each data source within the hierarchical candidate data source information set within the query window, using the view range value in the current view state information. The above processing can be performed using R-tree spatial index query or SQLite spatial extended query, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0032] S23, rasterize the elements with geometric type values ​​of "line" and "polygon" in the candidate element information set within the tile range to obtain the base map tile information set; It should be noted that the rasterization process is used to draw the vector geometry of line features and polygon features onto a two-dimensional pixel array according to the tile pixel resolution corresponding to the scaling level value in the current view status information, thereby obtaining the tile pixel raster field in the base map tile information. The rasterization process can be performed using scanline fill algorithms or hardware-accelerated rasterization pipelines, etc., and the specific implementation of this invention is not limited thereto.

[0033] S24, perform point feature extraction processing on the elements with the geometric type value of "point" in the candidate element information set within the tile range to obtain the original point element information set.

[0034] It should be noted that the point feature extraction process is used to extract all geometrically typed point features from the candidate feature information set within the tile area, parse their feature geometry fields into the latitude and longitude coordinates of the original point feature information, directly store their feature attribute key-value pair set into the attribute key-value pair set in the original point feature information, and store the "OBJL" field value in the attribute key-value pair set into the object category code. The point feature extraction process can be performed using GeoJSON structure traversal or SQLite spatial extended attribute reading, etc., and the specific implementation of this invention is not limited thereto.

[0035] As can be seen, the electronic chart collaborative display method described in the embodiments of the present invention filters multi-source layered chart data according to priority and minimum display level, then performs spatial query based on the field of view, and sends line and surface features and point features to two processing paths, rasterization and point feature extraction, respectively. This enables the backend to simultaneously output two decoupled products: a base map tile information set and a raw point feature information set, providing input for the subsequent standardized representation analysis of point features and the collaborative display at the front end.

[0036] In another optional embodiment, the representation parsing processing of the original point feature information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid annotation subtype information set includes: S31, perform category family classification processing on the original point element information set to obtain category family information set and navigational aid sign annotation subtype information set; It should be noted that the category family information set includes several category family information sets, each containing a category family value. The category family value can be any one of "light", "hazard", "aton", or "other", corresponding to the light beacon family, hazard family, navigational aid family, and other families, respectively. The i-th category family information set corresponds one-to-one with the i-th original point element information set. The navigational aid annotation subtype information set includes several navigational aid annotation subtype information sets, each containing a navigational aid annotation subtype value. The navigational aid annotation subtype value can be any one of "short_code", "name", or "other", and is only valid when the corresponding category family value is "aton".

[0037] S32, perform symbolic semantic generation processing on the original point element information set and the category family information set to obtain a symbolic semantic information set; It should be noted that the symbolic semantic information set includes several symbolic semantic information sets, each containing a symbol identifier value, a rule identifier value, and a variant identifier value. The performance rule entry table refers to a pre-configured lookup data structure in the backend, used to index rule identifier values ​​and performance processing entry points for generating symbol identifier values ​​and variant identifier values ​​using at least one key-value pair from the category family value, object category code in the original point feature information, and attribute key-value pair set as the search key. The rule identifier value uniquely identifies the entry key of a performance logic script in the performance rule library and corresponds to the rule name in the electronic chart display standard or an internal logic script key equivalent to the rule name. The performance processing entry point determines which performance parsing logic or which symbol generation template outputs the symbol identifier value and variant identifier value. The symbolic semantic generation process retrieves the corresponding symbol identifier value, rule identifier value, and variant identifier value from the performance rule entry table based on the category family value and the attribute key-value pair set in the original point feature information. The symbolic semantic generation process can be performed using rule engine decision trees, attribute key-value hash lookup tables, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0038] S33, perform annotation parameter generation processing on the category family information set, the navigation aid sign annotation subtype information set and the original point element information set to obtain the annotation parameter information set; It should be noted that the annotation parameter information set includes several annotation parameter information, each of which contains an annotation text value, annotation priority value, annotation font scaling value, annotation halo width value, annotation offset X component value, annotation offset Y component value, and annotation offset intensity value. Furthermore, the i-th annotation parameter information in the annotation parameter information set corresponds one-to-one with the i-th original point feature information in the original point feature information set.

[0039] S34, perform avoidance parameter generation processing on the category family information set and the original point element information set to obtain an avoidance parameter information set; It should be noted that the avoidance parameter information set includes several avoidance parameter information, each of which includes a note retention spacing ratio, an icon retention spacing ratio, and an icon stroke scaling value. The note retention spacing ratio and the icon retention spacing ratio both range from [0.5, 1.5], with a preferred value of 0.92; the icon stroke scaling value ranges from [0.5, 2.0], with a preferred value of 1.0. The avoidance parameter generation process can be performed using methods such as family-attribute lookup, object category code segmented mapping, or rule identifier value index lookup. Specifically, this embodiment of the invention does not limit the specific methods used.

[0040] S35, perform semantic package combination processing on the symbol semantic information set, the annotation parameter information set, the avoidance parameter information set and the original point element information set to obtain a standardized point representation semantic information set.

[0041] It should be noted that the semantic package combination processing is used to combine the symbol identifier value, rule identifier value, and variant identifier value from the i-th symbol semantic information in the symbol semantic information set; the annotation text value, annotation priority value, annotation bias X component value, annotation bias Y component value, annotation bias intensity value, annotation font scaling value, and annotation halo width value from the i-th annotation parameter information in the annotation parameter information set; the annotation retention spacing ratio value, icon retention spacing ratio value, and icon stroke scaling value from the i-th avoidance parameter information in the avoidance parameter information set; and the color scheme value obtained by mapping the attribute key-value pair set from the i-th original point element information in the original point element information set according to the object category code, and write them into the 14 fields of the i-th standardized point representation semantic information in the standardized point representation semantic information set. The color scheme value is used to switch the overall color scheme of the symbols and annotations during the front-end display combination stage, corresponding to any one of the three typical color scheme strategies: daytime, dusk, and nighttime. Semantic package combination processing can be performed using methods such as concatenating structure fields, merging key-value pairs, or filling predefined templates. In particular, the embodiments of this invention do not limit the specific methods.

[0042] It should be noted that the following is an illustrative pseudocode implementation of the performance parsing process described in S31 to S35 above: For each original point feature information feature in the original point feature information set: family = family_map.lookup(feature.object_class_code) If family == 'aton': atonKind = Subtype identification(feature.set_key_value_pairs) otherwise: atonKind = 'other' presentation = presentation rule entry table.resolve(feature, family) If the presentation meets the standard rules: Output symbolId, ruleKey, variantKey Output annotationText, annotationPriority, annotationFontScale, annotationHaloWidth Output annotationBiasX, annotationBiasY, and annotationBiasStrength. Output annotationKeepoutScale, symbolKeepoutScale, symbolStrokeScale, palette otherwise: Follow the compatibility fallback path and output the family default symbolId and default avoidance parameters. The above 14 fields are encapsulated into standardized point representation semantic information and appended to the standardized point representation semantic information set. Add `family` to the category family information set, and add `atonKind` to the navigation mark annotation subtype information set. It should be noted that the field names symbolId, ruleKey, variantKey, annotationText, annotationPriority, annotationKeepoutScale, annotationBiasX, annotationBiasY, annotationBiasStrength, annotationFontScale, annotationHaloWidth, symbolKeepoutScale, symbolStrokeScale, and palette in the above illustrative pseudocode correspond to the symbol identifier value, rule identifier value, variant identifier value, annotation text value, annotation priority value, annotation retention spacing ratio value, annotation bias X component value, annotation bias Y component value, annotation bias strength value, annotation font scaling value, annotation halo width value, icon retention spacing ratio value, icon stroke scaling value, and color scheme value in the semantic information of the standardized point representation; family corresponds to the category family value in the category family information; atonKind corresponds to the navigational aid annotation subtype value in the navigational aid annotation subtype information.

