CN107025356A - Cruiseway navigation safe simulation test platform and method based on hardware in loop - Google Patents
Cruiseway navigation safe simulation test platform and method based on hardware in loop Download PDFInfo
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Abstract
The present invention provides a kind of cruiseway navigation safe simulation test platform based on hardware in loop, including cruiseway navigation environment computing module；Vessel traffic flow analogue system；Several ships simulate console, turn network port device and described kernel Navigation in Navigable computing module and the progress data interaction of vessel traffic flow analogue system by serial ports respectively；Monitoring and display system.The present invention contains mathematical simulation and the checking of inland river navigation environment, console is simulated with reference to ship, simulation test platform has been safely provided for the cruiseway ship navigation under different vessel traffic stream modes, promote hydrodynamic force mathematical modeling to manipulate with control, the system integration of cruiseway map with coupling application with vessel traffic flow model, ship simulation, with important theoretical significance and engineering application value.
Description
Technical field
The present invention relates to a kind of hardware-in-loop simulation platform, and in particular to a kind of cruiseway navigation based on hardware in loop
Safe simulation test platform and method.
Background technology
With developing rapidly for inland waterway, the importance of cruiseway ship navigation safety is increasingly highlighted.Safety of ship
Navigation not only faces external complex navigation environment (such as：The hydrology, meteorological condition, waterway regulation works, busy vessel traffic flow etc.)
Influence, while there is coupling nonlinear relation between each factor.In Practical Project, it is difficult to adopt more than analytic method reflection
The influence that each factor is opened the navigation or air flight for safety of ship.Therefore, simulation test platform provides a kind of new way.At present, with reference to ship
In the Navigation in Navigable safe simulation test platform for simulating console, there is the navigation environment of material impact for marine operation safety
Key element often uses permanent and uniform it is assumed that the kinetic characteristic that ship is difficult to walk in leg in complexity accurately, can not be simulated truly,
In the presence of certain defect.
Hardware-in-loop simulation refers to, by the hardware access emulation such as control unit level actuator loop, realize that mathematical modeling is real-time
Solve the method (Hardware-in-loop) with being run in ring hardware synchronization.Cruiseway navigation safety based on hardware in loop
Simulation test platform, survey region, primary condition, side defined in inland river Navigation in Navigable environment (hydrodynamic force) computation model
Boundary's condition；For different research ship types, the corresponding control parameter defined in vessel traffic flow analogue system and traffic flow are special
Parameter is levied, accurate, true, reliable outside navigation environment key element letter is provided to carry out cruiseway navigation safe simulation experiment
Breath；With reference to the Changjiang river electronic channel chart V3.0, realize navigation environment key element, vessel traffic flow data, help navigation information, equipment fortune
The information such as row state are integrated with merging on simulation test platform, and improve relevance grade of the system in l-G simulation test, convenient
Degree and the degree of accuracy.Using hardware-in-loop simulation test platform, can effectively it realize under the conditions of different hydrodynamic, different leg ships lead to
The risk assessment of boat, the routeing of economical rationality ensures water transport safety.Cruiseway navigation safety based on hardware in loop is imitative
True test platform and method are still in development, the product not being molded at present.
The content of the invention
The technical problem to be solved in the present invention is：A kind of cruiseway navigation safe simulation examination based on hardware in loop is provided
Test platform and method.
