浅水环境三维地形仿真及路径规划技术研究

发布时间：2019-05-28 13:04

【摘要】：三维海底地形辅助导航技术,具有操作直接,可视性好,交互性强,信息量大等优势,使其广泛应用在导航领域中,尤其在变幻莫测的海洋复杂环境导航中,具有极其重要的地位,而建立大范围的真实三维地形模型则成为实现这项技术不可或缺的重要内容。本文主要研究基于真实的二维海图提取的水深数据基础上,实现真实海洋地形模型的重建,从而在视景仿真软件MultiGen Creator中得到较为真实的地形,并最终在Vega Prime中实现虚拟海洋环境视景单元的仿真,及在该环境下的航行器漫游。主要的研究内容如下:首先,本文介绍并分析海深数据的提取和处理,并从二维海图中提取水深数据,针对水深数据本身的缺陷,研究了基于IFS的插值算法,对其二维和三维进行分析,并与其他算法进行比较,最终得到需要的DEM模型。其次,本文设计由海深处理数据得到海底地形文件的技术路线。利用插值算法得到曲面文件,将此文件格式转换成了Creator能使用的.ded格式,然后,采用三角网格法,在Creator中获取三维地形文件,最终,通过纹理及渲染技术得到较为真实的海洋地形,同时利用Creator画出了航行器模型。然后,针对海底地形路径规划问题,本文研究遗传算法在路径规划上的应用,着重分析评价函数、插入算子、惩罚因子等对路径规划的不同影响,并设计了适用于不同地形的路径优化算法。实验结果表明,路径优化算法中所提出的惩罚函数及启发性知识的使用,能够使算法根据不同地形的特点灵活的得到最优路径。最后,本文分析了仿真程序的设计过程和实现技术,提出对仿真程序的漫游方式进行改进,验证了建立的三维地形的可用性和地形数据库的合理性,并利用Vega Prime2.01和VS2003实现三维海洋环境的可视化及航行器在海底避障漫游功能。
[Abstract]:3D seafloor terrain aided navigation technology has the advantages of direct operation, good visibility, strong interaction and large amount of information, which makes it widely used in the field of navigation, especially in the unpredictable marine complex environment navigation. It has an extremely important position, and the establishment of a large range of real three-dimensional terrain model has become an indispensable part of this technology. In this paper, based on the water depth data extracted from the real two-dimensional chart, the reconstruction of the real ocean terrain model is realized, so that the more real terrain can be obtained in the visual simulation software MultiGen Creator. Finally, the simulation of virtual marine environment scene unit is realized in Vega Prime, and the navigator roaming in this environment is realized. The main research contents are as follows: firstly, this paper introduces and analyzes the extraction and processing of sea depth data, and extract water depth data from two-dimensional chart. Aiming at the defects of water depth data itself, the interpolation algorithm based on IFS is studied. The two-dimensional and three-dimensional analysis and comparison with other algorithms are carried out, and the required DEM model is finally obtained. Secondly, this paper designs the technical route to obtain the seafloor terrain file from the sea depth processing data. The surface file is obtained by interpolation algorithm, and the file format is converted into .ded format that can be used by Creator. Then, the three-dimensional terrain file is obtained in Creator by using triangular grid method. Finally, The real ocean terrain is obtained by texture and rendering technology, and the navigator model is drawn by Creator. Then, aiming at the problem of seafloor terrain path planning, this paper studies the application of genetic algorithm in path planning, focusing on the different effects of evaluation function, insertion operator and penalty factor on path planning. A path optimization algorithm for different terrain is designed. The experimental results show that the penalty function and enlightening knowledge proposed in the path optimization algorithm can make the algorithm obtain the optimal path flexibly according to the characteristics of different terrain. Finally, this paper analyzes the design process and implementation technology of the simulation program, improves the roaming mode of the simulation program, and verifies the availability of the established 3D terrain and the rationality of the terrain database. Vega Prime2.01 and VS2003 are used to realize the visualization of 3D marine environment and the navigation function of navigator to avoid obstacles in the seafloor.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：P716

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