[0043] As can be seen, by implementing the electronic chart collaborative display method described in this embodiment of the invention, five sub-processes are executed sequentially on the original point element information set: category family classification, symbol semantic generation, annotation parameter generation, avoidance parameter generation, and semantic package combination. This enables the backend to parse each original point element information into standardized point representation semantic information containing 14 fields such as symbols, variants, annotations, and avoidance in one go. This allows the frontend to directly enter the display scheduling stage based on the standardized point representation semantic information without parsing the original S-57 standard rules and heavy vector materials, thus avoiding the display branching problem caused by inconsistent symbol rule versions between the frontend and backend.

[0044] In another optional embodiment, the step of performing category family classification processing on the original point feature information set to obtain a category family information set and a navigational aid annotation subtype information set includes: S311, Perform family mapping processing on the object category code in any original point element information in the original point element information set to obtain the category family value corresponding to the original point element information. It should be noted that the family mapping process is performed based on a preset object category-family mapping table. In this table, objects with object category codes ranging from {1, 2, 3, 4, 5, 6, 7} are mapped to the "aton" family; objects with object category codes ranging from {86, 87, 88, 89, 90} are mapped to the "light" family; objects with object category codes ranging from {153, 154, 155, 156, 157, 158, 159} are mapped to the "hazard" family; and all other object category codes (including depth point objects with an object category code of 129) are uniformly mapped to the "other" family. The family mapping process can be performed using an object category code-family lookup table, range conditional branches, or pre-compiled bitmask indexes, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0045] S312, the category family values ​​corresponding to all original point element information in the original point element information set are summarized to obtain the category family information set; S313, determine whether the category family value corresponding to any original point element information in the original point element information set is "aton", and obtain the first judgment result; When the first judgment result is yes, execute S314; If the first judgment result is negative, execute S317.

[0046] S314, determine whether the attribute key-value pair set in the original point feature information contains the "OBJNAM" field, and obtain the second judgment result; If the second judgment result is yes, execute S315; If the second judgment result is negative, execute S317.

[0047] S315, determine whether the field value length of the “OBJNAM” field in the attribute key-value pair set in the original point feature information is less than or equal to the preset short code length threshold, and obtain the third judgment result; If the third judgment result is yes, execute S316; If the third judgment result is negative, the navigation mark annotation subtype value corresponding to the original point element information is determined to be "name", and S318 is executed.

[0048] It should be noted that the short code length threshold ranges from 3 to 8, with a preferred value of 5. The length determination process described in S315 can be performed using methods such as string length determination, regular expression matching, or querying a pre-compiled attribute field-subtype mapping table. Specifically, this embodiment of the invention does not limit the specific methods.

[0049] S316, determine the navigation mark annotation subtype value corresponding to the original point feature information as "short_code", and execute S318.

[0050] S317, determine the navigation mark annotation subtype value corresponding to the original point element information as "other", and execute S318.

[0051] S318, summarize the navigation aid annotation subtype values ​​corresponding to all original point element information in the original point element information set to obtain the navigation aid annotation subtype information set.

[0052] As can be seen, implementing the electronic chart collaborative display method described in this embodiment of the invention, by segmenting the original point element information set into four families—light beacons, hazards, navigational aids, and others—according to the S-57 object category code, and further identifying short codes, names, and three other annotation subtypes for the navigational aids family, provides a fine-grained family-subtype classification basis for subsequent scenario-based priority fusion, avoiding the high-density sea area congestion display problem caused by using the same scheduling strategy for all point elements.

[0053] In another optional embodiment, the annotation parameter generation process performed on the category family information set, the navigational aid annotation subtype information set, and the original point feature information set to obtain the annotation parameter information set includes: S331, Perform annotation text generation processing on the attribute key-value pair set in each of the original point feature information to obtain the annotation text value set; It should be noted that the annotation text generation process takes different attribute fields based on the category family value corresponding to the original point feature information: when the category family value is "other" and the object category code in the original point feature information is 129, the annotation text value is taken from the "VALSOU" or "DEPTH" field in the attribute key-value pair set and formatted with a preset number of decimal places; when the category family value is "aton" or "light", the annotation text value is taken from the "OBJNAM" field in the attribute key-value pair set; in other cases, the annotation text value is taken from the "INFORM" field in the attribute key-value pair set or is an empty string. The annotation text value set includes several annotation text values, and the i-th annotation text value in the annotation text value set corresponds one-to-one with the i-th original point feature information in the original point feature information set. The annotation text generation process can be performed using methods such as field lookup, numerical formatting, or string truncation; specifically, this embodiment of the invention does not limit the specific methods used.

[0054] S332, perform annotation priority generation processing on the category family value in the category family information corresponding to each original point element information and the navigation mark annotation subtype value in the navigation mark annotation subtype information to obtain an annotation priority value set; It should be noted that the annotation priority generation process determines the annotation priority value corresponding to the original point element information based on a preset family-subtype basic priority table. The annotation priority value ranges from 0 to 127, with the preferred value determined by the category family value: 80 for the beacon family, 70 for the hazard family, 60 for the navigation aid short code, 50 for the navigation aid name, 95 for the depth point (the object category code is 129), and 40 for others. The annotation priority value set includes several annotation priority values, and the i-th annotation priority value in the annotation priority value set corresponds one-to-one with the i-th original point element information in the original point element information set. This annotation priority value is used as the basic priority value in subsequent priority fusion processing.

[0055] S333, Perform annotation font scaling generation processing on the category family value in the category family information corresponding to each original point feature information to obtain an annotation font scaling value set; It should be noted that the value range of the annotation font scaling value is [0.6, 1.4], and the preferred value is determined by the category family value: 1.0 for the beacon family, 1.0 for the hazard family, 0.92 for the navigational aids family, 0.96 for the depth point family, and 0.88 for others. The annotation font scaling value set includes several annotation font scaling values, and the i-th annotation font scaling value in the annotation font scaling value set corresponds one-to-one with the i-th original point element information in the original point element information set.

[0056] S334, Perform annotation halo width generation processing on the category family value in the category family information corresponding to each original point feature information to obtain the annotation halo width value set; It should be noted that the range of the annotation halo width value is [0.5, 4.0], with the preferred value determined by the category family value: 3.2 for the beacon family, 3.0 for the hazard family, 2.4 for the navigational aid family, 2.7 for depth points, and 2.0 for others. The annotation halo width value set includes several annotation halo width values, and the i-th annotation halo width value in the set corresponds one-to-one with the i-th original point element information in the original point element information set. The annotation halo width value is used in the front-end display stage to draw the outline halo of the annotation text, improving the readability of the annotation on the background.

[0057] S335, perform annotation bias direction generation processing on the attribute key-value pair set in each of the original point feature information to obtain the annotation bias X component value set and the annotation bias Y component value set; It should be noted that the annotation bias direction generation process is used to generate a unit vector of bias direction based on the geometric reference direction (such as the visible sector of a beacon or the color surface direction of a navigational aid) in the attribute key-value pair set. When the geometric reference direction field does not exist in the attribute key-value pair set, the annotation bias X component value and annotation bias Y component value are taken from the family default bias direction: the default value for the beacon family is (1.0, 0.0), the default value for the hazard family is (0.0, -1.0), the default value for the navigational aid family is (0.866, 0.5), the default value for the depth point is (0.8, -0.55), and the default value for others is (1.0, 0.0). The annotation bias X component value set includes several annotation bias X component values, and the annotation bias Y component value set includes several annotation bias Y component values, wherein the i-th component value corresponds one-to-one with the i-th original point element information in the original point element information set.

[0058] S336, Perform annotation bias intensity generation processing on the category family value in the category family information corresponding to each original point feature information to obtain an annotation bias intensity value set; It should be noted that the range of the annotation bias intensity value is [0, 1], and the preferred value is determined by the category family value: 0.6 for the beacon family, 0.5 for the hazard family, 0.45 for the navigational aid family, 0.4 for the depth point family, and 0.3 for others. The annotation bias intensity value set includes several annotation bias intensity values, and the i-th annotation bias intensity value in the annotation bias intensity value set corresponds one-to-one with the i-th original point element information in the original point element information set. The annotation bias intensity value is used as the intensity coefficient of the bias direction deviation penalty in the subsequent joint avoidance cost calculation process.