The present invention is that the technical scheme that solution above-mentioned technical problem is taken is：A kind of cruiseway based on hardware in loop
Navigation safe simulation test platform, it is characterised in that：It includes：
Cruiseway navigation environment computing module, for the condition selected according to user, imports or defines under the conditions of being somebody's turn to do
Navigation element information；Described navigation element information includes safeguarding the depth of water, velocity field, topography variation and Channel Condition；
Vessel traffic flow analogue system, for being selected for user under conditions of traffic flow data, pass through fitting point
Analysis generation meets the Traffic Flow Simulation data under the conditions of this, by parameter setting so that the Traffic Flow Simulation data of generation meet master
Sight demand；Described vessel traffic flow analogue system includes：Vessel traffic flow data resolution module, for AIS, radar, CCTV
The parsing of video data and traffic flow character analysis；Vessel traffic flow data analysis fitting module, for parsing traffic flow statistics
Data simultaneously obtain vessel traffic flow relevant feature parameters；Vessel traffic flow emulation module is used to generate the traffic flow under specified parameter
Emulate data；Main program module, the task scheduling for each composition intermodule；
Several ships simulate console, turn network port device and described kernel Navigation in Navigable calculating mould by serial ports respectively
Block and vessel traffic flow analogue system carry out data interaction, for carrying out ship motion and manipulation, the emulation of device failure alert
Experiment, monitors Vessel's Description and carries out cruiseway Project Navigation Safety Assessment；Turn network port device, slave computer base using described serial ports
Relevant device state message is automatically replied to host computer in inquiry message, and host computer is that ship simulates console, and slave computer is interior
River Navigation in Navigable environment computing module and vessel traffic flow analogue system；
Monitoring and display system, serial ports is passed through with cruiseway navigation environment computing module and vessel traffic flow analogue system
Connection, for the Vessel's Description and l-G simulation test data that display ship simulation console is obtained in real time on the map of Ha Noi navigation channel.
By above-mentioned platform, described cruiseway navigation environment computing module includes pattern of water flow and sediment model；It is described
Pattern of water flow calculate using orthonormal curvilinear grid finite volume method calculate averaged Navier-Stokes equation group；Institute
The sediment model stated is non-homogeneous non-constant sediment transport model.
By above-mentioned platform, described vessel traffic flow analogue system includes section ship traffic volume forecasting model and ship
Traffic flow generation model；Described traffic flow of section forecast model is excellent using binding time sequence analysis and Kalman filtering
Change method；Described vessel traffic flow generation model is using improvement congruence method random number generator.
The l-G simulation test side realized using the cruiseway navigation safe simulation test platform based on hardware in loop
Method, it is characterised in that：It comprises the following steps：
S1, according to experiment needs, by cruiseway navigation environment computing module input terrain data, boundary condition and just
Beginning condition；Verified by measured data and debug cruiseway navigation environment computing module；
S2, vessel traffic flow analogue system obtain vessel traffic flow feature according to AIS, radar, CCTV Digital video resolutions
Parameter；
S3, ship simulation console drive according to Ship Controling and formed with described cruiseway navigation environment computing module
Coupling model, and result of calculation；Turn network port device by serial ports to send rudder angle, course and flight path line width to described monitoring
With display system, with reference to Ha Noi navigation channel map, inland river navigation environment and online real-time display and the prison of vessel motion state are realized
Survey.
As stated above, described S1 is specially：Pass through the terrain data, boundary condition and initial strip of input test section
Part, using fit orthonormal curvilinear grid, sets up test section two, three-dimensional mathematical model；By coupling Reynolds average Navier-
Stokes equation groups and non-homogeneous non-constant sediment transport model, solved using wired volumetric method obtain the test section depth of water,
Velocity field and section topography variation.
As stated above, described S2 is specially：
2.1st, by delimiting rectangular area to specified domain, judge whether ship leads to according to the latitude and longitude information in AIS data
The rectangular area is crossed, statistics specifies the rectangular area traffic flow data in time range；
2.2nd, the traffic flow data of gained is analyzed, different traffic parameters is extracted, to each traffic
Stream parameter builds the minimum probability density function of its difference respectively；Traffic parameter includes the quantity, length, arrival time of ship；
2.3rd, random number seed is obtained by randomizer, random number seed is mapped into each traffic flow parameter
In probability density function, obtain meeting the stochastic variable of probability density function, generating vessel traffic flow by stochastic variable emulates
Data.
