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CN118364309B - A data matching method for real sea area-simulation scene-hull motion model - Google Patents

A data matching method for real sea area-simulation scene-hull motion model Download PDF

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CN118364309B
CN118364309B CN202410521251.8A CN202410521251A CN118364309B CN 118364309 B CN118364309 B CN 118364309B CN 202410521251 A CN202410521251 A CN 202410521251A CN 118364309 B CN118364309 B CN 118364309B
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CN118364309A (en
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何春荣
卜淑霞
杨晨
储纪龙
朱漳
张培杰
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702th Research Institute of CSIC
Taihu Laboratory of Deep Sea Technological Science
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Taihu Laboratory of Deep Sea Technological Science
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Abstract

The invention discloses a data matching method of a real sea area-simulated vision-hull motion model, which relates to the technical field of ship tests and comprises the steps of dividing a visual simulation platform display area to form an inner field, a transition area and an outer field; the method comprises the steps of determining wave fields in an inner field area and an outer field area to obtain the relative positions of a target ship and inner field waves, inputting the relative positions of the target ship and the inner field waves, paddle rudder information and control signals of the target ship to a ship body motion mechanics model to obtain ship motion response results, wherein the ship motion response results comprise various stress and six-degree-of-freedom motion conditions of the ship body, matching the wave fields in the inner field area and the wave fields in the outer field area to determine a wave field in a transition area, and displaying the ship body motion gesture in real time in a visual simulation platform according to the six-degree-of-freedom motion conditions of the ship body, and waves in the inner field, the transition area and the outer field. The continuous and smooth picture is ensured through data matching, and the navigation process of the ship in the complex environment can be more truly depicted.

Description

Data matching method for real sea area-simulated vision-ship body motion model
Technical Field
The invention relates to the technical field of ship tests, in particular to a data matching method of a real sea area-simulation view-ship body motion model.
Background
The semi-physical simulation is connected with real-time manipulation of physical equipment or people in a simulation loop, is more practical in comparison with a virtual simulation technology, is more economical and efficient in comparison with a traditional physical test, and has the advantage of no substitution in the process of product development and performance test, in particular to research on complex conflict problems. The technology is applied to the field of ships, and a navigation simulator is developed and is used for driving training of crews. The actual degree and accuracy of the existing platform cannot meet the research requirements of ship sailing performance, and the main problem is that too much simplified processing is performed in the process of representing the wave environment and solving the ship motion, so that the interaction of the ship, the environment and operators cannot be accurately reflected.
At present, the prior art mainly adopts a frequency spectrum method to realize wave simulation by linearly superposing a plurality of sine waves, but does not use a data driving mode to present a view, so that the actual motion of the waves is depicted and distorted, and the motion of the three-dimensional waves cannot be reflected truly. In addition, the real-time change of the waves is not considered when the ship is stressed, an empirical formula is used, the obtained ship motion gesture is insufficient in precision, the change characteristics of the waves cannot be reflected, the ship-wave relative motion displayed in the picture is inconsistent, and the simulation result is not practical. Therefore, the existing semi-physical simulation platform cannot truly draw the navigation process of the ship after manual control in a complex environment.
Disclosure of Invention
The invention provides a data matching method of a real sea area-simulation view-hull motion model, which is oriented to the requirements of ship navigation performance research and control strategy effect evaluation and the current situation that an effective method is lacking in building a real marine environment and calculating accurate ship motion, integrates control signals and reflects physical data, and can be used for building a simulation platform considering the environment-ship-control factor coupling effect in high sea conditions.
The technical scheme of the invention is as follows:
A data matching method of a real sea area-simulation view-hull motion model comprises the following steps:
Dividing a visual simulation platform display area, and sequentially forming an inner field, a transition area and an outer field from the initial position of a target ship to the outside;
Determining wave fields of an infield region and an outfield region to obtain the relative positions of the target ship and infield waves;
Inputting the relative position of the target ship and the infield wave, the paddle rudder information and the control signal of the target ship to a ship body kinematic model to obtain a ship motion response result, wherein the ship motion response result comprises various stress and six-degree-of-freedom motion conditions of the ship body;
matching the inner field area wave field with the outer field area wave field, so as to determine a transition area wave field;
And displaying the motion gesture of the ship body, and waves of an inner field, a transition zone and an outer field in real time in the visual simulation platform according to the six-degree-of-freedom motion condition of the ship body.
