Estimation And Presentation Of Navigational Situation Based On Integrated Navigation Display Console

With the increasing maritime traffic,navigation safety is facing more and more serious threats,and research on navigation situation assessment and display technology should also emerge.Based on a model display console,this paper designs and implements the new situation assessment and display system,which integrates and processes the information of various navigation sensors to provide a good information display and situation presentation for the mariners.And it improves the ability of supporting decision support,and has an important significance for ensuring the safety of underwater vehicles.Firstly,the design requirements of the underwater vehicle navigation situation display system are analyzed,to provide the basis for the selection of related hardware.Then,the overall design of the system structure is carried out,and the communication mode of the system is compared and selected,and the software and hardware platforms of the system are determined.Finally,the hardware composition of the system is analyzed and described.Secondly,the underwater vehicle situation estimation method in the ideal marine environment is studied.The situational estimation is divided into its own factor situation estimation and the situation estimation considering target,obstacle and track.The situation estimation of its own elements is mainly the situation estimation of position and heading accuracy.Combining with the different navigation states of the vehicle,the position established by the satellite navigation and inertial navigation is fused with the course established by the inertial navigation and compass,which are on the basis of the measurement errors of relevant navigation sensors and combining with historical data.The fuzzy logic algorithm is used to carry out local track planning,and the international rules for preventing collisions at sea are integrated.The simulation results show that the algorithm can realize the obstacle avoidance for vehicles and meet the international rules for avoiding collisions at sea.Thirdly,for the problem that the simple fuzzy logic algorithm in the complex marine environment is seriously deviated from the planned route and increases the risk of collision of the aircraft,a local track planning based on the improved Q learning algorithm is proposed.In order to overcome the balance among slow convergence,reliability distribution,exploration and utilization of traditional Q learning algorithms,an improved Q learning optimization method is proposed,which is improved by multi-agent reinforcement learning,improved reliability distribution function and introduction of counter mechanism.The simulation results show that the proposed method can be applied to the environment with current currents,and the planned track offset is smaller and the collision avoidance effect is better.Finally,the status display system of underwater vehicle is realized.The main contents of the situation display are analyzed,and the key technologies of hierarchical display and priority are designed in detail.The expressions of the situation map and the symbol of the elements are studied.The two development processes of situation data storage and processing are detailed,and the final display effect is presented.