Beneficial effects of the present invention are：The present invention contains mathematical simulation and the checking of inland river navigation environment, with reference to ship
Console is simulated, is that the cruiseway ship navigation under different vessel traffic stream modes has safely provided simulation test platform, also
Teaching platform can be manipulated as ship simulation to use for teacher, postgraduate and engineers and technicians；It is difficult to walk leg ship for complexity
Oceangoing ship numerous difficulties that the research and development of navigation simulation test platform face safely, the present invention is led to carry out safety of ship in laboratory environments
Boat control provides an effective hardware-in-loop simulation platform with algorithm research, promotes hydrodynamic force mathematical modeling and is handed over ship
Through-flow model, ship simulation are manipulated with control, the system integration of cruiseway map with coupling application, are ground with important theory
Study carefully meaning and engineering application value.
Brief description of the drawings
Fig. 1 is the composition structured flowchart of the embodiment of the present invention.
In figure：1st, cruiseway navigation environment computing module；2nd, vessel traffic flow analogue system；3rd, ship simulation is manipulated
Platform；4th, monitoring and display system；5th, serial ports turns network port device.
Embodiment
With reference to instantiation and accompanying drawing, the invention will be further described.
The present invention provides a kind of cruiseway navigation safe simulation test platform based on hardware in loop, as shown in figure 1, it
Including：
Cruiseway navigation environment computing module 1, for the condition selected according to user, imports or defines under the conditions of being somebody's turn to do
Navigation element information；Described navigation element information includes safeguarding the depth of water, velocity field, topography variation and Channel Condition.Inland river
Navigation in Navigable environment computing module includes pattern of water flow and sediment model；Described pattern of water flow calculates and uses orthonormal curvilinear grid
Finite volume method calculate averaged Navier-Stokes equation group；Described sediment model is non-homogeneous non-constant silt
Transport Model.
Vessel traffic flow analogue system 2, for being selected for user under conditions of traffic flow data, pass through fitting point
Analysis generation meets the Traffic Flow Simulation data under the conditions of this, by parameter setting so that the Traffic Flow Simulation data of generation meet master
Sight demand；Described vessel traffic flow analogue system includes：Vessel traffic flow data resolution module, for AIS, radar, CCTV
The parsing of video data and traffic flow character analysis；Vessel traffic flow data analysis fitting module, for parsing traffic flow statistics
Data simultaneously obtain vessel traffic flow relevant feature parameters；Vessel traffic flow emulation module is used to generate the traffic flow under specified parameter
Emulate data；Main program module, the task scheduling for each composition intermodule.Vessel traffic flow analogue system includes section ship
Model of traffic flux forecast and vessel traffic flow generation model；Described traffic flow of section forecast model uses binding time sequence
Row analysis and the optimization method of Kalman filtering；Described vessel traffic flow generation model is using improvement congruence method generating random number
Device.
Several ships simulate console 3, and turn network port device 5 by serial ports respectively calculates with described kernel Navigation in Navigable
Module and vessel traffic flow analogue system carry out data interaction, for carrying out ship motion (pursue, surmount, can meet) and behaviour
The vertical, l-G simulation test of device failure alert, monitors Vessel's Description and carries out cruiseway Project Navigation Safety Assessment.Utilize described string
Mouth turns network port device, and slave computer automatically replies relevant device state message to host computer based on inquiry message, and host computer is ship
Console is simulated, slave computer is cruiseway navigation environment computing module and vessel traffic flow analogue system.Ship simulation is manipulated
Platform include Ship Controling drive (steering wheel, emergency clock etc.), control with communicating, ship and equipment running status show and (fog horn, helped
Boat etc.), fault alarm (Generic Alert, fire alarm, main frame alarm, navigation lights, signal lamp), (1#, 2# are shown display module
Device), described Ship Controling drives the state that module is responsible for gathering all operationss control button；Control with communication module be responsible for
Communication task between cruiseway navigation environment computing module, vessel traffic flow analogue system；Ship and equipment running status
Display module is responsible for collection ship and relevant device on-line operation status information, and by feedback of the information to monitoring with showing system.
Monitoring and display system 4, string is passed through with cruiseway navigation environment computing module and vessel traffic flow analogue system
Mouth connection, for the Vessel's Description and l-G simulation test number that display ship simulation console is obtained in real time on the map of Ha Noi navigation channel
According to.The present embodiment by taking the electronic channel chart V3.0 of the Changjiang river as an example, in real time rudder angle of the display ship in cruiseway environment, course,
The information such as flight path line width；Fault alarm module is responsible for display ship and equipment dependent failure information and alarmed.
