CN104200714A - Ship driving simulation system based on data distribution service - Google Patents
Ship driving simulation system based on data distribution service Download PDFInfo
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- CN104200714A CN104200714A CN201410459033.2A CN201410459033A CN104200714A CN 104200714 A CN104200714 A CN 104200714A CN 201410459033 A CN201410459033 A CN 201410459033A CN 104200714 A CN104200714 A CN 104200714A
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Abstract
The invention discloses a ship driving simulation system based on the data distribution service and belongs to the field of computer simulation. The system is characterized in that hardware output data adopts serial servers to integrate hardware, and the data acquisition and processing are completed through an API provided by the serial servers; software units integrate software through the interfaces provided by the technology of data distribution service, and the mutual real-time data interaction is implemented. The system has the advantages that the instantaneity of the ship driving simulation system can be improved, network resource occupation is reduced, and a solving scheme is provided for semi-physical simulation system construction.
Description
Technical field
The invention belongs to Computer Simulation field, is a kind of semi-matter simulating system based on Data distributing technique construction, is mainly used in ship-handling simulated training, ship information system constructing.
Background technology
The large-scale complicated system development that develops into of computer simulation technique provides new means, compare the emulation mode of other types, hardware-in-the-loop simulation improves system development quality except having, shortens the lead time, saves development cost and realize the possibility advantage of higher validity, also there is following characteristics: (1) can make to be difficult to set up system or the material object of mathematical model accurately and directly enter emulation loop, can avoid being difficult to the difficulty of accurate modeling; (2) the further mathematical model of calibration system; (3) utilize hardware-in-the-loop simulation, the function of each equipment of checking system and performance, will be more directly with effective.
Data distributing (DDS) is the Software for Design standards and norms that realize publish/subscribe communication pattern, requirement of real time that OMG (OMG) formulates, and this standard has been carried out standardization to the behavior of data issue, transmission and receiving interface in distributed real-time systems.The pure data-centered Data dissemination that carries out of DDS, and resource situation, network condition etc. is all described with qos parameter, this has increased communication dirigibility greatly.
OpenDDS is the realization of increasing income of the DDS standard of OMG's proposition.It is realized based on Real Time CORBA system TAO.Use centralized information warehouse (DCPS Information Repository), by different territories, store the log-on message of the distribution subscription theme in each territory and corresponding publishing side, subscription end address.When publishing side releases news, to information data library storage, release news; During subscription end subscription information, read the information of corresponding publishing side from information database, direct and publishing side is carried out data interaction afterwards.Under this mode, for global information owing to only having a copy, so there is not consistency problem.
Summary of the invention
The object of the invention is to, by the simulation system of the ship-handling based on Data distributing is provided.Software, the hardware that this system is intended to adapt to ship-handling simulation system combines, requirement of real-time is high and system to the multifarious application demand of data acquisition, improve the real-time of ship-handling simulation system, reduce resource occupying rate, for semi-matter simulating system builds, provide a solution.
For realizing above-mentioned target, the present invention adopts following technical scheme: a kind of ship-handling simulation system based on Data distributing, comprising: ship-handling operation bench (1), electronic Chart Display module (2), virtual instrument display module (3), ARPA radar display module (4), navigation observation display module (5) and three-dimensional marine environment display module (6); Wherein, ship-handling operation bench (1) comprises base (7), operation bench stage body (8) and dress platform equipment; Described dress platform equipment comprises pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12), navigation light indicator (13), traffic controller (14), fog whistle controller (15), general controlling alarm plate (16) and sound power telephone (17).
