融合多幅海图的航线自动生成改进方法
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摘要
针对当前航线设计仅能处理单幅海图的不足,本文提出一种基于多幅海图碍航区融合的舰船航线自动生成改进方法。通过定量分析不同海图的精度及现势性差异,对不同海图的碍航区进行数据融合;建立碍航区空间数据库,构建海图增量更新机制;考虑多幅海图碍航区数据量对航线自动生成效率的影响,以航路二叉树算法为基础,采用航路窗口、改进R树索引等方式提升航线自动生成的效率。实验结果表明:所提方法能够实现跨海图图幅的航线自动生成,优化了航线的距离和安全可靠性,算法效率也得到提升。与现有方法相比,实验中所生成的航线,航程分别缩短了9.8%和21.8%;生成航线耗时分别缩短85.8%和95.02%。
This work proposes an improved method for the automatic generation of routes in high-obstacle areas given the limitations of current route design methods that can only address a single chart. The proposed method is based on the fusion of multiple charts. Obstacle data are extracted from different charts for fusion and incremental update by quantitatively analyzing chart accuracy and timeliness differences. The spatial database for obstacle areas is established to construct the chart incremental updating mechanism. The route window and improved R-tree index are used to improve route generation efficiency by considering the impact of the data volume of multiple charts on the efficiency of route automatic generation and by applying the route binary tree algorithm. Experimental results show that the proposed method can automatically generate routes across charts with optimal safety and distance. The generated routes have been shortened by 9.8% and 21.8%, and the time consumption for route generation has reduced by 85.8% and 95.02%.
This work proposes an improved method for the automatic generation of routes in high-obstacle areas given the limitations of current route design methods that can only address a single chart. The proposed method is based on the fusion of multiple charts. Obstacle data are extracted from different charts for fusion and incremental update by quantitatively analyzing chart accuracy and timeliness differences. The spatial database for obstacle areas is established to construct the chart incremental updating mechanism. The route window and improved R-tree index are used to improve route generation efficiency by considering the impact of the data volume of multiple charts on the efficiency of route automatic generation and by applying the route binary tree algorithm. Experimental results show that the proposed method can automatically generate routes across charts with optimal safety and distance. The generated routes have been shortened by 9.8% and 21.8%, and the time consumption for route generation has reduced by 85.8% and 95.02%.
引文
[1] 张立华,朱庆,刘雁春,等.电子海图平台下的航线自动设计方法[J].大连海事大学学报,2007,33(3):109-112.ZHANG Lihua,ZHU Qing,LIU Yanchun,et al.A method for automatic routing based on ECDIS[J].Journal of Dalian Maritime University,2007,33(3):109-112.
[2] 曹鸿博,张立华,贾帅东,等.电子海图最短距离航线自动生成的改进方法[J].武汉大学学报(信息科学版),2011,36(9):1107-1110.CAO Hongbo,ZHANG Lihua,JIA Shuaidong,et al.An Improved method for automatically building shortest route based on electronic chart[J].Geomatics and Information Science of Wuhan University,2011,36(9):1107-1110.
[3] CHANG K Y,JAN G E,PARBERRY I.A method for searching optimal routes with collision avoidance on raster charts[J].The journal of navigation,2004,56(3):371-384.
[4] 王德春,陈利敏,张孝芳.基于A*算法的舰船最佳航线选择[J].青岛大学学报(自然科学版),2005,18(4):10-13.WANG Dechun,CHEN Limin,ZHANG Xiaofang.Selecting ship′s optimum route using A* algorithm[J].Journal of Qingdao University (natural science edition),2005,18(4):10-13.
[5] 叶清,郁振伟.改进最短路径算法在最佳航线选择中的应用[J].中国航海,2003(2):15-17.YE Qing,YU Zhengwei.The improved shortcut algorithm and it′s application in selecting ship′s optimum route[J].Navigation of China,2003(2):15-17.
[6] 王科.基于电子海图的航线设计研究[D].大连:海军大连舰艇学院,2004.WANG Ke.A study for designing navigation route based on ECDIS[D].Dalian:Dalian naval Academic,2004.
[7] ANEL A M.Network shortest path application for optimum track ship routing[D].California:Naval Postgraduate School,2005.
[8] 李源惠,潘明阳,吴娴.基于动态网格模型的航线自动生成算法[J].交通运输工程学报,2007,7(3):34-39.LI Yuanhui,PAN Mingyang,WU Xian.Automatic creating algorithm of route based on dynamic grid model[J].Journal of traffic and transportation engineering,2007,7(3):34-39.