In the present embodiment, using Ethernet, it is adaptable to which (Modbus TCP Client are visited ship simulation console host computer
Ask the cycle：100ms) communicated between slave computer (Modbus TCP Server), using adaptive communications speed 10/
100Mbps, I/O communication mode are poll.Cruiseway navigation environment computing module described in the present embodiment uses Fortran
Programming with Pascal Language, solves averaged Navier-Stokes equation group, can simulating two-dimensional and three-dimensional current, wave, silt it is defeated
Shifting, the interaction between topography variation, and each dynamic process；Vessel traffic flow analogue system, ship simulation console, monitoring
Developed with display system using C Plus Plus.Ship of the present invention simulates console by Wuhan Nanhua industrial equipment Engineering Unit
Part Co., Ltd production (model：NHI-CZ/220T；Numbering：1503106), microprocessor is using STM32 chips serial ARM.
The l-G simulation test side realized using the cruiseway navigation safe simulation test platform based on hardware in loop
Method, comprises the following steps：
S1, according to experiment needs, by cruiseway navigation environment computing module input terrain data, boundary condition (such as
Flow, water level, flow rate of water flow data etc.) and primary condition (such as water level, flow, flow speed data)；Verified by measured data
And debug cruiseway navigation environment computing module.
Specially：By the terrain data, boundary condition and primary condition of input test section, using fit orthogonal curvilinear
Grid, sets up test section two, three-dimensional mathematical model；By couple averaged Navier-Stokes equation group with it is non-homogeneous
Non-constant sediment transport model, is solved using wired volumetric method and obtains the test section depth of water, velocity field and section topography variation.
S2, vessel traffic flow analogue system obtain vessel traffic flow feature according to AIS, radar, CCTV Digital video resolutions
Parameter, such as：Traffic flow of section, the speed of a ship or plane, course, arrival time distribution etc..
S2 is specially：2.1st, by delimiting rectangular area to specified domain, ship is judged according to the latitude and longitude information in AIS data
Whether oceangoing ship is by the rectangular area, and statistics specifies the rectangular area traffic flow data in time range；2.2nd, by the traffic of gained
Flow data is analyzed, and different traffic parameters is extracted, and builds its difference respectively to each traffic flow parameter minimum
Probability density function；Traffic parameter includes the quantity, length, arrival time of ship；2.3rd, obtained by randomizer
In random number seed, the probability density function that random number seed is mapped to each traffic flow parameter, obtain meeting probability density
The stochastic variable of function, generates vessel traffic flow by stochastic variable and emulates data.
S3, ship simulation console drive according to Ship Controling and formed with described cruiseway navigation environment computing module
Coupling model, and result of calculation；Turn network port device by serial ports to send rudder angle, course and flight path line width to described monitoring
With display system, with reference to Ha Noi navigation channel map, inland river navigation environment and online real-time display and the prison of vessel motion state are realized
Survey.
Cruiseway navigation environment computing module of the present invention is inputted there is provided real-time navigation environment factor data, interior
River Navigation in Navigable environment computing module forms coupling control system with ship simulation console；Console is simulated by ship
The modules such as Ship Controling drives, controlled with communicate, ship and equipment running status are shown, fault alarm, possess complexity and open the navigation or air flight ring
Border Imitating steering, equipment state setting and the function such as display, fault alarm, realize that different leg safety of ships navigation emulation are tried
Test and evaluate.
The finite volume method that the cruiseway navigation environment computing module of the present invention employs orthonormal curvilinear grid calculates thunder
The average Navier-Stokes equation groups of promise, it is adaptable to the cruiseway water-sediment movement mathematical modeling of MODEL OVER COMPLEX TOPOGRAPHY, operator
Voluntarily it can input or define boundary condition, primary condition according to practical study purpose, realize inland river navigation environment numerical simulation.