Operation bench stage body (8) is arranged on base (7), navigation light indicator (13), traffic controller (14) and fog whistle controller (15) are arranged on the left side facade of operation bench stage body (8), pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12) and sound power telephone (17) are arranged on the middle table top of operation bench stage body (8), and general controlling alarm plate (16) is arranged on the facade of operation bench stage body (8) right side; Electronic Chart Display module (2), virtual instrument display module (3), ARPA radar display module (4), navigation observation display module (5) are deployed in four computing machines of operation bench stage body (8) by order from left to right, and three-dimensional marine environment display module (6) is deployed in ship-handling operation bench (1) dead ahead; System is carried out pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12), navigation light indicator (13), traffic controller (14) and general controlling alarm plate (16) by many serial servers (18) integrated, and the digital signal of each equipment output is gathered; The api interface that virtual instrument display module (3) utilizes many serial servers to provide reads the output information of corresponding device, complete Data Analysis and extraction, the distribution subscription interface simultaneously providing by Data distributing, completes the subscription of the issue of rudder angle, engine room orders, navigation, signal instruction and position, course, speed of a ship or plane information; The distribution subscription interface that three-dimensional marine environment display module (6) utilizes Data distributing to provide, completes the subscription of rudder angle, engine room orders, navigation and signal instruction and the issue of position, course and speed of a ship or plane information; The subscribing interface that electronic Chart Display module (2), ARPA radar display module (4) and navigation observation display module (5) utilize Data distributing to provide, complete the subscription to position, course and speed of a ship or plane information, modules utilizes the callback interface that Data distributing provides to realize the real-time update to all kinds of distribution subscription data.
Each fills platform hardware device and actual shipment equipment is distinguished to some extent, by increasing data conversion module, convert original analog signal to digital signal output, with RS232 serial port form, externally provide data interaction interface, each hardware output data acquisition completes the integrated of hardware with many serial servers, and the work for the treatment of such as the API data acquisition being provided by many serial servers, parsing, extraction; In addition, the API that each modular unit provides by Data distributing technology, completes the integrated of each module, utilizes distribution subscription interface to complete issue and the subscription of Various types of data, and by callback interface, complete the real-time update of data, realize mutual real time data mutual.
The present invention compared with prior art, has following obvious advantage:
The present invention, by Data distributing technology, the electronic Chart Display software in ship driving system, virtual instrument software for display, ARPR radar software for display, navigation is observed to software for display and three-dimensional marine environment software for display carries out integrated, realize collection, the distribution of real time data, improved the real-time of dirigibility and the operation of the system integration.
Accompanying drawing explanation
Fig. 1 is the ship-handling simulation system composition diagram that the present invention is based on Data distributing;
Fig. 2 represents ship-handling operation bench front view;
Fig. 3 represents the ship-handling operation bench top panel layout of equipment;
Fig. 4 represents ship-handling operation bench vertical view;
Fig. 5 represents Data distributing workflow diagram.
Embodiment
Below by specific embodiment, the invention will be further described by reference to the accompanying drawings.
As Figure 1-4, the embodiment of the present invention is comprised of ship-handling operation bench 1, electronic Chart Display module 2, virtual instrument display module 3, ARPA radar display module 4, navigation observation display module 5, three-dimensional marine environment display module 6; Wherein, ship-handling operation bench comprises the parts such as base 7, operation bench stage body 8, pilot 9, main engine telegraph 10, emergency clock 11, Comprehensive Control unit 12, navigation light indicator 13, traffic controller 14, fog whistle controller 15, general controlling alarm plate 16, sound power telephone 17, many serial servers 18; Operation bench stage body 8 is arranged on base 7, navigation light indicator 13, traffic controller 14 and fog whistle controller 15 are arranged