[9] SZLAPCZYNSKI R.A new method of ship routing on raster grids,with turn penalties and collision avoidance[J].The journal of navigation,2006,59(1):27-42.
[10] 汪柱,李树军,张立华,等.基于航路二叉树的航线自动生成方法[J].武汉大学学报(信息科学版),2010,35(4):407-410.WANG Zhu,LI Shujun,ZHANG Lihua,et al.A method for automatic routing based on route binary tree[J].Geomatics and Information Science of Wuhan University,2010,35(4):407-410.
[11] 王涛,张立华,彭认灿,等.顾及航道宽度的最短距离航线自动生成方法[J].海洋测绘,2016,36(3):29-31,36.WANG Tao,ZHANG Lihua,PENG Rencan,et al.A method for automatically generating the shortest distance route based on electronic navigational chart considering channel width[J].Hydrographic surveying and charting,2016,36(3):29-31,36.
[12] 王涛,张立华,彭认灿,等.考虑转向限制的电子海图最短距离航线自动生成方法[J].哈尔滨工程大学学报,2016,37(7):923-929.WANG Tao,ZHANG Lihua,PENG Rencan,et al.Automatic generation of the shortest route of an electronic navigational chart considering turning restrictions[J].Journal of Harbin Engineering University,2016,37(7):923-929.
[13] 张莉,金一丞,汪柱,等.电子海图的航线多尺度生成方法[J].测绘科学,2011,36(5):197-199.ZHANG Li,JIN Yichen,WANG Zhu,et al.A method for multi-scale routing based on ECDIS[J].Science of surveying and mapping,2011,36(5):197-199.
[14] 张莉,王义涛.一种基于海图水深的碍航区自动提取方法[J].海洋技术,2010,29(3):69-72.ZHANG Li,WANG Yitao.A method for automatic acquisition of obstacle areas based on the depth in a chart[J].Ocean technology,2010,29(3):69-72.
[15] 张浩,栾俊,纪宏宇,等.一种碍航区自动提取的方法[J].海洋测绘,2015,35(6):55-57.ZHANG Hao,LUAN Jun,JI Hongyu,et al.A method for constructing obstacle areas[J].Hydrographic surveying and charting,2015,35(6):55-57.
[16] 张立华,朱庆,张安民,等.一种智能的最短航线构建方法[J].测绘学报,2008,37(1):114-120.ZHANG Lihua,ZHU Qing,ZHANG Anmin,et al.An intelligent method for the shortest routing[J].Acta geodaetica et cartographica sinica,2008,37(1):114-120.
[17] 贾帅东,张立华,彭认灿,等.确保水深模型航海安全性的深度保证率控制方法[J].交通运输工程学报,2015,15(5):101-109.JIA Shuaidong,ZHANG Lihua,PENG Rencan,et al.Control method of probability of adequate depth ensuring navigation safety of depth model[J].Journal of traffic and transportation engineering,2015,15(5):101-109.
[18] 陈惠荣.海图设计自动化关键技术研究[D].大连海事大学,2011.CHEN Huirong.Research on key techniques of chart design automation[D].Dalian:Dalian Maritime University,2011.
[19] 汤青慧.基于电子海图的航线规划方法研究[D].中国海洋大学,2011.TANG Qinghui.Research on route planning method based on electronic chart[D].Qingdao:Ocean University of China,2011.
[20] 邓红艳,武芳,翟仁健,等.一种用于空间数据多尺度表达的R树索引结构[J].计算机学报,2009,32(1):177-184.DENG Hongyan,WU Fang,ZHAI Renjian,et al.R-tree index structure for multi-scale representation of spatial data[J].Chinese journal of computers,2009,32(1):177-184.
[2] 曹鸿博,张立华,贾帅东,等.电子海图最短距离航线自动生成的改进方法[J].武汉大学学报(信息科学版),2011,36(9):1107-1110.CAO Hongbo,ZHANG Lihua,JIA Shuaidong,et al.An Improved method for automatically building shortest route based on electronic chart[J].Geomatics and Information Science of Wuhan University,2011,36(9):1107-1110.
[3] CHANG K Y,JAN G E,PARBERRY I.A method for searching optimal routes with collision avoidance on raster charts[J].The journal of navigation,2004,56(3):371-384.
[4] 王德春,陈利敏,张孝芳.基于A*算法的舰船最佳航线选择[J].青岛大学学报(自然科学版),2005,18(4):10-13.WANG Dechun,CHEN Limin,ZHANG Xiaofang.Selecting ship′s optimum route using A* algorithm[J].Journal of Qingdao University (natural science edition),2005,18(4):10-13.