The ship simulation console of the present invention contains that Ship Controling drives, controlled with communicating, ship and equipment run shape
A variety of functional modules such as state is shown, fault alarm, operator may be selected a certain functional module, set correlation module parameter, carry out
The l-G simulation test such as various ship motions (pursue, surmount, can meet) and manipulation, device failure alert, with reference to the Changjiang river electronics navigation channel
Scheme V3.0, realize the different leg vessel motion state on-line real time monitorings in inland river, and evaluate safety navigation level of security.
The vessel traffic flow analogue system of the present invention is using binding time sequence analysis and the optimization method of Kalman filtering
The data such as l-G simulation test region AIS, radar, CCTV videos are parsed, vessel traffic flow characteristic parameter is obtained, passes through improved traffic
The approximating method of characteristic parameter is flowed, generation meets the traffic flow parameter of current fitting distribution, so as to realize that vessel traffic flow is emulated
Generation.
The present invention contains mathematical simulation and the checking of inland river navigation environment, simulates console with reference to ship, is not shipmate
Cruiseway ship navigation under oceangoing ship traffic flow modes has safely provided simulation test platform, can act also as ship simulation and manipulates religion
Platform is learned to use for teacher, postgraduate and engineers and technicians.Put down for the complexity leg safety of ship navigation l-G simulation test that is difficult to walk
Numerous difficulties that platform research and development face, the present invention provides to carry out safety of ship navigation control in laboratory environments with algorithm research
One effective hardware-in-loop simulation platform, promotes hydrodynamic force mathematical modeling and is grasped with vessel traffic flow model, ship simulation
Indulge with control, the Changjiang river electronic channel chart V3.0 system integration with coupling application, with important theoretical significance and engineering
Application value.
For ease of understanding the present invention, the operation principle of each subsystem is described further below：
1st, the operation principle of cruiseway navigation environment computing module 1
Cruiseway navigation environment computing module 1：By the terrain data, boundary condition, initial strip that input test reach
Part (water level, flow, flow velocity etc.), using fit orthonormal curvilinear grid, sets up test section two, three-dimensional mathematical model；Pass through coupling
Averaged Navier-Stokes equation group and non-homogeneous non-constant sediment transport model are closed, is solved and obtained using wired volumetric method
The section depth of water, velocity field and section topography variation must be tested.Cruiseway navigation environment computing module result passes through ship mould
Intend control and communication module in console 3, transmit to monitoring and display system 4.
I. governing equation
Navigation environment computing module uses fit orthonormal curvilinear grid, and numeric format selects ADI time integration methods, controlling party
Journey includes：Current continuity equation, the equation of momentum and Sediment Transport equation are as follows：
In formula, u, v are the flow rate of water flow in ξ, η direction；ζ is the water level relative to reference plane；D is the water relative to reference plane
It is deep；Q is the Yuan Hehui of continuity equation, such as runoff, draining；G is acceleration of gravity；T is the time；DhFor horizontal eddy diffusion system
Number；F is eddy stress；P is hydraulic pressure gradient；M is momentum source sink term；For Coordinate Conversion coefficient, above-mentioned physical quantity subscript point
ζ, η direction are not represented；D is the depth of water under reference datum；C is to thank to ability coefficient；ρ is the density of water；S is sediment concentration；S converges for source
；F is Coriolis force coefficient.
II. model parameter
Boundary condition：Upstream takes cross section of river flow, and downstream takes cross section of river water level.
Constant definition：Acceleration of gravity takes 9.81m2/s；The density of water takes 1000kg/m3；Bed roughness coefficient takes n=
0.011；Horizontal direction and vertical turbulence viscosity coefficient take 10m respectively2/s、1x10-6m2/s。
2nd, the operation principle of vessel traffic flow analogue system 2
Vessel traffic flow analogue system 2：Parsed by data such as AIS, radar, CCTV videos, obtain vessel traffic flow special
Levy parameter；Using binding time sequence analysis and the optimization method of Kalman filtering, vessel traffic flow short-term forecast (1~3 is realized
My god)；The vessel traffic flow characteristic parameter obtained is parsed based on data, using random number generator method, vessel traffic flow is realized
Presented in monitoring with the visualization in display system 4.
