Route tracking for self-propelled ship model

摘要

To ensure the safety of the navigation, self-propelled ship model test is widely used in navigable administer engineering to visually and really reflect navigable condition, offering reasonable suggestions for the design of route. This paper proposed a video analysis based route tracking approach for self-propelled ship model that sails in large scale river models, which can realize automatic measurement for ship model motion parameters. Firstly, the captured videos of the self-propelled ship model are transferred to the computer via wireless local area network (WLAN). Then, the camera lens distortion is eliminated by rectify and aerial view is reconstructed. Third, ORB and binary BoF classifier are used to detect ship model. At last, through frame difference and Freeman chain-code, the coordinates of ship model's markers can be obtained. Moreover, on visual interactive interface, the route of the ship model is plotted, and velocities and drift angles of ship model are also calculated. This approach was tested on the several river models, such as Jianzishan navigation junction, which is a medium-sized water conservancy project located in the middle reaches of the Minjiang River. The results from the experiments demonstrate the approach can not only realize accurate measurement of coordinates of ship model, but also can visually map out the route of the ship model that sailing in large scale river models.