[0059] S337, the annotation text value set, the annotation priority value set, the annotation font scaling value set, the annotation halo width value set, the annotation offset X component value set, the annotation offset Y component value set, and the annotation offset intensity value set are summarized and processed to obtain the annotation parameter information set.

[0060] It should be noted that the summarization process is used to combine the i-th annotation text value from the annotation text value set, the i-th annotation priority value from the annotation priority value set, the i-th annotation font scaling value from the annotation font scaling value set, the i-th annotation halo width value from the annotation halo width value set, the i-th annotation bias X component value from the annotation bias X component value set, the i-th annotation bias Y component value from the annotation bias Y component value set, and the i-th annotation bias intensity value from the annotation bias intensity value set, and write them into the corresponding field of the i-th annotation parameter information in the annotation parameter information set. The annotation parameter information set includes several annotation parameter information sets, and the i-th annotation parameter information in the annotation parameter information set corresponds one-to-one with the i-th original point feature information in the original point feature information set.

[0061] As can be seen, the electronic chart collaborative display method described in this embodiment of the invention generates seven types of parameter values ​​for each original point element in the original point element information set: annotation text value, annotation priority value, annotation font scaling value, annotation halo width value, annotation offset X component value, annotation offset Y component value, and annotation offset intensity value. These are then summarized into an annotation parameter information set according to the point element index. This set is combined with the symbol semantic information set and the avoidance parameter information set to form a standardized point representation semantic information set. This allows the front end to obtain complete annotation scheduling basis without re-parsed the original S-57 attributes, significantly reducing the engineering complexity of front-end rule reasoning and material parsing.

[0062] In another optional embodiment, the step of performing scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view state information to obtain target display scene information, scheduling priority information set, and hierarchical budget information set includes: S41, perform candidate point density calculation processing on the standardized point representation semantic information set and the current view state information to obtain candidate point density information; It should be noted that the candidate point density information includes a candidate point quantity value, which is the number of standardized point representation semantic information that falls within the view range value in the current view state information. The candidate point density calculation process can be performed using methods such as spatial index fast counting, view range mask statistics, or quadtree node traversal. Specifically, this embodiment of the invention does not limit the specific methods used.

[0063] S42, utilizing the sea Figure 3 The scene dynamic determination model performs scene type determination processing on the zoom level value, scene mode value, and candidate point quantity value in the current view state information and the candidate point density information to obtain the target display scene information. It should be noted that the above treatment can be performed using seawater. Figure 3 The scene dynamic determination model can be used for processing, or a single scaling threshold scene determination model, a K-nearest neighbor-based scene clustering determination model, or a decision tree-based scene classification model can be used for processing. Specifically, the embodiments of the present invention are not limited.

[0064] Among them, the sea Figure 3 The scene dynamic determination model is as follows: ; In the formula, The zoom level value is the value in the current view status information; The scene mode value in the current view state information is 2, which represents a two-dimensional scene and 3, which represents a three-dimensional scene. The number of candidate points in the candidate point density information; To scale the data to a threshold for close reading, To provide an overview of the zoomed threshold, For high-density candidate threshold, The candidate threshold for medium density; The target scene type value in the target display scene information can be any one of "strategic", "operational" or "tactical", corresponding to overview scene, operation scene and detailed reading scene respectively; This represents the logical AND operation. Represents a logical OR operation.

[0065] It should be noted that the sea Figure 3The scene dynamic determination model explicitly segments and maps all typical combinations of three factors—zoom level, scene mode, and candidate point density—to simultaneously cover four typical scenarios: "high-zoom entry for detailed reading," "low-zoom entry for overview in 3D or high-density mode," "medium-zoom entry for operation in high-density mode," and "medium-zoom entry for operation and detailed reading in 2D or 3D mode with distinction between medium and low-density mode." Compared to existing solutions that only determine scene switching based on a single zoom threshold, this model considers the impact of scene mode and candidate density on display congestion. This avoids the problem of congested display of nearshore high-density sea area annotations caused by determining based solely on zoom in 3D scenes. Furthermore, the pure segmented determination method avoids the parameter calibration difficulties brought about by introducing continuous weight parameters.

[0066] It should be noted that the threshold for detailed reading scaling is... The value range is 12 to 16, with a preferred value of 14; the threshold value under overview scaling. The value range is 9 to 12, with a preferred value of 11; the high-density candidate threshold The value range is 80 to 200, with a preferred value of 120; the medium-density candidate threshold The value ranges from 60 to 150, with a preferred value of 90.

[0067] S43, perform priority fusion processing on the annotation priority value in the standardized point representation semantic information set, the category family value in the category family information set, the navigation mark annotation subtype value in the navigation mark annotation subtype information set, and the target scene type value in the target display scene information to obtain a scheduling priority information set; It should be noted that the above processing can be performed using a family-scene priority offset matrix fusion model, or a linear weighted fusion model, a sigmoid normalized fusion model, or a priority fusion model based on an attention mechanism, etc. Specifically, the embodiments of the present invention are not limited.

[0068] The family-scene priority offset matrix fusion model is as follows: ; In the formula, The scheduling priority value is the i-th scheduling priority information in the scheduling priority information set. The scheduling priority information set includes several scheduling priority information, and each scheduling priority information contains the scheduling priority value. The annotation priority value in the semantic information of the i-th standardized point in the set of standardized point representation semantic information; The category family value is the i-th category family information in the category family information set, and the value can be any one of "light", "hazard", "aton" or "other". For the navigation aid annotation subtype value in the i-th navigation aid annotation subtype information in the navigation aid annotation subtype information set, only when This is valid at any time and can take any one of "short_code", "name", or "other". Display the target scene type value from the target scene information; This is the family-scene main offset matrix, with a size of 4 rows and 3 columns. The rows correspond to "light", "hazard", "aton" and "other" respectively, and the columns correspond to "strategic", "operational" and "tactical" respectively. According to and The main offset value is obtained by indexing from the family-scene main offset matrix; This is a navigation aid subtype-scenario incremental matrix, with a size of 3 rows and 3 columns. The rows correspond to "short_code", "name", and "other" respectively, and the columns correspond to "strategic", "operational", and "tactical" respectively. According to and The incremental offset value is obtained by indexing from the navigation aid subtype-scene incremental matrix; The function is an indicator function. It takes the value 1 when the condition in parentheses is true, and takes the value 0 otherwise. The value of i ranges from 1 to n, where n is the number of standardized point semantic information in the standardized point semantic information set.

[0069] It should be noted that the family-scene master offset matrix... The specific values ​​are: ; The navigation aid sign subtype - scene increment matrix The specific values ​​are: ; It should be noted that the family-scene priority offset matrix fusion model encodes the 12 basic combination rules of family-scene and the 9 incremental rules of navigation mark subtype-scene into a static matrix, and uses an indicator function to perform a two-level superposition of the navigation mark subtype increment. In the overview scenario, it can suppress the priority of navigation marks and other types of elements and retain the high priority of beacons. In the operation scenario, it can improve the overall priority of each family and give additional weight to the short codes of navigation marks. In the detailed reading scenario, it can further retain more near-shore short code details. Compared with the linear weighted fusion model, this model does not introduce continuous weight parameters that need to be calibrated online. All offset values ​​are static matrix elements, which are easy to implement by looking up tables. It also supports rule updates by hot replacement of matrix elements without modifying the algorithm logic.

[0070] S44, perform hierarchical budget calculation processing on the target display scene information, the candidate point density information and the current view state information to obtain a hierarchical budget information set.

