Search

CN-119888072-B - Ship navigation marine environment modeling method and system based on grid network

CN119888072BCN 119888072 BCN119888072 BCN 119888072BCN-119888072-B

Abstract

The invention relates to the technical field of marine environment modeling, and provides a marine environment modeling method and a marine environment modeling system based on a grid network, wherein the modeling method comprises the steps of 1, obtaining marine environment image pixel values of marine ship navigation, 2, converting the marine environment image pixel values of the marine ship navigation to obtain gray images, 3, determining the grid granularity of the gray images, 4, based on the grid granularity, rasterizing the marine environment of the marine ship navigation, and generating a binary chart by adopting a rectangular coordinate method. The constructed marine environment model can be restored into an actual scene and quantitatively expressed on a chart, so that a foundation is made for developing marine ship path planning.

Inventors

  • LU JUN
  • ZHANG JIARUI
  • JIANG JUN
  • YIN DONGLIANG

Assignees

  • 中国人民解放军海军工程大学

Dates

Publication Date
20260508
Application Date
20241220

Claims (6)

  1. 1. The modeling method of the marine environment of the ship navigation based on the grid network is characterized by comprising the following steps: step 1, acquiring pixel values of marine environment images of ship navigation; step 2, converting pixel values of marine environment images sailed by ships to obtain gray images; step 3, determining the grid granularity of the gray level image; step 4, based on the grid granularity, rasterizing the marine environment of ship navigation, and generating a binarization chart by adopting a rectangular coordinate method; In the step 3, the granularity of the grid needs to be dynamically determined according to the proportion of the barrier in the marine environment map, and the specific process is as follows: Step 301, calculating the sum of areas of all obstacles in the marine environment map, wherein the sum is expressed by the following formula: (1) Wherein, the For the area of all of the obstacles, Is the area of the ith obstacle; 302, determining the size of a grid according to the proportion of the area of all the obstacles in the whole marine environment image, calculating the estimated value of the area of the obstacle by adopting a method of filling the irregular obstacle into a standard rectangle, and finding out all the vertexes of the obstacle under a rectangular coordinate system Then by And Drawing a rectangle for diagonal vertices, the area of the rectangle The granularity of the grid is calculated as shown in the following formula: (2) Wherein, the Is the grid adjustment coefficient of the grid, Is the defined maximum side length of the grid, is related to obstacle information, The minimum side length of the grid is determined according to the moving step length of the ship; the specific steps of the step 4 are as follows: Step 401, dividing the two-dimensional navigation environment into a series of unit grids according to the grid granularity; step 402, marking the unit grids by adopting a rectangular coordinate method; Step 403, discretizing the two-dimensional navigation environment marked by the rectangular coordinate method, representing a two-dimensional navigation environment map by using a matrix, wherein the matrix only contains 0 and 1 and respectively represents free space and occupied space, and represents a navigable water area and an non-navigable water area in the two-dimensional navigation environment to generate a binarization grid chart; the specific process of step 402 is as follows: (1) Creating a rectangular coordinate system on a two-dimensional grid environment, taking the lower left corner of the two-dimensional grid environment as an origin of coordinates and taking the horizontal direction of the two-dimensional grid environment as a horizontal direction An axis taking the vertical direction of the two-dimensional grid environment as The shaft enables the unit lengths of the two coordinate axes to form an integral multiple relation with the side length of the unit grid; (2) In the rectangular coordinate system, arbitrary first Position of individual cell grid All can be composed of corresponding coordinates To determine, by To represent the two-dimensional grid environment model in rectangular coordinate system, the expression of the two-dimensional grid environment model is as follows: (4) Wherein, the Indicating that the current grid is a free grid, Representing the current grid as an obstacle grid; (3) The barrier grids are shown in black, and the free grids are not colored.
  2. 2. The grid network-based marine environment modeling method for ship navigation according to claim 1, wherein in step 1, the read marine environment image for ship navigation is extracted by using imread function and whos command, and the image is displayed by using imshow function.
  3. 3. The method for modeling marine environment of ship navigation based on grid network according to claim 1, wherein in step 2, RGB values of each pixel of marine environment image are read in MATLAB using imread functions, RGB images are obtained, and RGB images are converted into gray images by utilizing RGB2gray functions.
  4. 4. A grid network-based marine environment modeling system for ship navigation, characterized in that the system is used for realizing the marine environment modeling method for ship navigation according to any one of claims 1-3, comprising: the image acquisition module acquires pixel values of marine environment images of ship navigation; the gray level processing module is used for converting pixel values of marine environment images sailed by ships to obtain gray level images; The grid granularity calculating module is used for calculating the grid granularity of the gray image; and the binarization chart generation module is used for carrying out binarization chart generation by adopting a rectangular coordinate method based on the grid granularity and the marine environment of the grid ship navigation.
  5. 5. An electronic device comprising a processor and a memory, wherein the memory has stored thereon computer instructions, the processor being configured to execute the computer instructions stored on the memory to implement the steps of the method of any of claims 1-3.
  6. 6. A computer readable storage medium storing computer instructions for performing the steps of the method according to any one of claims 1-3.