The further technical scheme is that an inner field, a transition zone and an outer field are formed outwards in sequence by taking the initial position of a target ship as the center, and the method comprises the following steps:
Selecting a target ship and setting an initial ship position;
Dividing a region in a certain range around a ship body into an inner field by taking a longitudinal section in the ship as a symmetrical plane, wherein the boundary of the inner field is a ship length y 1 times away from the front of the ship bow in the longitudinal direction, a ship length y 2 times away from the ship astern, and two sides of the inner field are respectively a ship length x 1 times away from a central line surface in the transverse direction;
The same symmetrical plane is used for expanding and constructing a transition zone outwards by taking an internal field as a center, wherein the boundary is that two sides are respectively spaced from the corresponding internal field boundary y 3 times of the ship length in the longitudinal direction, and the other two sides are respectively spaced from the corresponding internal field boundary x 2 times of the ship length in the transverse direction;
Outside the transition zone, the remaining presentation area of the visual simulation platform is defined as the outer field.
The further technical scheme is that the method for determining the wave field in the inner field area comprises the following steps:
Acquiring instantaneous wave surface data of a real sea area around a ship body, removing abnormal measurement data through multistage filtering, fitting discrete three-dimensional wave surface point cloud data, carrying out inversion of a real sea area wave field, and carrying out secondary development based on a visual simulation platform to form a ship circumference actual measurement wave spectrum function which is directly applied to visual simulation and a mechanical model;
And generating infield waves based on the actual wave spectrum function measured around the ship according to the set wave grade.
The further technical scheme is that the method for determining the wave field in the inner field area further comprises the following steps:
Extracting characteristic parameters according to the actually measured ship Zhou Xingbo interference field, and superposing a ship Zhou Xing wave field on the original internal field wave field displayed by the visual simulation platform, wherein the characteristic parameters comprise a wave making range, wave crest and wave trough spacing and distribution angles.
The further technical scheme is that the method for determining the wave field in the external field area comprises the following steps:
And according to the sea water color, the ocean current direction and the wave surface height data obtained by real ocean satellite observation, restoring the wave effect of the external field area in the visual simulation platform by adopting a mixed reality technology.
The further technical scheme is that the method for calculating the ship motion response result comprises the following steps:
According to the control signal, the navigational speed and rudder angle of the target ship are correspondingly changed, the wet surface area formed by the relative positions of the target ship and the internal field waves is calculated in an integral mode, so that the physical force, the oar force, the rudder force, the wave force, the wind force, the flow force and the acting force of other ships on the target ship in the current working condition of the ship are calculated, and then the motion conditions of six degrees of freedom of ship pitching, rolling, swaying and swaying are deduced through a ship body motion mechanical model.
The further technical scheme is that the wave fields of the inner field area and the outer field area are matched, so that the wave field of the transition area is determined, and the method comprises the following steps:
Converting three-dimensional wave surface data of an inner field and an outer field into a two-dimensional gray image, dividing grids along the height direction by taking a water plane as a center according to the principle from dense to sparse, matching grid nodes of the inner field boundary and the outer field boundary at the water plane through a SIFT algorithm, and obtaining wave heights of the inner field boundary and the outer field boundary;
Assuming that n points are distributed in each wavelength direction in a transition zone according to a mode of generating a wave field in an infield region, recording the boundary distance between an ith point in the n points and the infield as d i, and the corresponding wave height as h i;
Then, according to the wave field generation mode of the external field area, m points are distributed in each wavelength direction in the transition area and are not overlapped with the distribution positions of the n points, the j point in the m points is recorded as d j with the boundary distance of the external field, and the corresponding wave height is h j;
According to the distance weighted interpolation concept, the wave height H at the actual node in each wavelength in the transition region is calculated in turn by using the following:
The further technical scheme is that in order to ensure that the number of nodes in each wavelength direction in the transition region is enough, the values of m and n are not less than the power 7 of 2.