[0071] It should be noted that the hierarchical budget calculation process is used to determine the total budget upper limit and the budget upper limit corresponding to each family based on the target scene type value in the target display scene information, and to determine the independent budget upper limit for water depth points based on the zoom level value in the current view status information. The total budget upper limit ranges from 20 to 60 in the overview scene, with a preferred value of 40; in the operation scene, it ranges from 40 to 120, with a preferred value of 80; and in the detailed reading scene, it ranges from 80 to 240, with a preferred value of 160. The independent budget upper limit for water depth points ranges from 120 to 200 when the zoom level value is greater than or equal to 14, with a preferred value of 156; when the zoom level value is greater than or equal to 13 and less than 14, it ranges from 60 to 120, with a preferred value of 96; and when the zoom level value is less than 13, it is 0. The hierarchical budget calculation process can be performed using methods such as scene-family lookup, zoom level lookup, or adaptive decay calculation based on candidate density. Specifically, this embodiment of the invention does not limit the specific methods used.

[0072] As can be seen, implementing the electronic nautical chart collaborative display method described in the embodiments of the present invention, by first using the sea... Figure 3 The scene dynamic determination model determines the target display scene under the influence of three factors: scaling, scene mode, and candidate density. Then, the family-scene priority offset matrix fusion model fuses the semantic information of each standardized point to obtain the scheduling priority. Finally, the hierarchical budget is determined according to the scene and scaling level. This enables the front end to perform differentiated scheduling of point elements according to the three factors of scene-family-density in both two-dimensional and three-dimensional scenes, avoiding the high-density sea area congestion display problem caused by using the same scheduling strategy for all point elements.

[0073] In another optional embodiment, the step of performing scene type determination processing on the zoom level value in the current view state information, the scene mode value in the current view state information, and the candidate point quantity value in the candidate point density information to obtain target display scene information includes: S421, determine whether the zoom level value in the current view status information is greater than or equal to the fine-read zoom threshold. The fourth judgment result is obtained; When the fourth judgment result is yes, the target scene type value in the target display scene information is determined to be "tactical"; If the result of the fourth judgment is negative, execute S422; S422, determine whether the zoom level value in the current view status information is less than or equal to the overview zoom threshold. The fifth judgment result is obtained; When the fifth judgment result is yes, a joint judgment process is performed on the scene mode value in the current view state information and the candidate point quantity value in the candidate point density information. When the scene mode value is 3 or the number of candidate points is greater than the high-density candidate threshold When this happens, the target scene type value in the target display scene information is determined to be "strategic"; When the scene mode value is 2 and the number of candidate points is less than or equal to the high-density candidate threshold When this happens, the target scene type value in the target display scene information is determined to be "operational"; If the result of the fifth judgment is negative, execute S423; S423, determine whether the number of candidate points in the candidate point density information is greater than the medium-dense candidate threshold. The sixth judgment result is obtained; When the sixth judgment result is yes, the target scene type value in the target display scene information is determined to be "operational"; When the sixth judgment result is negative, the scene mode value in the current view state information is judged and processed. When the scene mode value is 3, the target scene type value in the target display scene information is determined to be "operational"; When the scene mode value is 2, the target scene type value in the target display scene information is determined to be "tactical".

[0074] It should be noted that the following is an illustrative pseudocode implementation of the scene type determination process described in S421 to S423: function displayScenario(zoom, sceneMode, candidateCount): If zoom >= the upper threshold z_up for fine-grained scaling: scenario = 'tactical' Otherwise, if zoom <= the threshold z_low under overview scaling: If sceneMode == 3D or candidateCount > high-density candidate threshold N_high: scenario = 'strategic' otherwise: scenario = 'operational' otherwise: If candidateCount > medium-dense candidate threshold N_mid: scenario = 'operational' Otherwise, if sceneMode == 3D: scenario = 'operational' otherwise: scenario = 'tactical' Return to scenario As can be seen, implementing the electronic nautical chart collaborative display method described in the embodiments of the present invention, by... Figure 3 The scene dynamic determination model is expanded into two interval judgments based on scaling level and two joint judgments based on candidate density and scene pattern. This enables scene type determination to be implemented with low overhead in the form of three-layer judgment branches, and fully covers six typical combination cases. Compared with the continuous model determination method based on K-nearest neighbors or decision trees, it has lower runtime overhead and more interpretable determination boundaries.

[0075] In another optional embodiment, the joint avoidance processing of the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol catalog information, and the base map tile information set to obtain target collaborative display result information includes: S51, perform candidate icon sorting processing on the standardized point representation semantic information set and the scheduling priority information set to obtain a candidate icon information set; It should be noted that the candidate icon information set includes several candidate icon information sets. Each candidate icon information set contains a point feature index value, an icon screen coordinate value, an icon enclosing rectangle, and an icon retention spacing ratio value. Furthermore, the candidate icon information sets are arranged in descending order of scheduling priority value. The candidate icon sorting process can be performed using priority-based heap sort, merge sort, or pre-compiled priority bucket sort, etc. Specifically, this embodiment of the invention does not impose any limitations.

[0076] S52, perform candidate label sorting processing on the standardized point representation semantic information set, the category family information set and the scheduling priority information set to obtain a candidate label information set; It should be noted that the candidate label information set includes several candidate label information sets. Each candidate label information set contains a point feature index value, a point feature screen coordinate value, an annotation text value, an annotation font scaling value, an annotation halo width value, a category family value, a rule identifier value, an annotation retention spacing ratio value, an annotation offset X component value, an annotation offset Y component value, and an annotation offset intensity value. The category family value in the candidate label information set is taken from the category family value in the category family information set corresponding to the point feature index value. The remaining fields in the candidate label information set are taken from the corresponding fields in the standardized point representation semantic information set corresponding to the point feature index value. The candidate label information in the candidate label information set is arranged in descending order of scheduling priority value. The candidate label sorting process can be performed using priority-based heap sort, merge sort, or pre-compiled priority bucket sort, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0077] S53, Perform tag candidate position generation processing on the candidate tag information set to obtain a tag candidate position information set; It should be noted that the label candidate location information set includes several label candidate location information, each label candidate location information corresponds to a candidate label information in the candidate label information set, and includes several candidate location coordinates and the candidate location direction vector corresponding to that location; the label candidate location generation process is used to generate multiple sets of candidate placement location coordinates in the screen space with the screen coordinate value of the point element as the center and according to a preset direction set.

[0078] S54, perform joint cost calculation on the candidate label information set, the candidate label location information set, the candidate icon information set, the accepted label set, and the accepted icon set to obtain a joint avoidance cost information set; It should be noted that the accepted tag set and the accepted icon set are initialized to empty sets before the joint cost calculation process is first executed in step S54, and are accumulated and maintained in the order of acceptance during the iterative selection and retention process in subsequent steps. In each iteration of the iterative selection and retention process, the joint cost calculation process uses the current state of the accepted tag set and the accepted icon set at the beginning of that iteration as input to calculate or update the joint avoidance cost value corresponding to the candidate tag information to be determined in the joint avoidance cost information set. The above processing can be performed using an icon-tag joint avoidance cost aggregation model, or it can be performed using a single rectangle overlap area cost model, a weighted overlap summation cost model, or a tag placement cost model based on a potential function, etc. Specifically, this embodiment of the invention does not limit the specific methods.

[0079] The icon-label joint avoidance cost aggregation model is as follows: ; In the formula, Let $k$ be the joint avoidance cost value in the $i$-th joint avoidance cost information in the joint avoidance cost information set. The joint avoidance cost information set includes several joint avoidance cost information, and each joint avoidance cost information corresponds one-to-one with a candidate label information in the candidate label information set. Each joint avoidance cost information contains several joint avoidance cost values. The bounding rectangle of the i-th candidate label information at the k-th candidate position is determined by the coordinates of the k-th candidate position in the i-th candidate label position information set and the annotation font scaling value and annotation text value length in the i-th candidate label information set. The tag-enclosing rectangle for the j-th accepted tag in the set of accepted tags; The icon-enclosing rectangle of the j-th accepted icon in the accepted icon set, wherein the accepted icons in the accepted icon set include two types: two-dimensional icon-enclosing rectangles and three-dimensional sign rectangles; The set of indices of accepted tags in the accepted tag set whose screen distance from the i-th candidate tag information is less than a preset neighborhood radius; The set of indices of accepted icons in the accepted icon set whose screen distance from the i-th candidate label information is less than a preset neighborhood radius; Let be the IoU function for two rectangles, where The area of ​​the intersection of the two rectangles, Let be the area of ​​the union of the two rectangles; The annotation retention spacing ratio value in the i-th candidate label information in the candidate label information set; The retention spacing ratio value of icons in the candidate icon information set that corresponds to the same point element index value as the i-th candidate label information; The k-th candidate position direction vector in the i-th candidate label position information in the candidate label position information set and the annotation offset direction vector in the i-th candidate label information in the candidate label information set. The angle between them, where The annotation bias X component value, The annotation biases the Y component value; The annotation bias strength value in the i-th candidate label information in the candidate label information set; is a non-negative truncation function; the value of i ranges from 1 to n, where n is the number of candidate label information in the candidate label information set; the value of k ranges from 1 to K, where K is the number of candidate position coordinates in the i-th candidate label position information in the candidate label position information set.