Traffic flow simulation system mainly includes following module：I vessel traffic flow data resolution modules, II vessel traffics
Flow data analyzes fitting module, III vessel traffic flows emulation generation module.
Particular content is as follows：
I. vessel traffic flow data resolution module
By delimiting rectangular area to specified domain, judge ship whether by the area by the latitude and longitude information in AIS data
Domain.Specifically determination methods are：
1) rectangular area summit A1、A2Constitute straight line f12, summit A3、A4Constitute straight line f34。
2) current ship coordinate x is substituted into straight line f12、f34, respectively obtain y1、y2；If income value y<y1And y>y2, then remember
It is the ship by current region, current region traffic flow data N adds 1.
3) setting time interval t, establish sb's identity ship within the t times only by the region once, then same ship is in t
In the interior ais signal sent, one is only taken by the ais signal in the region, traffic flow data N only adds 1.
4) count and specify in time range, traffic flow data N values obtained by the region are the regional traffic flow data.
II. vessel traffic flow data analysis fitting module
Vessel traffic flow data analysis fitting module is analyzed gained traffic flow data, to different traffic parameters
(including quantity, length, arrival time etc.) extracted.Each traffic flow parameter, builds the minimum probability of its difference respectively
Density function is fitted.It is specifically included：
1) dimension of ship is fitted
Dimension of ship distribution probability density matched curve meets normal distribution, and estimation acquisition probability density is carried out to its parameter
Breadth coefficient (μ, δ), can obtain probability density function as follows：
2) speed of the ship in metres per second fitting of distribution
Assuming that ship is up and downstream rate fitting of distribution curve meets normal distribution, determine that its estimates of parameters is respectively
(μ1,δ1), (μ2,δ2), probability density function can be obtained as follows：
In formula, x1Represent up speed of the ship in metres per second, x2Represent descending speed of the ship in metres per second.
3) away from fitting when between ship
Meet Possion distributions away from matched curve when between up ship, determine its Possion distributed constant λ value, it can be obtained
Probability density function is as follows：
In formula, t is time interval, 0<u<1.
It is distributed when between descending ship away from matched curve index of coincidence, new probability formula is as follows, determines its its distributed constant
β, can obtain probability density function as follows：
4) Vessels arrival rule is fitted
Ship, which is up to up to rule matched curve, meets Possion distributions, determines Possion distributed constant λ values, can obtain it
Probability density function is as follows：
Descending Vessels arrival rule matched curve distribution meets negative binomial distribution, determines its distributed constant (r, p), can obtain it
Probability density function is as follows：
III. vessel traffic flow emulates generation module
Random number seed is obtained by randomizer, the seed is mapped in ship's particulars probability density function,
Obtain meeting the stochastic variable of the probability density function.Vessel traffic flow is generated by stochastic variable and emulates data.It is specific such as
Under：
1) randomizer
The generation of equally distributed random number uses linear congruent algorithm, and the general recurrence formula of linear congruent algorithm is such as
Under：
xt=(a*xt-1+ c) mod (M) (12),
In formula：M is modulus, M>0；A, c are constant.
2) random number mapping method
Standardized normal distribution N (0,1) can be obtained by the following method：Produce two stochastic variables for meeting U (0,1) distributions
U1、U2, stochastic variable is mapped in standardized normal distribution by the formula in Box_Muller algorithms.
Normal distribution N (μ, σ2) generation of stochastic variable can produce by standardized normal distribution N (0,1).If random become
Measure X and obey standardized normal distribution N (0,1), Y obeys conventional normal distribution N (μ, σ2), then there are Y=μ+σ X.
3) vessel traffic flow Generation of simulating data method
Ship-borne equipment ship information data storehouse is set up, the ship attribute of generation is preserved.Numbering of the database comprising ship, type, generation
The fields such as time, length, width, speed and direction along ng a path.Simulated program is run within the given period, root in running
The time interval reached according to ship is continuously generated ship, and until simulation time terminates, its algorithm is as follows.