on the left side facade of operation bench stage body 8, pilot 9, main engine telegraph 10, emergency clock 11, Comprehensive Control unit 12 and sound power telephone 17 are arranged on the middle table top of operation bench stage body 8, and general controlling alarm plate 16 is arranged on operation bench stage body 8 right side facades; Electronic Chart Display module 2, virtual instrument display module 3, ARPA radar display module 4, navigation observation display module 5 are deployed in four computing machines of operation bench stage body 8 by order from left to right, three-dimensional marine environment display module 6 is deployed in ship-handling operation bench 1 dead ahead, each software module is connected with switch by Ethernet interface, realize mutual data communication, concrete installation and deployment situation as shown in Figure 2.In example of the present invention, respectively fill platform hardware device and actual shipment equipment is distinguished to some extent, by increasing data conversion module, convert original analog signal to digital signal output, with RS232 serial port form, externally provide data interaction interface, in example, many serial servers 18 provide the serial interface communicating with each dress platform equipment, by RS232 serial port data line by pilot 9, main engine telegraph 10, emergency clock 11, Comprehensive Control unit 12, navigation light indicator 13, traffic controller 14 is connected and realizes the integrated of hardware with many serial servers 18 with general controlling alarm plate 16, and the digital signal of each equipment output is gathered, the api interface that virtual instrument display module 3 utilizes many serial servers 18 to provide reads the output information of corresponding device, complete Data Analysis and extraction, the distribution subscription interface simultaneously providing by Data distributing, complete the subscription of the issue of rudder angle, engine room orders, navigation, signal instruction and position, course, speed of a ship or plane information, for system operation provides input data, the distribution subscription interface that three-dimensional marine environment display module 6 utilizes Data distributing to provide, completes the subscription of rudder angle, engine room orders, navigation and signal instruction and the issue of position, course and speed of a ship or plane information, the subscribing interface that electronic Chart Display module 2, ARPA radar display module 4 and navigation observation display module 5 utilize Data distributing to provide, complete the subscription to position, course and speed of a ship or plane information, modules utilizes the callback interface that Data distributing provides to realize the real-time update to all kinds of distribution subscription data.
The present invention adopts OpenDDS to realize the system integration as Data distributing instrument, can complete establishment, the setting of entity QoS and the management of Data dissemination of each entity by these services.Its workflow as shown in Figure 5.
Fig. 5 has described the process that the data acquisition interface of utilizing data distribution platform callback data to read taker listener interface realizes application program asynchronous access data:
(A) subscriber creates data and reads taker;
(B) subscriber states subscription;
(C) publisher creates data writer;
(D) writer carries out the issue of data by write operation;
(E) DDS data distribution platform carries out the net distribution of data;
(F) long-range DDS data distribution platform receives data, and callback data is obtained interface notification data and read taker listener and process;
(G) data are read the next sampling function of extraction that taker listener calling data is read taker;
(H) the next sampling operation of extraction that data are read taker extracts data from data distribution platform, and returns to listener interface;
(I) listener interface function carries out corresponding data processing.
Fig. 5 represents the workflow schematic diagram of Data distributing, wherein Data distributing is embedded in software function module as submodule, complete the integrated and data interaction of each software module, each software module completes the real-time update of distribution subscription initialization and data as data publisher or subscriber's calling data distribution services correlation module.In the embodiment of the present invention, electronic Chart Display module 2, virtual instrument display module 3, ARPA radar display module 4, navigation observation display module 5, three-dimensional marine environment display module 6 provide api interface to realize the integrated of each module by OpenDDS.When system starts, each module completes corresponding data issue and subscribes to according to the demand data of self, and the system readjustment API providing by OpenDDS in service realizes the extraction process of real time data.