[0080] It should be noted that the icon-label joint avoidance cost aggregation model introduces a maximum value aggregation operator to take the most severe overlap of candidate positions in the label neighborhood and icon neighborhood as an overlap penalty, thus avoiding the error of accepting high-conflict candidate positions under multiple slight overlaps by the summation-based cost model; and introduces a non-negative truncation operator. and The difference structure allows the spacing ratios of annotations and icons issued by the backend to be larger and more tolerant of slight overlap, which is equivalent to transforming the backend semantic parameters into soft constraint thresholds; by introducing a cosine penalty term... This model uses both the annotation bias direction vector and the bias strength value sent by the backend as the soft constraint embedding cost function, making the cost of candidate positions in the bias direction significantly lower than that in the opposite bias position. Compared with the single rectangle overlap area cost model and the weighted overlap summation cost model, this model uses four types of semantic parameters sent by the backend: annotation retention spacing ratio, icon retention spacing ratio, annotation bias direction vector, and annotation bias strength value. This avoids the semantic inconsistency problem between the frontend and backend caused by the frontend independently guessing the scheduling rules.

[0081] S55, perform iterative optimization retention processing on the joint avoidance cost information set, the hierarchical budget information set, the candidate label information set, the candidate label location information set, and the candidate icon information set to obtain the retained candidate information set; It should be noted that the set of retained candidate information includes several retained candidate information, each of which contains a point feature index value, a retained icon screen coordinate value, a retained label placement position coordinate, and a note text value. The iterative selection and retention process includes an iterative loop, which presets a loop number s, starting from 1 and incrementing by 1 until it equals the number of candidate label information in the candidate label information set. In each round of the iterative loop, a budget branch judgment is performed on the s-th candidate label information in the candidate label information set. When the budget is not exhausted, the minimum cost candidate position information is selected in ascending order of joint avoidance cost in the label candidate position information set and accepted. The rectangle surrounding the accepted label is written into the accepted label set, the rectangle surrounding the corresponding icon is written into the accepted icon set, and the corresponding retained candidate information is written into the retained candidate information set. When the budget is exhausted or the minimum cost candidate position information is empty, the s-th candidate label information is skipped. When s is less than the number, s is incremented by 1 and the next round of the iterative loop is entered. When s equals the number, the iterative loop ends.

[0082] S56, the reserved candidate information set, the base map tile information set, the symbol directory information, the standardized point representation semantic information set, and the target display scene information are processed for display combination output to obtain target collaborative display result information.

[0083] It should be noted that the display combination output processing is used to draw a dot symbol layer using the base map tile information set as the base map raster layer. This layer combines the screen coordinate values ​​of icons retained in the candidate information set with the basic primitive definitions retrieved from the symbol catalog information based on symbol identifier values, and the color scheme values ​​and icon stroke scaling values ​​from the standardized point representation semantic information set. The layer also combines the label placement coordinates retained in the candidate information set with annotation text values, annotation font scaling values, and annotation halo width values ​​to draw an annotation layer. Finally, the base map raster layer, dot symbol layer, annotation layer, and the scene mode marker field generated according to the target scene type value in the target display scene information are combined and written into the target collaborative display result information. This display combination output processing can be performed using WebGL-based multi-layer overlay rendering or OpenGL-based off-screen framebuffer compositing, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0084] It should be noted that the following is an illustrative pseudocode implementation of the dot symbol drawing based on symbol directory information in the display combination output processing described in S56: # Front-end startup phase At startup: symbolCatalog = Load the precompiled symbol catalog (symbol_catalog.json) # symbolCatalog is a lookup table that maps symbolId to the underlying primitive definition and resides in memory. # Front-end frame rendering stage function renderFrame(base map tile information set, candidate information set, normalized point representation semantic information set, target display scene information): # First layer: Base map raster layer drawBaseRaster (Base Map Tile Information Set) # Second layer: Dot symbol layer For each retained in the retained candidate information set: sem = Standardized set of semantic information representing points [retained.point feature index value] symbol = symbolCatalog[sem.symbolId] # Index the basic primitive definition by symbolId palette = sem.palette # Daytime / Dusk / Nighttime Draw the symbol at the screen coordinates of the retained icon using palette and sem.symbolStrokeScale. # Third layer: Annotation layer For each retained in the retained candidate information set: sem = Standardized set of semantic information representing points [retained.point feature index value] Press sem.palette, sem.annotationFontScale, sem.annotationHaloWidth Draw the retained annotation text value at the coordinates of the retained label's placement location. # Fourth layer: Scene mode marker field Scene mode marker field = target display scene information.target scene type value Returns (base map raster layer, dot symbol layer, annotation layer, scene mode marker field) As can be seen, the electronic chart collaborative display method described in this embodiment of the invention arranges the candidate icon information set and candidate label information set in descending order of scheduling priority, then uses the icon-label joint avoidance cost aggregation model to perform joint cost aggregation on multiple sets of candidate positions of icons and labels in a unified screen space, and finally performs iterative selection and optimal retention and combination output according to the ascending cost order and hierarchical budget constraints. This allows icons and labels to share the same set of semantic parameters issued by the backend to complete joint avoidance, avoiding the congestion display problem in nearshore high-density sea areas caused by the front end independently processing icons and labels.

[0085] In another optional embodiment, the step of generating a tag candidate position information set by generating a tag candidate position information set includes: S531, perform 8-direction uniform sampling processing on the screen coordinate value of the point element of any candidate label information in the candidate label information set to obtain 8 candidate position direction vectors corresponding to the candidate label information. It should be noted that the 8-directional uniform sampling set includes eight directions: North, Northeast, East, Southeast, South, Southwest, West, and Northwest, with corresponding candidate position direction vectors of (0, -1), (...). ), (1, 0), ( ), (0,1), ( (-1, 0) and ( ).

[0086] S532, perform bias direction weighted sorting on the 8 candidate position direction vectors corresponding to the candidate label information and the annotation bias direction vector composed of the annotation bias X component value and the annotation bias Y component value in the candidate label information to obtain the candidate position direction vector sequence after direction sorting corresponding to the candidate label information. It should be noted that the sorted candidate position direction vector sequence refers to the ordered vector sequence obtained by rearranging the eight candidate position direction vectors in descending order of their cosine similarity to the annotation bias direction vector. The candidate position direction vectors at the beginning of this ordered vector sequence have a higher consistency with the annotation bias direction vector. The bias direction weighted sorting process is used to generate the sorted candidate position direction vector sequence, ensuring that subsequent candidate position coordinate generation processes attempt each placement orientation sequentially according to the ordered vector sequence. The bias direction weighted sorting process can be performed using cosine similarity sorting, dot product comparison sorting, or a pre-compiled direction angle difference lookup table, etc. Specifically, this embodiment of the invention does not limit the specific methods used.

[0087] S533, perform candidate position coordinate generation processing on the screen coordinate values ​​of point elements, annotation font scaling values, annotation text values, and the candidate position direction vector sequence after direction sorting corresponding to the candidate label information in the candidate label information to obtain the candidate position coordinate set corresponding to the candidate label information. It should be noted that, in the candidate position coordinate generation process, after sorting the candidate position direction vectors by direction, the order of each candidate position direction vector in the candidate position direction vector sequence is determined by multiplying each candidate position direction vector by a preset offset base radius and then superimposing it on the screen coordinate value of the point element to obtain the candidate position coordinates and form a candidate position coordinate set; the offset base radius has a value range of [8, 32] pixels, with a preferred value of 16 pixels, and is scaled proportionally to the annotation font scaling value and the number of characters in the annotation text value.