The method further comprises the following steps:
when the in-field waves are displayed in the visual simulation platform in real time, the waveform distribution around the ship in the in-field is adjusted according to the six-degree-of-freedom motion condition of the ship body and the control signals, the relative positions of the target ship and the in-field waves are updated in real time, and the ship motion response result is recalculated.
The beneficial technical effects of the invention are as follows:
(1) The method comprises the steps of dividing a visual simulation platform display range into different areas, using real sea area measurement wave surface data to replace a traditional theoretical two-dimensional long-peak wave spectrum in an inner field area with higher accuracy and authenticity requirements, inputting a ship motion model to perform calculation, using real satellite meteorological data to restore ocean effects through a mixed reality technology in an outer field area without the ship motion calculation, and realizing wave phase matching through a transition area so as to improve efficiency and meet the maximum calculation time of picture display.
(2) According to the ship body motion attitude and the control signal, the relative position of the target ship and the infield wave is judged in real time, the wave force borne by the ship is calculated by adopting a time domain method, and compared with a frequency domain method or an empirical formula adopted by the main flow technology, the method can reflect the interaction of the ship, the environment and an operator while improving the calculation accuracy.
(3) Characteristic parameters such as wave-making range, wave crest and wave trough spacing, distribution angle and the like are extracted by the actually measured ship Zhou Xingbo interference field, wave surface distribution conditions near the ship body during ship movement are fully restored, and the method is different from the method of directly superposing the simple ship wave-making effect in the vision in the prior art, and is more fit with reality under reversing, rotation, Z-type movement or random control states.
Drawings
Fig. 1 is a flow chart of a data matching method of a real sea area-simulated vision-ship body motion model provided by the application.
FIG. 2 is a diagram of a semi-physical simulation platform frame for ship maneuvering in waves.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
The application provides a data matching method of a real sea area-simulation view-ship body motion model, which is described with reference to fig. 1 and 2, and specifically comprises the following steps:
And step 1, dividing a visual simulation platform display area, and sequentially forming an inner field, a transition area and an outer field outwards by taking the initial position of a target ship as the center.
And selecting a target ship, setting the initial position of the ship, and forming a simulation platform vision display pattern which integrates an internal field, a transition region and an external field and expands layer by layer from inside to outside. Specifically, the longitudinal section in the ship is taken as a symmetrical plane, the area in a certain range around the ship body is divided into inner fields, the boundary of the inner fields is y 1 times of the ship length in the longitudinal direction from the front of the ship bow, y 2 times of the ship length from the ship astern, two sides of the inner fields are respectively x 1 times of the ship length from the central line plane in the transverse direction, the same symmetrical plane is used for expanding and constructing a transition area outwards by taking the inner fields as the center, the boundary of the inner fields is y 3 times of the ship length in the longitudinal direction, the other two sides of the inner fields are respectively x 2 times of the ship length in the transverse direction from the boundary of the corresponding inner fields, and the rest display area of the visual simulation platform is defined as an outer field outside the transition area.
In this embodiment, the target ship is selected as an ONR (office of NAVAL RESEARCH, naval institute) internal tilting ship, the length between the vertical lines (i.e. the ship length) is 154m, according to the set initial position of the ship, the intersection point of the center line plane, the middle standing plane and the base plane of the ship is taken as the origin of coordinates, a rectangular coordinate system O-xyz of the ship body is constructed, the x axis is the intersection line of the middle standing plane and the base plane, the starboard direction is taken as the positive (transverse direction), the y axis is the intersection line of the center line plane and the base plane, the bow direction is taken as the positive (longitudinal direction), the z axis is taken as the positive direction, and y 1＝x1＝1,y2＝1.5,y3＝3,x2 =2 is set. An internal field region with the longitudinal length 539m and the transverse width 308m is divided by taking an origin as the center, the boundary of the internal field region is longitudinally separated by 154m from the front of the bow and 231m from the rear of the bow, the internal field is taken as the center to expand outwards, a 924m multiplied by 616m (longitudinal multiplied by transverse) transition region is constructed, the display range of a simulation platform can be transformed according to the visual angle selected by an operator, and the region outside the transition region is uniformly defined as an external field.
And 2, determining a wave field in the infield region to obtain the relative position of the target ship and the infield wave.