1st step, initialization.The input emulation time started, end time (End Time) and simulation time step-length (Step,
Unit is that s), the emulation time started is assigned to current time variable (Current Time)；The ginseng of ship property distribution rules is set
Number estimate.
2nd step, the time interval Inter Time that next ship is reached are obtained when calling between up ship away from generating function,
Calculate the time (NextTimeUp) that next up ship is produced:NextTimeUp=Current Time+Inter Time；
Obtain the time interval Inter Time that next ship is reached away from generating function when calling between descending ship, calculate next it is descending
The time (NextTimeDown) that ship is produced：NextTimeDown=Current Time+Inter Time.
3rd step, judges Current Time and End Time size, if Current Time are less than End Time,
The 4th step is then performed, otherwise terminates emulation.
4th step, judges NextTimeUp and NextTimeDown size, if NextTimeUp is less than
NextTimeDown, then be assigned to the time variable NextTime that next ship is produced, juxtaposition ship's navigation by NextTimeUp
Direction flag Direction=0, is shown to be up ship, also generates the time that next up ship is produced
NextTimeUp；If NextTimeUp is more than or equal to NextTimeDown, NextTimeDown is assigned to next ship
Time variable NextTime, juxtaposition direction of ship travel flag bit Direction=1 that oceangoing ship is produced, are shown to be descending ship, also
The time NextTimeDown that the descending ship of next of generation is produced.
5th step, judges Current Time and Next Time size, if Current Time are less than Next
Time, then perform the 6th step, otherwise go to the 7th step.6th step, temporally step-length promotes 1 step to simulated program, calculates current time：
Current Time, return to the 5th step.
7th step, generates ship attribute.Judge Direction state, if Direction=0, produce upriver boat
Oceangoing ship, calls the stochastic variable of up Ship Types, dimension of ship and speed of the ship in metres per second to produce function and generates corresponding ship attribute, and
By these attributes deposit ship-borne equipment ship information data storehouse, the 3rd step is returned；If Direction=1, descending ship is produced, is called down
The stochastic variable of row Ship Types, dimension of ship and speed of the ship in metres per second produces function and generates corresponding ship attribute, and is deposited into
Ship-borne equipment ship information data storehouse, returns to the 3rd step.
3rd, ship simulates the operation principle of console 3
Ship simulation console (3) is driven by Ship Controling, control and communicated, ship and equipment running status are shown, former
The module composition such as functional modules such as barrier alarm, constitutes " the cruiseway navigation safe simulation test platform based on hardware in loop
And method " main body hardware components.
Ship simulates the interface communication agreement between console host computer and slave computer：
I. speed：10/100Mbps is adaptive.
II.I/O communication modes：Poll；
III. slave computer is as Modbus TCP Server ends, and host computer is Modbus TCP Client ends；
IV. host computer access cycle：100ms；
V. the initial address of holding register is 001；
VI. Modbus function codes are used：0x03、0x06、0x10；
Content of communciation：
4th, monitoring and the operation principle of display system 4
Monitoring is made up of with display system 4 the triple channel what comes into a driver's projection display, multimedia sound equipment etc., is navigation channel test
Scene, cruiseway navigation environment computing module 1, vessel traffic flow analogue system 2 provide visualization and platform are presented.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand present disclosure and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So, it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (6)
1. a kind of cruiseway navigation safe simulation test platform based on hardware in loop, it is characterised in that：It includes：
Cruiseway navigation environment computing module, for the condition selected according to user, imports or defines and be under the conditions of this logical
Navigate element information；Described navigation element information includes safeguarding the depth of water, velocity field, topography variation and Channel Condition；
Vessel traffic flow analogue system, for being selected for user under conditions of traffic flow data, given birth to by Fitting Analysis
Into the Traffic Flow Simulation data met under the conditions of this, by parameter setting so that the Traffic Flow Simulation data of generation meet subjective need
Ask；Described vessel traffic flow analogue system includes：Vessel traffic flow data resolution module, for AIS, radar, CCTV videos
The parsing of data and traffic flow character analysis；Vessel traffic flow data analysis fitting module, for parsing traffic flow statistics data