[0088] S534, the candidate position coordinate set corresponding to all candidate label information in the candidate label information set is summarized to obtain the label candidate position information set.

[0089] As can be seen, by implementing the electronic chart collaborative display method described in the embodiments of the present invention, by generating 8 uniform candidate positions for each candidate label information in the candidate label information set and sorting them by cosine similarity according to the annotation bias direction vector issued by the backend, the joint avoidance cost calculation stage can prioritize trying the candidate position closest to the semantic guidance direction of the backend, thus avoiding the label-icon mutual occlusion problem caused by using a single fixed bias direction for all the candidate label information.

[0090] In another optional embodiment, the iterative selection and retention process of the joint avoidance cost information set, the hierarchical budget information set, the candidate label information set, the candidate label location information set, and the candidate icon information set to obtain the retained candidate information set includes: S551, preset s=1, and initialize the reserved candidate information set as an empty set, and initialize the total number of accepted tags to 0, the number of accepted tags for water depth points to 0, and initialize the family accepted tag count information; It should be noted that the family accepted tag count information includes four family accepted tag count values, which correspond one-to-one with the category family values ​​"light", "hazard", "aton", and "other", respectively. These values ​​are used to cumulatively record the number of accepted non-depth point candidate tag information under the light beacon family, hazard family, navigational aid family, and other families. Initially, the accepted tag count values ​​for all four families are 0. The total number of accepted tags is used to cumulatively record the number of all accepted non-depth point candidate tag information. The depth point accepted tag count is used to cumulatively record the number of candidate tag information with the rule identifier value "sounding" that has been accepted. The reserved candidate information set is initialized to an empty set at the start of the iterative selection and retention process described in this optional embodiment, and is gradually expanded by adding reserved candidate information to it only through subsequent accept and write branches. The accepted tag set and the accepted icon set are appended with enclosing rectangular data in the subsequent accept and write branches according to the acceptance order.

[0091] S552, perform budget branch judgment processing on the s-th candidate label information in the candidate label information set to obtain the seventh judgment result; It should be noted that the budget branch judgment process is used to determine whether the rule identifier value in the s-th candidate label information is "sounding"; when the rule identifier value is "sounding", it further determines whether the number of accepted labels for the water depth point is less than the upper limit of the independent budget for the water depth point in the hierarchical budget information set; when the rule identifier value is not "sounding", it first determines whether the total number of accepted labels is less than the upper limit of the total budget in the hierarchical budget information set, and then determines whether the number of accepted labels for the family corresponding to the category family value in the s-th candidate label information is less than the upper limit of the budget for the corresponding category family value in the hierarchical budget information set; the seventh judgment result is yes only when all the above judgments are yes; otherwise, the seventh judgment result is no.

[0092] If the result of the seventh judgment is negative and the rule identifier value is not "sounding", then execute S558; If the result of the seventh judgment is negative and the rule identifier value is "sounding", then execute S557; If the result of the seventh judgment is yes, execute S553; S553, select all joint avoidance cost values ​​corresponding to the s-th candidate label information in the joint avoidance cost information set in ascending order to obtain the minimum cost candidate position information corresponding to the s-th candidate label information; It should be noted that the ascending selection process is used to traverse all candidate position coordinates in the corresponding tag candidate position information from smallest to largest according to the joint avoidance cost value, and take the candidate position coordinate with the smallest joint avoidance cost value less than a preset acceptance threshold as the minimum cost candidate position information; when the joint avoidance cost value corresponding to all candidate position coordinates is greater than or equal to the acceptance threshold, the minimum cost candidate position information is empty. The value range of the acceptance threshold is [0.05, 0.30], and the preferred value is 0.15.

[0093] S554, determine whether the minimum cost candidate position information is empty, and obtain the eighth judgment result; If the result of the eighth judgment is negative, execute S555; If the eighth judgment result is yes, execute S557; S555, the candidate label information of the sth term, the minimum cost candidate position information, the candidate icon information set and the iterative acceptance intermediate state information are accepted and written to obtain the updated accepted label set, the updated accepted icon set, the updated retained candidate information set, the updated total number of accepted labels, the updated family accepted label count information and the updated water depth point accepted label count value. S556, determine that the updated accepted tag set is the accepted tag set, the updated accepted icon set is the accepted icon set, the updated retained candidate information set is the retained candidate information set, the updated total number of accepted tags is the total number of accepted tags value, the updated family accepted tag count information is the family accepted tag count information, and the updated depth point accepted tag count is the depth point accepted tag count value; It should be noted that the iterative acceptance intermediate state information refers to the values ​​of the accepted tag set, the accepted icon set, the retained candidate information set, the total number of accepted tags, the family accepted tag count information, and the depth point accepted tag count value before the acceptance write process is executed. The acceptance write process refers to, under the condition that the eighth judgment result is negative, taking the s-th candidate tag information as a retained object that has passed the joint cost test and the budget branch judgment in the previous step, and performing incremental writing and incrementing update based on the set content and count field value contained in the iterative acceptance intermediate state information; wherein, before executing S555, the retained candidate information set is represented by the accumulated retained candidate information set, and after executing S555, the updated retained candidate information set represents the result after adding a retained candidate information at the end of the set. S556 is used to write back the updated accepted tag set, the updated accepted icon set, the updated retained candidate information set, the updated total number of accepted tags, the updated family accepted tag count information, and the updated depth point accepted tag count value to the accepted tag set, the accepted icon set, the retained candidate information set, the total number of accepted tags, the family accepted tag count information, and the depth point accepted tag count value, respectively, so that step S552 can still read the current cumulative result through fixed terms in the next iteration.The accept-write process includes: based on the accepted tag set contained in the iterative accept intermediate state information, appending the tag-enclosing rectangle determined at the candidate position coordinates corresponding to the minimum cost candidate position information of the s-th candidate tag information to obtain an updated accepted tag set; based on the accepted icon set contained in the iterative accept intermediate state information, appending the icon-enclosing rectangles of the candidate icon information in the candidate icon information set that have the same point feature index value as the s-th candidate tag information to obtain an updated accepted icon set; based on the total number of accepted tags, the family accepted tag count information, and the depth point accepted tag count value contained in the iterative accept intermediate state information, according to the category family value and rule identifier value in the s-th candidate tag information, adjusting the total number of accepted tags, the family accepted tag count information, and the corresponding values ​​in the s-th candidate tag information. The family-accepted tag count value corresponding to the category family value or the water depth point-accepted tag count value is incremented by one to obtain the updated total number of accepted tags, the updated family-accepted tag count information, and the updated water depth point-accepted tag count value. Based on the retained candidate information set contained in the iteratively accepted intermediate state information, a new retained candidate information is added to the tail to obtain the updated retained candidate information set. The point element index value in the retained candidate information is the point element index value in the s-th candidate tag information. The screen coordinate value of the retained icon is the icon screen coordinate value in the candidate icon information set corresponding to the point element index value of the s-th candidate tag information. The coordinate of the retained tag placement position is the candidate position coordinate in the minimum cost candidate position information. The annotation text value is the annotation text value in the s-th candidate tag information.

[0094] S557, determine whether s is equal to the number of candidate label information in the candidate label information set, and obtain the ninth judgment result; When the result of the ninth judgment is negative, increment s by 1 and execute S54; If the result of the ninth judgment is yes, execute S558; S558, perform a separate traversal of the remaining candidate label information with the rule identifier value of "sounding" in the candidate label information set, and perform iterative processing only on the candidate label information with the rule identifier value of "sounding" in the candidate label information set according to the sub-processes from S552 to S555, and merge the retained candidate information generated by the sub-process into the retained candidate information set.