In example of the present invention, the specific works flow process of each module is as follows: each fills platform equipment and provides input for system, mainly comprise the steering orders such as rudder angle, engine room orders, navigation, signal, the Real-time Collection that is completed each input signal by virtual instrument display module 3 is processed, the issuing interface of utilizing Data distributing to provide as publisher when module initialization, create data writer, by data writer's write operation, complete the issue of the steering orders such as rudder angle, engine room orders, navigation, signal, and by DDS data distribution platform, carried out the net distribution of data, the subscribing interface that three-dimensional marine environment display module 6 provides by Data distributing as subscriber, create data and read taker, complete rudder angle, engine room orders, navigation, the subscription statement of the instructions such as signal, the callback interface providing by Data distributing in system operational process, by data, read taker and extract a sampling, transfer to listener to complete the processing of data, the real-time update of realization to subscription data, for driving the real-time rendering of each entity of three-dimensional scenic, simultaneously as publisher, create data writer, by write operation by the position of each entity, course, the data such as the speed of a ship or plane are issued, and by DDS data distribution platform, carried out the net distribution of data, electronic Chart Display module 2, virtual instrument display module 3, ARPA radar display module 4 and navigation observation display module 5 as subscriber when the system initialization, the subscribing interface of utilizing Data distributing to provide, create data and read taker, complete the subscription statement to data such as position, course, the speed of a ship or plane, and the callback interface that modules calling data distribution services provides in system operational process, by data, read taker and extract a sampling, and give listener and carry out data processing, complete the real-time update to each subscription data.
The ship-handling simulation system based on Data distributing that the present invention proposes, makes the structure of semi-matter simulating system more flexible, can guarantee the real-time moved, other integrated architectures and method relatively, and the system expandability is strong, and the access node number of support is larger.
Provide above embodiment to be only used to describe object of the present invention, and do not really want to limit the scope of the invention.Scope of the present invention is defined by the following claims.The various substitutions and modifications that are equal to that do not depart from spirit of the present invention and principle and make, all should contain within the scope of the present invention.
Claims (1)
1. the ship-handling simulation system based on Data distributing, is characterized in that: comprising: ship-handling operation bench (1), electronic Chart Display module (2), virtual instrument display module (3), ARPA radar display module (4), navigation observation display module (5) and three-dimensional marine environment display module (6); Wherein, ship-handling operation bench (1) comprises base (7), operation bench stage body (8) and dress platform equipment; Described dress platform equipment comprises pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12), navigation light indicator (13), traffic controller (14), fog whistle controller (15), general controlling alarm plate (16) and sound power telephone (17);
Operation bench stage body (8) is arranged on base (7), navigation light indicator (13), traffic controller (14) and fog whistle controller (15) are arranged on the left side facade of operation bench stage body (8), pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12) and sound power telephone (17) are arranged on the middle table top of operation bench stage body (8), and general controlling alarm plate (16) is arranged on the facade of operation bench stage body (8) right side, electronic Chart Display module (2), virtual instrument display module (3), ARPA radar display module (4), navigation observation display module (5) are deployed in four computing machines of operation bench stage body (8) by order from left to right, and three-dimensional marine environment display module (6) is deployed in ship-handling operation bench (1) dead ahead, system is carried out pilot (9), main engine telegraph (10), emergency clock (11), Comprehensive Control unit (12), navigation light indicator (13), traffic controller (14) and general controlling alarm plate (16) by many serial servers (18) integrated, and the digital signal of each equipment output is gathered, the api interface that virtual instrument display module (3) utilizes many serial servers (18) to provide reads the output information of corresponding device, complete Data Analysis and extraction, issuing interface simultaneously that provide by Data distributing as publisher, create data writer, by data writer's write operation, complete the issue of rudder angle, engine room orders, navigation, signal instruction, and by DDS data distribution platform, carried out the net distribution of data, the subscribing interface that three-dimensional marine environment display module (6) utilizes Data distributing to provide as subscriber, create data and read taker, complete rudder angle, engine room orders, the subscription statement of navigation and signal instruction, the callback interface providing by data distribution platform in system operational process, by data, read taker and extract a sampling, transfer to listener to complete the processing of data, the real-time update of realization to subscription data, simultaneously as publisher, create data writer, by write operation completing place, the issue of course and speed of a ship or plane information, and carry out Data dissemination by DDS data distribution platform, the subscribing interface that electronic Chart Display module (2), virtual instrument display module (3), ARPA radar display module (4) and navigation observation display module (5) utilize Data distributing to provide as subscriber, create data and read taker, complete the subscription statement to position, course and speed of a ship or plane information, the callback interface that modules utilizes Data distributing to provide, by data, read taker and extract a sampling, and give listener and complete data processing, thereby realize the real-time update to all kinds of subscription data.