[5] 叶清,郁振伟.改进最短路径算法在最佳航线选择中的应用[J].中国航海,2003(2):15-17.YE Qing,YU Zhengwei.The improved shortcut algorithm and it′s application in selecting ship′s optimum route[J].Navigation of China,2003(2):15-17.
[6] 王科.基于电子海图的航线设计研究[D].大连:海军大连舰艇学院,2004.WANG Ke.A study for designing navigation route based on ECDIS[D].Dalian:Dalian naval Academic,2004.
[7] ANEL A M.Network shortest path application for optimum track ship routing[D].California:Naval Postgraduate School,2005.
[8] 李源惠,潘明阳,吴娴.基于动态网格模型的航线自动生成算法[J].交通运输工程学报,2007,7(3):34-39.LI Yuanhui,PAN Mingyang,WU Xian.Automatic creating algorithm of route based on dynamic grid model[J].Journal of traffic and transportation engineering,2007,7(3):34-39.
[9] SZLAPCZYNSKI R.A new method of ship routing on raster grids,with turn penalties and collision avoidance[J].The journal of navigation,2006,59(1):27-42.
[10] 汪柱,李树军,张立华,等.基于航路二叉树的航线自动生成方法[J].武汉大学学报(信息科学版),2010,35(4):407-410.WANG Zhu,LI Shujun,ZHANG Lihua,et al.A method for automatic routing based on route binary tree[J].Geomatics and Information Science of Wuhan University,2010,35(4):407-410.
[11] 王涛,张立华,彭认灿,等.顾及航道宽度的最短距离航线自动生成方法[J].海洋测绘,2016,36(3):29-31,36.WANG Tao,ZHANG Lihua,PENG Rencan,et al.A method for automatically generating the shortest distance route based on electronic navigational chart considering channel width[J].Hydrographic surveying and charting,2016,36(3):29-31,36.
[12] 王涛,张立华,彭认灿,等.考虑转向限制的电子海图最短距离航线自动生成方法[J].哈尔滨工程大学学报,2016,37(7):923-929.WANG Tao,ZHANG Lihua,PENG Rencan,et al.Automatic generation of the shortest route of an electronic navigational chart considering turning restrictions[J].Journal of Harbin Engineering University,2016,37(7):923-929.
[13] 张莉,金一丞,汪柱,等.电子海图的航线多尺度生成方法[J].测绘科学,2011,36(5):197-199.ZHANG Li,JIN Yichen,WANG Zhu,et al.A method for multi-scale routing based on ECDIS[J].Science of surveying and mapping,2011,36(5):197-199.
[14] 张莉,王义涛.一种基于海图水深的碍航区自动提取方法[J].海洋技术,2010,29(3):69-72.ZHANG Li,WANG Yitao.A method for automatic acquisition of obstacle areas based on the depth in a chart[J].Ocean technology,2010,29(3):69-72.
[15] 张浩,栾俊,纪宏宇,等.一种碍航区自动提取的方法[J].海洋测绘,2015,35(6):55-57.ZHANG Hao,LUAN Jun,JI Hongyu,et al.A method for constructing obstacle areas[J].Hydrographic surveying and charting,2015,35(6):55-57.
[16] 张立华,朱庆,张安民,等.一种智能的最短航线构建方法[J].测绘学报,2008,37(1):114-120.ZHANG Lihua,ZHU Qing,ZHANG Anmin,et al.An intelligent method for the shortest routing[J].Acta geodaetica et cartographica sinica,2008,37(1):114-120.
[17] 贾帅东,张立华,彭认灿,等.确保水深模型航海安全性的深度保证率控制方法[J].交通运输工程学报,2015,15(5):101-109.JIA Shuaidong,ZHANG Lihua,PENG Rencan,et al.Control method of probability of adequate depth ensuring navigation safety of depth model[J].Journal of traffic and transportation engineering,2015,15(5):101-109.
[18] 陈惠荣.海图设计自动化关键技术研究[D].大连海事大学,2011.CHEN Huirong.Research on key techniques of chart design automation[D].Dalian:Dalian Maritime University,2011.
[19] 汤青慧.基于电子海图的航线规划方法研究[D].中国海洋大学,2011.TANG Qinghui.Research on route planning method based on electronic chart[D].Qingdao:Ocean University of China,2011.
[20] 邓红艳,武芳,翟仁健,等.一种用于空间数据多尺度表达的R树索引结构[J].计算机学报,2009,32(1):177-184.DENG Hongyan,WU Fang,ZHAI Renjian,et al.R-tree index structure for multi-scale representation of spatial data[J].Chinese journal of computers,2009,32(1):177-184.