Research Review of Intelligent Navigation Simulation Technology and Its Applications

doi:10.16182/j.issn1004731x.joss.25-0421

Abstract

Abstract:

Navigation simulation develops models of ship navigation environments and behavior to simulate ship responses under various scenarios, enabling the prediction of ship behavior under complex and disturbing conditions. With the development of computer graphics, virtual reality, and artificial intelligence technologies in recent years, especially the development of unmanned ship technology, new research topics and applications have emerged in navigation simulation technology. This paper introduced the current research status and development trends of navigation simulation technology and reviewed it from three aspects: typical scenarios, key technologies, and development trends. The development trends and key points of multi-dimensional electronic navigationcharts, intelligent electronic navigationcharts, ship maneuvering mathematical models, navigation simulators, and other technologies were analyzed. The new trend of future intelligent navigation simulation, with "digital twin" and "virtual-real fusion testing and verification" as important development directions, was also clarified. Key technology breakthroughs and product development are the basis for continuously advancing intelligent simulation technology. This paper provides a systematic reference for research and applications in intelligent navigation simulation.

Key words: navigation simulation, electronic navigation chart, ship maneuvering mathematical model, digital twin, virtual-real fusion testing, navigation simulator

CLC Number:

TP391.9

Liu Tao, Li Hanxi, Yin Yong, Liu Jialun. Research Review of Intelligent Navigation Simulation Technology and Its Applications[J]. Journal of System Simulation, 2025, 37(7): 1684-1709.

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建模方法	优点	缺点
蒙特卡罗建模仿真	解决多级排队模型的解析值求解困难问题；比较真实地描述系统的运行、演变及其发展过程	随机数的质量严重影响了船舶交通流仿真的精度，需要复杂的选择随机数流程
元胞自动机仿真	以简单演化规则模拟复杂的非线性交通现象，易于编程、计算	对航速、船舶长度做了整数倍的近似化处理，船舶轨迹位置离散化，对内河小范围的仿真其误差比较大
多智能体仿真	基于个体特征和行为模拟个体间相互独立又交互作用的现象；基于每个智能体自身的适应性和进化性，可以适应突发情况	体系结构、编程语言和开发工具等方面还没有统一的规范，模型的实现非常复杂；多个 Agent 的运行需要复杂的计算

探测技术	优点	缺点
多波束声纳测深	探测精度高；可达米级、技术成熟；应用广泛	探测效率较低、成本较高
机载激光雷达测深	探测精度高；可达米级；探测覆盖范围广泛	受限于物理条件，目前只能对近海浅水水域进行测绘
卫星测高重力数据反演技术	探测覆盖范围广；覆盖全球；分辨率达到1'×1'	重力数据仅对大尺度的地形起伏变化敏感，且精度依赖于先验信息

项目	版本	数据来源	精度
ETOPO	ETOPO2	卫星重力反演数据、多波束声纳	2'×2'
	ETOPO2V2	卫星重力反演数据、多波束声纳	2'×2'
	ETOPO1	卫星重力反演数据、多波束声纳	1'×1'
	ETOPO2022	激光雷达卫星重力反演数据、多波束声纳	15''
SRTM	SRTM30+	单/双波束声纳、卫星重力反演数据	2'×2'
	SRTM15+V1.0		1'×1'
	SRTM15+V2.0		15''×15''
SWOT	SWOT	卫星重力反演数据、天基雷达测高	4.3'×4.3'

特性	传统APF	改进APF(如PGHAPF)
动态适应性	支持移动障碍物	增强突发机动应对能力
路径质量	可能振荡/不平滑	平滑且符合运动学约束
缺陷解决	易陷入局部极小值/GNRON/规则缺失	通过混合策略与规则嵌入得以大幅缓解
环境建模	简化障碍物(点/凸多边形)	支持任意形状(矢量电子海图集成)

模型类型	核心思想	优点	缺点
响应式模型	舵角到运动响应(黑箱)	简单、参数少、易辨识、计算快	物理意义不清、适用范围窄、无法预测细节
MMG模型	船体+桨+舵+干扰 (模块叠加)	物理清晰、模块化、适用范围广、可析因	较复杂、参数获取难(需试验/CFD)、计算量大
整体型模型	全局泰勒展开 (整体函数)	理论基础严谨、理论完整	参数极多、辨识极其困难、物理不直观、结构复杂