[0095] It should be noted that the separate traversal processing of the depth points is used to ensure that even after the total budget for candidate label information whose rule identifier value is not "sounding" in the candidate label information set is exhausted, the candidate label information whose rule identifier value is "sounding" in the candidate label information set can still be retained, so that the depth points are not affected by the total budget of non-depth points, and the performance of reading detailed depth maps in nearshore high-density sea areas is preserved.

[0096] It should be noted that an illustrative pseudocode implementation of the iterative selection and retention process described in S551 to S558 is as follows: labelBudget = Retrieves the total budget cap and the corresponding budget cap for each family by scenario. soundingBudget = Independent budget cap for depth measurement via zoom. acceptedLabels = [] # A state container isomorphic to the set of accepted labels acceptedIcons = [] # A state container (containing two-dimensional icon rectangles and three-dimensional sign rectangles) that is isomorphic to the accepted icon set. totalAccepted = 0 # Total number of accepted tags labelCounts = { light: 0, hazard: 0, aton: 0, other: 0} # Isomorphic to the family's accepted label count information soundingCount = 0 # The depth point has accepted the tag count value. # Phase 1: Traverse non-deep point candidate labels in descending order of scheduling priority For each label in candidateLabels (sorted in descending order of scheduling priority value): If label.ruleKey == 'sounding': # Skip this if the problem is too deep, and save it for the second stage. Continue If totalAccepted >= labelBudget.total: # Total budget exhausted, skip to stage two. break if labelCounts[label.family]>= labelBudget.caps[label.family]: continue candidatePositions = Set of candidate position information for labels [label] bestPos = Find the first candidatePosition in candidatesPositions in ascending order of joint avoidance cost. Location where the cost is less than the acceptance threshold If bestPos != null: acceptedLabels.append(bestPos.rect) acceptedIcons.append(icon rectangles corresponding to the same feature index value in the candidate icon information set) totalAccepted += 1 labelCounts[label.family] += 1 Write the acceptance result into the reserved candidate information set. # Second Phase: Candidate deep point labels are traversed individually in descending order of scheduling priority. For each label in candidateLabels where ruleKey == 'sounding' (sorted in descending order of scheduling priority): If soundingCount>= soundingBudget: Continue candidatePositions = Set of candidate position information for labels [label] bestPos = Find the first candidatePosition in candidatesPositions in ascending order of joint avoidance cost. Location where the cost is less than the acceptance threshold If bestPos != null: acceptedLabels.append(bestPos.rect) acceptedIcons.append(icon rectangles corresponding to the same feature index value in the candidate icon information set) soundingCount += 1 Write the acceptance result into the reserved candidate information set. Return to the retained candidate information set As can be seen, the electronic chart collaborative display method described in the embodiments of the present invention breaks down the iterative selection and retention process of the candidate label information set into five sub-processes: budget branch judgment, ascending selection of candidate positions with minimum cost, acceptance processing, loop judgment, and individual traversal of depth points. It also uses the independent budget upper limit value of depth points to jump out of the total budget constraint of non-depth points. This allows high-density nearshore sea areas to retain depth point details while still controlling the budget of other types of annotations, avoiding the dilemma of neither losing key depth readings nor causing annotation congestion.

[0097] To verify the practical effect of the electronic chart collaborative display method described in this embodiment of the invention, comparative experiments were conducted on a typical nearshore high-density sea area dataset, selecting three typical working conditions: small-scale overview (strategic scenario), medium-scale operation (operational scenario), and large-scale detailed reading (tactical scenario). Experimental results show that, compared to the full backend rasterization scheme, the present invention eliminates the limitation of raster resolution on the scaling clarity of point symbols in all three typical working conditions, significantly improving annotation readability. Compared to the full frontend interpretation scheme, the present invention eliminates the need for parsing the original S-57 standard rules and heavy vector materials at the frontend, significantly reducing single-frame rendering latency. In the nearshore high-density sea area detailed reading view, the icon-label joint avoidance cost aggregation model described in this invention effectively reduces the cross-occlusion of icons and labels compared to the single-label collision avoidance scheme. Simultaneously, it retains the water depth readings required for nearshore detailed reading through independent water depth point budgeting, verifying the comprehensive advantages of the present invention in terms of display scale consistency, annotation readability, and nearshore high-density sea area map reading stability in two-dimensional and three-dimensional multi-scenario scenarios.

[0098] Example 2 Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of an electronic nautical chart collaborative display device disclosed in an embodiment of the present invention. Figure 2 The described electronic chart collaborative display device is applied in electronic chart collaborative display systems, such as local servers or cloud servers used in maritime simulation platforms, operational training nodes, operational support nodes, or maritime situation display terminals. This invention does not limit the application of such devices. Figure 2 As shown, the electronic chart collaborative display device includes: The acquisition module 201 is used to acquire multi-source nautical chart data information set, current view status information, and symbol catalog information; The base map rendering module 202 is used to process the multi-source nautical chart data information set and the current view status information to obtain a base map tile information set and an original point feature information set; The representation parsing module 203 is used to perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigation aid sign annotation subtype information set; The scenario-based scheduling module 204 is used to perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view status information to obtain target display scenario information, scheduling priority information set, and hierarchical budget information set. The joint avoidance module 205 is used to perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

[0099] As can be seen, the electronic chart collaborative display device described in the embodiments of the present invention decomposes the electronic chart point element display link into two collaborative stages: backend standardized performance result generation and frontend scenario-based joint scheduling. The backend outputs a standardized point performance semantic information set containing 14 fields at once, and the frontend dynamically identifies three target display scenarios—overview, operation, and detailed reading—based on scaling level, scene mode, and candidate point density. Under the three scenarios, priority matrix fusion and hierarchical budget calculation are performed on four families: beacons, hazards, navigational aids, and depth points. Then, a joint collision detection and iterative optimal retention are performed in a unified screen space using an icon-label joint avoidance cost aggregation model. This can support the dynamic adaptation of the frontend to the screen space state while retaining the unified control function of the backend standard rules, significantly improving the consistency of display scale, annotation readability, and map reading stability in nearshore high-density sea areas under two-dimensional and three-dimensional scenes.

[0100] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of another electronic nautical chart collaborative display device disclosed in an embodiment of the present invention. Figure 3 The described electronic chart collaborative display device is applied in electronic chart collaborative display systems, such as local servers or cloud servers used in maritime simulation platforms, operational training nodes, operational support nodes, or maritime situation display terminals. This invention does not limit the application of such devices. Figure 3 As shown, the electronic chart collaborative display device includes: Processor 301; A memory 302 containing executable program code is coupled to the processor 301; The processor 301 calls the executable program code stored in the memory 302 to execute some or all of the steps of the electronic chart collaborative display method of Embodiment 1.

[0101] As can be seen, by implementing the electronic chart collaborative display device described in the embodiments of the present invention, the processor calls the executable program code stored in the memory to execute the method described in the present invention, which can decompose the electronic chart point element display link into two collaborative stages: back-end standardized performance result generation and front-end scene-based joint scheduling, thereby improving the consistency of display scale, annotation readability and map reading stability in nearshore high-density sea areas under two-dimensional and three-dimensional scenes.

[0102] Example 4 This invention discloses a computer-readable storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform the steps in an electronic chart collaborative display method described in Embodiment 1.

[0103] Example 5 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the electronic chart collaborative display method described in Embodiment 1.

[0104] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0105] It should be noted that all calculation expressions or mathematical functions in the embodiments of the present invention have undergone dimensionless processing of the variables involved before calculation.

[0106] It should be noted that in all the calculation expressions or mathematical functions in the embodiments of the present invention, the values ​​of the input independent variables all meet the reasonable requirements of the input value range of the calculation expression or mathematical function, and can ensure that the calculation expression or mathematical function can be calculated smoothly without violating physical laws or mathematical rules.