The method comprises the steps of acquiring instantaneous wave surface data of a real sea area around a ship body by adopting wave measurement radar, binocular identification and other technologies, removing abnormal measurement data through multistage filtering, fitting discrete three-dimensional wave surface point cloud data, carrying out inversion of a real sea area wave field, carrying out secondary development based on a visual simulation platform to form a ship circumference actual measurement wave spectrum function which can be directly applied to visual simulation and a mechanical model, generating internal field waves based on the ship circumference actual measurement wave spectrum function according to a set wave grade, transmitting the wave data to a semi-physical simulation platform, displaying the real sea area waves in the internal field area range determined in the step 1, extracting characteristic parameters according to an actual measured ship Zhou Xingbo interference field, and superposing a ship Zhou Xing wave field on an original internal field wave field displayed by the visual simulation platform. After the infield wave is obtained, the characteristic units are used for completing the dispersion near the water plane of the ship body, and the relative position of the target ship and the infield wave can be determined by matching the wave surface shape with the object plane condition of the water plane and combining the current ship motion gesture.
In this embodiment, according to the ship Zhou Xing wave fields under different navigational speeds and different drift angles in still water, characteristic parameters such as a wave-making range, wave crest and trough distances, distribution angles and the like are extracted, and a ship periphery wave-making characterization model is built so as to reflect the real ship Zhou Xing wave fields under different working conditions.
And 3, inputting the relative position of the target ship and the infield wave, the paddle rudder information and the control signal of the target ship to a ship body motion mechanics model to obtain a ship motion response result.
The method comprises the steps of inputting the paddle rudder information of a target ship, monitoring control signals including a car clock signal and a rudder signal in real time, receiving an operator command through a man-machine interface technology, realizing transmission through a high-flux communication technology, and calculating various stresses of the ship at the current moment, including ship strength, paddle strength, rudder strength, wave force and the like by utilizing a dynamic link database generated by a ship body kinematic model. In this embodiment, in addition to the size information of the rudder, the size information of the rudder is stored together with the maneuverability hydrodynamic derivative, the drag coefficient, the rolling damping coefficient, the installation mode of the rudder, the interference coefficient of the rudder and the like of the ship to a database, after the target ship is determined, related data are called by a simulation platform to input a mechanical model, the data are respectively used for calculating the stress of the ship in the current working condition, after receiving the changed clock signal and rudder signal, the speed and rudder angle of the target ship are correspondingly changed, the integral calculation is performed on the wet surface area formed by the relative positions of the target ship and the internal field wave, so as to calculate the physical force, the oar force, the rudder force, the wave force, the wind force, the flow force and the acting force of other ships on the target ship in the current working condition, the influence of the wave on the ship body motion is fully represented, and the motion conditions of the ship pitching, rolling, bow rolling, heave and pitching are obtained through the ship motion mechanical model derivation.
The ship body motion model selected in this embodiment is implemented based on an existing mechanical model, and will not be described in detail herein.
And 4, transmitting the calculated ship motion response result to a visual simulation platform by using a network communication protocol, using a data compensation technology to ensure that the display effect is smooth and does not jam, feeding the ship motion back to a peri-shipborne wave representation model, adjusting waveform distribution around the ship in an infield according to six-degree-of-freedom motion conditions and control signals when the infield waves are displayed in real time in the visual simulation platform, updating the relative positions of the target ship and the infield waves in real time, and calculating the ship motion response result again according to the mode of the step 3.
And 5, determining the wave field in the external field area.
And (3) when the step (2) is carried out, according to the sea water color, the ocean current direction and the wave surface height data obtained by the observation of the real ocean satellite, the wave effect of the external field area is restored in the visual simulation platform by adopting a mixed reality technology, and the wave effect is transmitted to the visual simulation platform through a network communication protocol as an environmental parameter in combination with weather such as sunny, rainy, foggy and snowy which are selected manually, so that wave field information in a larger range in visual simulation is formed.
And 6, matching the wave fields in the inner field area and the outer field area so as to determine the wave field in the transition area.