Description

Ship navigation marine environment modeling method and system based on grid network Technical Field The invention belongs to the technical field of marine environment modeling, and particularly relates to a grid network-based marine environment modeling method and system for ship navigation. Background Marine environment modeling is a way to represent a real marine environment in a mathematical language, and the environmental model can be restored to an actual scene and quantitatively represented on a chart. The environment modeling is an important ring in the marine path planning process, accurately extracts environment information, describes the navigation environment of the navigation path by using an appropriate method, and is a premise and a foundation for developing marine ship path planning. For ships, the environmental modeling analysis of the navigation sea area is primarily to determine the starting point, the destination, the exact position of the obstacle and the radar coordinate information of the ship, so as to determine a feasible channel. The method of environmental modeling is various, and a free space method, a link map method, a topology method, a grid method, a visual method and the like are more commonly used. Quattrochi and the like are designed and realized aiming at a software module of a geographic information system, multi-scale analysis is carried out on multi-scale remote sensing data by utilizing a free space method, a plurality of different space analysis technologies are established, li and the like are aimed at three-dimensional path planning problems of autonomous underwater vehicles in an underwater environment, an underwater environment model is established by utilizing free space, hao and the like are used for establishing a grid matrix with the length of 30 wide 20 for the marine environment of unmanned water vehicles, environment modeling simplification calculation is carried out, liu and the like are used for taking ship marine transportation as a research background, environment modeling optimization technology based on links and nonlinear diagrams is developed, lv and the like as digital technology (DTT) is innovatively reviewed in the application situations of various fields of marine industries such as shipbuilding industry (SBI), marine oil industry, marine fishery industry and marine energy industry, wherein the like are innovatively researched, the actual application research situation of a link map method in marine environment modeling is established, random noise and a specified time self-adaptive formation control problem of a water surface vehicle (USV) system is established by utilizing a free space method, a self-adaptive grid network is developed by adopting a topology method, a self-adaptive grid network control strategy is also established by adopting a robust self-adaptive time, and the same grid network model can be shown by utilizing a network, and the same network model is capable of realizing the adaptive network modeling of the network design in a network, and the network is also capable of realizing the network modeling and the network optimization by aiming at the sea environment protection of the sea environment such as the sea environment, in the process of predicting water quality indexes and water quality authentication, sun and the like in the ocean radar target detection of an unmanned water surface vehicle (USV) based platform, a grid mesh map is constructed by utilizing available information of an electronic navigation map (ENC), an Automatic Identification System (AIS) and an ocean radar, so that the problems of identifying shielding and keeping stability of sound tracking performance in a marine environment shielded by detection are effectively solved, and Yang and the like establish an ocean monitoring model by utilizing a visual method, and a three-dimensional (3D) model under the marine environment is created based on characteristic ocean measurement and map network. Among these methods, grid networks have been attracting attention due to their popularity and wide range of applications. It was originally designed to solve the robot path planning problem, but with the continuous development of technology, the grid method is gradually applied to ship path planning by a plurality of expert scholars, and the ideal effect is obtained. The grid method is mainly represented by three modes, namely a serial number method, a coordinate method and discretization. Phetprayoon and the like, a new method for representing flow direction and calculating uphill area by using a rectangular grid digital elevation model is proposed, wherein the process is based on representing flow direction as a single angle and can be applied to digital elevation data set result calculation, lei and the like, a novel non-singular point spherical (global) coordinate system is introduced, a local coordinate combination is constructed for each region by decomposing the