[0107] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), once programmable read-only memory (OTPROM), electronically erasable rewritable read-only memory (EEPROM), read-only optical disc (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0108] Finally, it should be noted that the electronic chart collaborative display method and apparatus disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for collaborative display of electronic nautical charts, characterized in that, The method includes: S1, acquire multi-source nautical chart data information set, current view status information and symbol catalog information; S2, process the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set; S3, perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid sign annotation subtype information set; S4, perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view status information to obtain target display scene information, scheduling priority information set, and hierarchical budget information set; S5, perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

2. The electronic chart collaborative display method according to claim 1, characterized in that, The process of processing the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set includes: S21, perform hierarchical data access processing on the multi-source nautical chart data information set and the current view status information to obtain a hierarchical candidate data source information set; S22, process the hierarchical candidate data source information set and the current view state information to obtain a candidate feature information set within the tile range; S23, rasterize the elements with geometric type values ​​of "line" and "polygon" in the candidate element information set within the tile range to obtain the base map tile information set; S24, perform point feature extraction processing on the elements with the geometric type value of "point" in the candidate element information set within the tile range to obtain the original point element information set.

3. The electronic chart collaborative display method according to claim 1, characterized in that, The representation parsing process performed on the original point element information set yields a standardized point representation semantic information set, a category family information set, and a navigational aid annotation subtype information set, including: S31, perform category family classification processing on the original point element information set to obtain category family information set and navigational aid sign annotation subtype information set; S32, perform symbolic semantic generation processing on the original point element information set and the category family information set to obtain a symbolic semantic information set; S33, perform annotation parameter generation processing on the category family information set, the navigation aid sign annotation subtype information set and the original point element information set to obtain the annotation parameter information set; S34, perform avoidance parameter generation processing on the category family information set and the original point element information set to obtain an avoidance parameter information set; S35, perform semantic package combination processing on the symbol semantic information set, the annotation parameter information set, the avoidance parameter information set and the original point element information set to obtain a standardized point representation semantic information set.

4. The electronic chart collaborative display method according to claim 3, characterized in that, The process of classifying the original point feature information set into categories and families yields a category family information set and a navigational aid annotation subtype information set, including: S311, Perform family mapping processing on the object category code in any original point element information in the original point element information set to obtain the category family value corresponding to the original point element information. S312, the category family values ​​corresponding to all original point element information in the original point element information set are summarized to obtain the category family information set; S313, determine whether the category family value corresponding to any original point element information in the original point element information set is "aton", and obtain the first determination result; When the first judgment result is yes, execute S314; If the first judgment result is negative, execute S317; S314, determine whether the attribute key-value pair set in the original point feature information contains the "OBJNAM" field, and obtain the second judgment result; If the second judgment result is yes, execute S315; If the result of the second judgment is negative, execute S317; S315, determine whether the field value length of the "OBJNAM" field in the attribute key-value pair set in the original point feature information is less than or equal to the preset short code length threshold, and obtain the third judgment result; If the third judgment result is yes, execute S316; When the third judgment result is negative, the navigation mark annotation subtype value corresponding to the original point element information is determined to be "name", and S318 is executed; S316, determine the navigation mark annotation subtype value corresponding to the original point feature information as "short_code", and execute S318; S317, determine the navigation mark annotation subtype value corresponding to the original point element information as "other", and execute S318; S318, summarize the navigation aid annotation subtype values ​​corresponding to all original point element information in the original point element information set to obtain the navigation aid annotation subtype information set.

5. The electronic chart collaborative display method according to claim 1, characterized in that, The process of performing scenario-based scheduling on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view state information yields target display scene information, scheduling priority information set, and hierarchical budget information set, including: S41, perform candidate point density calculation processing on the standardized point representation semantic information set and the current view state information to obtain candidate point density information; S42, using the three-scene dynamic judgment model of the nautical chart, the zoom level value, the scene mode value and the candidate point quantity value in the current view status information are processed to determine the scene type, so as to obtain the target display scene information; The dynamic determination model for three scenarios in the nautical chart is as follows: ； In the formula, The zoom level value is the value in the current view status information; The scene mode value in the current view state information is 2, which represents a two-dimensional scene and 3, which represents a three-dimensional scene. The number of candidate points in the candidate point density information; To scale the data to a threshold for close reading, To provide an overview of the zoomed threshold, For high-density candidate threshold, The candidate threshold for medium density; The target scene type value in the target display scene information can be any one of "strategic", "operational" or "tactical", corresponding to overview scene, operation scene and detailed reading scene respectively; This represents the logical AND operation. Represents a logical OR operation; S43, perform priority fusion processing on the annotation priority value in the standardized point representation semantic information set, the category family value in the category family information set, the navigation mark annotation subtype value in the navigation mark annotation subtype information set, and the target scene type value in the target display scene information to obtain a scheduling priority information set; S44, perform hierarchical budget calculation processing on the target display scene information, the candidate point density information and the current view state information to obtain a hierarchical budget information set.

6. The electronic chart collaborative display method according to claim 1, characterized in that, The joint avoidance processing of the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol catalog information, and the base map tile information set yields target collaborative display result information, including: S51, perform candidate icon sorting processing on the standardized point representation semantic information set and the scheduling priority information set to obtain a candidate icon information set; S52, perform candidate label sorting processing on the standardized point representation semantic information set, the category family information set and the scheduling priority information set to obtain a candidate label information set; S53, Perform tag candidate position generation processing on the candidate tag information set to obtain a tag candidate position information set; S54, perform joint cost calculation on the candidate label information set, the candidate label location information set, the candidate icon information set, the accepted label set, and the accepted icon set to obtain a joint avoidance cost information set; S55, perform iterative optimization retention processing on the joint avoidance cost information set, the hierarchical budget information set, the candidate label information set, the candidate label location information set, and the candidate icon information set to obtain the retained candidate information set; S56, perform display combination output processing on the retained candidate information set, the base map tile information set, the symbol directory information, the standardized point representation semantic information set, and the target display scene information to obtain target collaborative display result information.

7. The electronic chart collaborative display method according to claim 6, characterized in that, The step of generating a tag candidate position information set by processing the candidate tag information set includes: S531, perform 8-direction uniform sampling processing on the screen coordinate value of the point element of any candidate label information in the candidate label information set to obtain 8 candidate position direction vectors corresponding to the candidate label information. S532, perform bias direction weighted sorting on the 8 candidate position direction vectors corresponding to the candidate label information and the annotation bias direction vector composed of the annotation bias X component value and the annotation bias Y component value in the candidate label information to obtain the candidate position direction vector sequence after direction sorting corresponding to the candidate label information. S533, perform candidate position coordinate generation processing on the screen coordinate values ​​of point elements, annotation font scaling values, annotation text values, and the candidate position direction vector sequence after direction sorting corresponding to the candidate label information in the candidate label information to obtain the candidate position coordinate set corresponding to the candidate label information. S534, the candidate position coordinate set corresponding to all candidate label information in the candidate label information set is summarized to obtain the label candidate position information set.

8. An electronic chart collaborative display device, used to implement the electronic chart collaborative display method according to any one of claims 1-7, characterized in that, The device includes: The acquisition module is used to acquire multi-source nautical chart data information sets, current view status information, and symbol catalog information; The base map rendering module is used to process the multi-source nautical chart data information set and the current view status information to obtain the base map tile information set and the original point feature information set; The representation parsing module is used to perform representation parsing processing on the original point element information set to obtain a standardized point representation semantic information set, a category family information set, and a navigational aid sign annotation subtype information set. The scenario-based scheduling module is used to perform scenario-based scheduling processing on the standardized point representation semantic information set, the category family information set, the navigation aid sign annotation subtype information set, and the current view status information to obtain target display scenario information, scheduling priority information set, and hierarchical budget information set; The joint avoidance module is used to perform joint avoidance processing on the standardized point representation semantic information set, the category family information set, the target display scene information, the scheduling priority information set, the hierarchical budget information set, the symbol directory information, and the base map tile information set to obtain target collaborative display result information.

9. An electronic chart collaborative display device, used to implement the electronic chart collaborative display method according to any one of claims 1-7, characterized in that, The device includes: processor; A memory coupled to the processor stores executable program code; The processor calls the executable program code stored in the memory to execute the electronic chart collaborative display method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when invoked, are used to execute the electronic chart collaborative display method as described in any one of claims 1-7.

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