In order to improve the matching speed, three-dimensional wave surface data of an inner field and an outer field are converted into a two-dimensional gray image, grids are divided in the height direction by taking an interface (namely a water plane) of water and air as a center according to a principle from dense to sparse, grid nodes of the inner field boundary and the outer field boundary at the water plane are matched through a SIFT (SCALE INVARIANT Feture Transform, scale invariance feature transformation) algorithm, and wave heights of the inner field boundary and the outer field boundary are obtained. Assuming that n points are distributed in each wavelength direction in the transition region according to the mode of generating the wave field in the infield region in the step 2, the distance between the ith point in the n points and the boundary of the infield is denoted as d i, and the corresponding wave height is denoted as h i. And then, assuming that m points are distributed in each wavelength direction in the transition region according to the mode of generating the wave field in the external field region in the step 5 and are not overlapped with the distribution positions of n points, the j-th point in the m points is recorded as d j from the boundary of the external field, and the corresponding wave heights are h j,hi and h j, so that the corresponding virtual values at different positions in the transition region can be understood. According to the distance weighted interpolation concept, the wave height H at the actual node in each wavelength in the transition region is calculated in turn by using the following:
It should be noted that, to ensure that the number of nodes in each wavelength direction in the transition region is sufficient, it is recommended that the values of m and n are not less than the power 7 of 2, and the values are increased according to 2 n when the values are changed.
And 7, displaying the motion gesture of the ship body, and waves of an inner field, a transition area and an outer field in real time in the visual simulation platform according to the six-degree-of-freedom motion condition of the ship body.
And 8, repeating the steps 2-7, and storing the calculated data and the received signals to a data server in real time for subsequent analysis of the ship maneuvering performance in the waves until an operator finishes the simulation test.
In this embodiment, the calculation data includes the results of real-time calculation of the accelerations of six degrees of freedom in total of the longitudinal acceleration, the lateral acceleration, the vertical acceleration, the roll acceleration, the pitch acceleration, the yaw acceleration, the longitudinal speed, the lateral speed, the roll speed, the pitch speed, the yaw speed, and the speed of six degrees of freedom in total, and the lateral position, the longitudinal position, the vertical position, the heading angle, the roll angle, and the pitch angle.
According to the data matching method of the real sea area-simulated vision-hull motion model, which is provided by the application, the calculation accuracy and the image authenticity are considered, an inner field-transition area-outer field three-in-one mode is formed, the simulation platform vision display pattern which is expanded layer by layer from inside to outside is formed, the inner field is based on real sea area measurement wave data, the outer field adopts a mixed reality technology to restore real wave effect according to satellite meteorological data, wave phase matching is carried out through the transition area to ensure continuous and smooth images, meanwhile, the control signals of operators are received in real time, the interaction of ships, environments and operators is considered, real sea area actual measurement data and the control signals are input into the hull motion mechanical model together to carry out calculation, and compared with the existing semi-physical simulation technology, the navigation process of the ship in the complex environment is more truly depicted.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.

Claims (6)

