为实现舰船海上移动轨迹三维可视化呈现，使轨迹跟踪结果更加直观、易于理解，研究基于三维计算机导航辅助下的舰船海上移动轨迹跟踪方法。通过三维计算机导航系统搭载的多种传感器实时收集舰船和海洋环境的数据，输入到面向可细分对象的数据模型（SOODM）中，生成海上环境三维模型。依据三维计算机导航数据建立舰船运动模型，采用平方根容积卡尔曼滤波（SCKF）算法实现舰船海上移动轨迹的精准跟踪。实验结果表明，该方法能够有效跟踪舰船在海上的移动轨迹，跟踪点的位置与实际轨迹几乎完全拟合，并可实现舰船海上轨迹跟踪的三维可视化导航，为后续的决策和规划提供了有力支持。
In order to achieve three-dimensional visualization of ship's maritime movement trajectory and make the trajectory tracking results more intuitive and easy to understand, a ship's maritime movement trajectory tracking method based on three-dimensional computer navigation assistance technology is studied. Real time collection of ship and ocean environment data through various sensors mounted on a 3D computer navigation system, input into a data model oriented towards divisible objects (SOODM), and generate a 3D model of the marine environment. Based on three-dimensional computer navigation data, a ship motion model is established, and the square root volume Kalman filter (SCKF) algorithm is used to achieve accurate tracking of the ship's movement trajectory at sea. The experimental results show that this method can effectively track the movement trajectory of ships at sea, and the position of the tracking point is almost completely fitted to the actual trajectory. It can also achieve three-dimensional visualization navigation of ship sea trajectory tracking, providing strong support for subsequent decision-making and planning.
2025,47(6): 154-157 收稿日期：2024-5-26
DOI：10.3404/j.issn.1672-7649.2025.06.026
分类号：U675.7
作者简介：蒋玲玲（1979 – ），女，硕士，副教授，研究方向为软件开发和应用
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