And obtain vessel traffic flow relevant feature parameters；Vessel traffic flow emulation module is used to generate the Traffic Flow Simulation under specified parameter
Data；Main program module, the task scheduling for each composition intermodule；
Several ships simulate console, respectively by serial ports turn network port device and described kernel Navigation in Navigable computing module and
Vessel traffic flow analogue system carries out data interaction, for carrying out ship motion and manipulation, the l-G simulation test of device failure alert,
Monitoring Vessel's Description simultaneously carries out cruiseway Project Navigation Safety Assessment；Turn network port device using described serial ports, slave computer is based on asking
Ask that message automatically replies relevant device state message to host computer, host computer is that ship simulates console, and slave computer navigates for inland river
Road navigation environment computing module and vessel traffic flow analogue system；
Monitoring and display system, are connected with cruiseway navigation environment computing module and vessel traffic flow analogue system by serial ports
Connect, for the Vessel's Description and l-G simulation test data that display ship simulation console is obtained in real time on the map of Ha Noi navigation channel.
2. the cruiseway navigation safe simulation test platform according to claim 1 based on hardware in loop, its feature exists
In：Described cruiseway navigation environment computing module includes pattern of water flow and sediment model；Described pattern of water flow is calculated and adopted
Averaged Navier-Stokes equation group is calculated with the finite volume method of orthonormal curvilinear grid；Described sediment model is non-
Uniform non-constant sediment transport model.
3. the cruiseway navigation safe simulation test platform according to claim 1 based on hardware in loop, its feature exists
In：Described vessel traffic flow analogue system includes section ship traffic volume forecasting model and vessel traffic flow generation model；
Described traffic flow of section forecast model is using binding time sequence analysis and the optimization method of Kalman filtering；Described ship
Oceangoing ship traffic flow generation model is using improvement congruence method random number generator.
4. the emulation realized using the navigation safe simulation test platform of the cruiseway based on hardware in loop described in claim 1
Test method, it is characterised in that：It comprises the following steps：
S1, according to experiment needs, pass through cruiseway navigation environment computing module and input terrain data, boundary condition and initial strip
Part；Verified by measured data and debug cruiseway navigation environment computing module；
S2, vessel traffic flow analogue system obtain vessel traffic flow feature ginseng according to AIS, radar, CCTV Digital video resolutions
Number；
S3, ship simulation console drive according to Ship Controling and coupled with the formation of described cruiseway navigation environment computing module
Model, and result of calculation；Turn network port device by serial ports to send rudder angle, course and flight path line width to described monitoring with showing
Show system, with reference to Ha Noi navigation channel map, realize the online real-time display and monitoring of inland river navigation environment and vessel motion state.
5. simulating experimental according to claim 4, it is characterised in that：Described S1 is specially：Pass through input test
Terrain data, boundary condition and the primary condition of section, using fit orthonormal curvilinear grid, set up test section two, three dimensions
Learn model；By coupling averaged Navier-Stokes equation group and non-homogeneous non-constant sediment transport model, using wired
Volumetric method, which is solved, obtains the test section depth of water, velocity field and section topography variation.
6. simulating experimental according to claim 4, it is characterised in that：Described S2 is specially：
2.1st, by delimiting rectangular area to specified domain, judge ship whether by this according to the latitude and longitude information in AIS data
Rectangular area, statistics specifies the rectangular area traffic flow data in time range；
2.2nd, the traffic flow data of gained is analyzed, different traffic parameters is extracted, each traffic flow is joined
Number builds the minimum probability density function of its difference respectively；Traffic parameter includes the quantity, length, arrival time of ship；
2.3rd, random number seed is obtained by randomizer, random number seed is mapped to the probability of each traffic flow parameter
In density function, obtain meeting the stochastic variable of probability density function, generating vessel traffic flow by stochastic variable emulates data.
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