1.一种实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，包括：1. A data matching method of real sea area-simulated scene-hull motion model, characterized by comprising: 划分视景仿真平台展示区域，以目标船舶的初始位置为中心向外依次形成内场、过渡区、外场；The visual simulation platform display area is divided into an inner field, a transition area, and an outer field, with the initial position of the target ship as the center and extending outward in sequence; 确定内场区域和外场区域波浪场，得到目标船舶与内场波浪的相对位置；Determine the wave fields in the inner and outer areas, and obtain the relative position of the target ship and the inner field waves; 将所述目标船舶与内场波浪的相对位置、目标船舶的船桨舵信息和操控信号输入至船体运动力学模型，得到船舶运动响应结果，包括船舶各种受力和船体六自由度运动情况；The relative position of the target ship and the infield waves, the propeller and rudder information of the target ship and the control signal are input into the hull motion mechanics model to obtain the ship motion response result, including various forces on the ship and the six-degree-of-freedom motion of the hull; 将所述内场区域和外场区域波浪场进行匹配，从而确定过渡区域波浪场；Matching the wave fields of the inner field area and the outer field area to determine the wave field of the transition area; 依据所述船体六自由度运动情况在视景仿真平台中实时展示船体运动姿态，以及所述内场、过渡区、外场的波浪；According to the six-degree-of-freedom motion of the hull, the motion posture of the hull and the waves in the inner field, transition area and outer field are displayed in real time on the visual simulation platform; 其中，确定内场区域波浪场，得到目标船舶与内场波浪的相对位置，包括：获取船体周围实海域的瞬时波面数据，经过多级滤波剔除异常测量数据后，拟合离散三维波面点云数据并开展实海域波浪场的反演，基于所述视景仿真平台进行二次开发，形成直接应用于视景仿真和力学模型的船周实测波浪谱函数；Among them, determining the wave field in the inner field area and obtaining the relative position of the target ship and the inner field waves include: obtaining instantaneous wave surface data of the real sea area around the hull, removing abnormal measurement data through multi-level filtering, fitting discrete three-dimensional wave surface point cloud data and performing inversion of the wave field in the real sea area, and performing secondary development based on the visual simulation platform to form a spectrum function of the measured waves around the ship that is directly applied to the visual simulation and mechanical model; 根据设定的波浪等级，基于所述船周实测波浪谱函数生成内场波浪；According to the set wave level, generating the inner field waves based on the wave spectrum function measured around the ship; 得到所述内场波浪后，在船体水线面附近使用特征单元完成离散，通过波面形状与水线面的物面条件匹配，结合当前船体运动姿态确定目标船舶与内场波浪的相对位置；After obtaining the inner field waves, the characteristic unit is used to complete discretization near the hull water plane, and the relative position of the target ship and the inner field waves is determined by matching the wave surface shape with the physical surface condition of the water plane and combining the current hull motion posture; 其中，计算船舶运动响应结果，包括：The calculation results of ship motion response include: 根据所述操控信号所述目标船舶的航速、舵角均发生相应变化，对所述目标船舶与内场波浪的相对位置形成的湿表面积进行积分计算，以计算船舶在当前工况中的船体力、桨力、舵力、波浪力、风力、流力及其他船舶对所述目标船舶的作用力，再通过所述船体运动力学模型推导得到船舶纵荡、横荡、艏摇、横摇、垂荡和纵摇六个自由度的运动情况；According to the control signal, the speed and rudder angle of the target ship are changed accordingly, and the wet surface area formed by the relative position of the target ship and the inner field waves is integrated to calculate the hull force, oar force, rudder force, wave force, wind force, flow force and the forces acting on the target ship by other ships in the current working condition, and then the motion conditions of the six degrees of freedom of the ship, namely, surge, sway, pitch, roll, heave and pitch, are derived through the hull motion mechanics model; 其中，将所述内场区域和外场区域波浪场进行匹配，从而确定过渡区域波浪场，包括：The step of matching the wave fields of the inner field area and the outer field area to determine the wave field of the transition area includes: 将内外场的三维波面数据转化为二维灰度图像，按照由密到疏的原则，以水线面为中心沿高度方向划分网格，通过SIFT算法匹配内场边界和外场边界在水线面处的网格节点，并得到内场边界和外场边界的波高；The three-dimensional wave surface data of the internal and external fields are converted into two-dimensional grayscale images. According to the principle of dense to sparse, the grid is divided along the height direction with the water plane as the center. The grid nodes of the internal and external field boundaries at the water plane are matched by the SIFT algorithm, and the wave heights of the internal and external field boundaries are obtained. 