Research On Key Technologies Of 3D Vision System For Ice Area Navigation Simulator

In recent years,with the continuous development of navigation technology and the intensification of the greenhouse effect,the global temperature has risen and the glaciers have melted rapidly.This has made it possible to have a navigable area in the covered waters of the glaciers,making it possible to navigate the ice area.It has also become a hot research direction.For China,in the development of China's navigation business,the key technology of the ice area navigation simulator is studied.For the particularity of the polar waterway,the ice area navigation simulator can be used to train the crew of the ice area,and it can be faster.Train the people involved in the ice voyage.The three-dimensional visual system in the ice area navigation simulator is the focus of the entire technology research.The sea ice fragmentation model in the three-dimensional visual system of the ice area navigation simulator is one of the key research,and the bending damage is the main broken form of sea ice in the process of the icebreaker.The establishment of the sea ice bending and fracture model needs to be combined with the ice-breaking speed,sea ice thickness,collision position and other factors of the ice-breaking ship,which reflects the real-time and authenticity of the icebreaking in the ice area.Finally,the geometrical modeling of sea ice is carried out by using the bending and crushing method.The data and scene are optimized during the collision between the icebreaker and the sea ice to realize the visual simulation of the ship-ice continuous collision in the ice area navigation,and finally the ice area is used.The navigation simulator trains the crew on the corresponding ice area navigation operations.The main research contents of this paper are as follows:(1)Incorporate the classification of sea ice types,and analyze the basic physical and mechanical properties of sea ice to determine several major fracture modes of sea ice.Through the geometrical analysis of the way of contact with sea ice during the process of icebreaker,it is determined that the main crushing mode of sea ice in ship-ice collision is bending fracture mode.(2)In order to facilitate the establishment of the geometric fracture model,an idealized assumption is made for the bending and fracture mode of sea ice.Using the empirical formula of the sea ice fracture radius,geometric modeling of the sea ice fracture range during the ship ice collision phase is carried out,and a graphical analysis of the collision between the icebreaker and the sea ice is carried out.A comprehensive force analysis is carried out on the ship ice collision contact stage,and the force formula of the ship in six degrees of freedom during the icebreakingprocess is obtained.(3)In the 3D simulation experiment,the ship-ice collision detection is realized based on the bounding box theory.By using the quadtree spatial index method for the scene management of sea ice,the utilization efficiency of the sea ice scene is improved,and the sea ice module is precrushed by the Voronoi diagram algorithm to improve the ship-ice collision detection time efficiency.Finally,the bending and fracture geometry model is applied to the ship ice collision simulation process,and the sea ice in the broken range is broken to improve the authenticity and real-time of the vision.