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| CN106601068A (en) * | 2017-01-22 | 2017-04-26 | 山东交通学院 | Ship handling simulator driving and controlling device simulation test system |
| CN108155953A (en) * | 2017-11-29 | 2018-06-12 | 北京空间技术研制试验中心 | A kind of spacecraft-testing system |
| CN109639568A (en) * | 2018-12-26 | 2019-04-16 | 上海微波技术研究所（中国电子科技集团公司第五十研究所） | A kind of real-time Communication for Power Network simulation system based on OpenDDS |
| CN109871399A (en) * | 2019-01-28 | 2019-06-11 | 中船重工鹏力（南京）大气海洋信息***有限公司 | A kind of distributed alarm regulation engine design method |
| CN110148332A (en) * | 2019-06-12 | 2019-08-20 | 大连海事大学 | Marine main engine remote control operation simulated training system |
| CN110341877A (en) * | 2019-06-04 | 2019-10-18 | 智慧航海（青岛）科技有限公司 | A kind of the distributed emulation test macro and method of the autonomous collision prevention of intelligent ship |
| CN111716353A (en) * | 2020-05-20 | 2020-09-29 | 西安交通大学 | Digital twin virtual-real synchronous operation method based on publish/subscribe mode |
| CN112884942A (en) * | 2021-01-29 | 2021-06-01 | 中汽创智科技有限公司 | Data recording and playback system and playback method thereof |
| CN113345126A (en) * | 2021-04-30 | 2021-09-03 | 中船航海科技有限责任公司 | Ship navigation data recording device and method for recording navigation data by using steering instrument |
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| CN106601068A (en) * | 2017-01-22 | 2017-04-26 | 山东交通学院 | Ship handling simulator driving and controlling device simulation test system |
| CN106601068B (en) * | 2017-01-22 | 2022-09-23 | 山东交通学院 | Ship manipulation simulator driving control equipment simulation test system |
| CN108155953A (en) * | 2017-11-29 | 2018-06-12 | 北京空间技术研制试验中心 | A kind of spacecraft-testing system |
| CN109639568A (en) * | 2018-12-26 | 2019-04-16 | 上海微波技术研究所（中国电子科技集团公司第五十研究所） | A kind of real-time Communication for Power Network simulation system based on OpenDDS |
| CN109871399A (en) * | 2019-01-28 | 2019-06-11 | 中船重工鹏力（南京）大气海洋信息***有限公司 | A kind of distributed alarm regulation engine design method |
| CN110341877B (en) * | 2019-06-04 | 2020-07-03 | 智慧航海（青岛）科技有限公司 | Distributed simulation test system and method for intelligent ship autonomous collision avoidance |
| CN110341877A (en) * | 2019-06-04 | 2019-10-18 | 智慧航海（青岛）科技有限公司 | A kind of the distributed emulation test macro and method of the autonomous collision prevention of intelligent ship |
| CN110148332B (en) * | 2019-06-12 | 2021-12-21 | 大连海事大学 | Ship main engine remote control operation simulation training system |
| CN110148332A (en) * | 2019-06-12 | 2019-08-20 | 大连海事大学 | Marine main engine remote control operation simulated training system |
| CN111716353A (en) * | 2020-05-20 | 2020-09-29 | 西安交通大学 | Digital twin virtual-real synchronous operation method based on publish/subscribe mode |
| CN112884942A (en) * | 2021-01-29 | 2021-06-01 | 中汽创智科技有限公司 | Data recording and playback system and playback method thereof |
| CN113345126A (en) * | 2021-04-30 | 2021-09-03 | 中船航海科技有限责任公司 | Ship navigation data recording device and method for recording navigation data by using steering instrument |
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