假设按照内场区域波浪场生成方式，在所述过渡区内的每个波长方向上分布n个点，记所述n个点中的第i个点与内场边界距离为d i，对应的波高为h i；Assuming that the wave field in the inner field area is generated in a manner, n points are distributed in each wavelength direction in the transition area, and the distance between the i- th point and the inner field boundary among the n points is d i , and the corresponding wave height is h i ; 再假设按照外场区域波浪场生成方式，在所述过渡区内的每个波长方向上分布m个点，且与n个点的分布位置不重合，记所述m个点中的第j个点与外场边界距离为d j，对应的波高为h j；Assume that according to the wave field generation method of the external field area, m points are distributed in each wavelength direction in the transition area, and the distribution positions of the n points do not overlap. The distance between the jth point of the m points and the external field boundary is d j , and the corresponding wave height is h j ; 按照距离加权内插思想，利用下式依次计算过渡区内每个波长内实际节点处的波高H：According to the distance weighted interpolation concept, the wave height H at the actual node in each wavelength in the transition zone is calculated in turn using the following formula: 。 . 2.根据权利要求1所述的实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，所述以目标船舶的初始位置为中心向外依次形成内场、过渡区、外场，包括：2. The data matching method of real sea area-simulated scene-hull motion model according to claim 1 is characterized in that the inner field, transition area and outer field are formed outward in sequence with the initial position of the target ship as the center, including: 选择目标船舶并设置船舶初始位置；Select the target ship and set the initial position of the ship; 以船舶中纵剖面为对称面，将船体周围一定范围内的区域划分为内场，其边界为在纵向上距船艏前方y1倍船长，距船艉后方y2倍船长，两侧在横向上分别距中线面x1倍船长；Taking the mid-longitudinal section of the ship as the symmetry plane, the area within a certain range around the hull is divided into the inner field, whose boundaries are y 1 times the ship length in front of the bow in the longitudinal direction, y 2 times the ship length in the rear of the stern, and x 1 times the ship length in the transverse direction on both sides; 使用相同的对称面以所述内场为中心向外扩展构建过渡区，其边界为两侧在纵向上分别距相应内场边界y3倍船长，另两侧在横向上分别距相应内场边界x2倍船长；Use the same symmetry plane to expand outward from the inner field as the center to construct a transition zone, whose boundaries are y 3 times the ship length from the corresponding inner field boundary on both sides in the longitudinal direction, and x 2 times the ship length from the corresponding inner field boundary on the other two sides in the transverse direction; 在所述过渡区外侧，将所述视景仿真平台的剩余展示区域定义为外场。Outside the transition area, the remaining display area of the visual simulation platform is defined as an outer field. 3.根据权利要求1所述的实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，确定内场区域波浪场，还包括：3. The data matching method of real sea area-simulated scene-hull motion model according to claim 1 is characterized in that determining the wave field in the inner field area also includes: 根据实测的船周兴波干扰场提取特征参数，并在所述视景仿真平台展示的原有内场波浪场上叠加船周兴波场，所述特征参数包括兴波范围、波峰波谷间距、分布角度。Characteristic parameters are extracted according to the measured wave-making interference field around the ship, and the wave-making field around the ship is superimposed on the original inner field wave field displayed on the visual simulation platform. The characteristic parameters include wave-making range, wave crest and trough spacing, and distribution angle. 4.根据权利要求1所述的实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，确定外场区域波浪场，包括：4. The data matching method of real sea area-simulated scene-hull motion model according to claim 1 is characterized in that determining the wave field in the outer field area comprises: 根据真实海洋卫星观测得到的海洋水色、海流方向、波面高度数据，采用混合现实技术在所述视景仿真平台中还原外场区域波浪效果。Based on the ocean water color, current direction, and wave height data obtained from real ocean satellite observations, mixed reality technology is used to restore the wave effects in the outdoor area in the visual simulation platform. 5.根据权利要求1所述的实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，为确保过渡区内每个波长方向的节点数量足够，m和n的取值不小于2的7次方。5. The data matching method of real sea area-simulated scene-hull motion model according to claim 1 is characterized in that, in order to ensure that the number of nodes in each wavelength direction in the transition zone is sufficient, the values of m and n are not less than 2 to the seventh power. 6.根据权利要求1-5任一所述的实海域-仿真视景-船体运动模型的数据匹配方法，其特征在于，所述方法还包括：6. The data matching method of real sea area-simulated scene-hull motion model according to any one of claims 1 to 5, characterized in that the method further comprises: 在视景仿真平台中实时展示内场波浪时，依据所述船体六自由度运动情况和操控信号调整内场中船舶周围的波形分布，并实时更新所述目标船舶与内场波浪的相对位置，重新计算船舶运动响应结果。When the inner field waves are displayed in real time in the visual simulation platform, the waveform distribution around the ship in the inner field is adjusted according to the six-degree-of-freedom motion of the hull and the control signal, and the relative position of the target ship and the inner field waves is updated in real time, and the ship motion response result is recalculated.
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