JPS5950376A - Display device for navigation - Google Patents

Abstract

PURPOSE:To display wake information of the own ship and other ship, and navigation information such as a course, speed, etc., and a radar video, etc. on the same CRT, by basing on a technique of a wake display device and a radar, and utilizing a chart information for track-processing of a radar echo. CONSTITUTION:An own ship wake processing part 1 converts position information sent from a navigation device and sends it as chart information and wake informtion to a wake display part 2. Information sent from a radar is received by a radar interface 6, and a target tracking part 8 compares radar echo information with tracking unnecessary information from a control part 5, decides it, eliminates a land echo, extracts position information of other ship, and sends it to a display part 10 through an other ship route processing part 9. A mixer 3 synthesizes a video signal of a wake of the own ship and chart information, etc. from the wake display part 2 and a video signal of a radar video and a wake of other ship, navigation information, etc. from the display part 10, sends it to an indicator 4, and the indicator 4 displays the chart information, classified routes of the own ship and other ship, the navigation information and the radar video, on a CRT.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention uses several colors to color code own ship and other ships based on own ship's position information, direction information, and radar information of other ships obtained from navigation equipment, gyrocompass, and radar. The position, track, navigation, and nautical chart information of the own ship and other ships are displayed on the same color CRT, and the navigation display device is designed to emit a Q bottle if another ship enters a dangerous area. It's also one inch.

Conventionally, as an example of this type of device, a track display device has been proposed that displays past and present own ship position information on a color CRT using the Mercator projection. They relied on radar to obtain information about other ships sailing near their own ship.

Radar can display the wake of each other ship by storing and stacking the echo information obtained with each sweep in memory corresponding to the scan, but radar recognizes the wake of each other ship and color-codes it. is something that cannot be expressed as such. Therefore, the radar displayed all tracks of other ships in a single color.

In addition, some radars have been proposed that are equipped with a device that monitors echo information, extracts only moving targets, tracks them, recognizes them as other ships, and identifies the track of each other ship with marks, etc. However, this type of device is capable of extracting moving targets.

In tracking, it is necessary to rely solely on the strength or shape of the echoes to distinguish between echoes from land and echoes from other ships, and there are certain limits to reliable identification. Furthermore, when using Torera radar and radar addition equipment to indicate the position of another ship (7), the relative position to one's own ship can be determined, but the absolute position in terms of latitude and longitude cannot be recognized. For example, there are certain limitations in accurately monitoring the entry of other ships into dangerous areas and issuing warnings.

An object of the present invention is to provide a navigation display device which eliminates the above-mentioned conventional drawbacks, and which is based on the above-mentioned track display device and radar technology, but utilizes nautical chart information in radar echo tracking processing. By doing so, we can calculate the latitude and longitude position information of each other ship and monitor their navigation status, and also calculate the nautical chart information such as the scale of the sea area, latitude lines, longitude lines, coastlines, dangerous areas, etc. Track information and course of own ship and other ships are coded in several colors.

Navigation information such as speed, radar images, etc. are displayed on the same CRT in a superimposed manner, divided, or arbitrarily selected, and a warning is issued when another ship enters a dangerous area or a predetermined area. The purpose is to emit.

Hereinafter, the first invention will be explained in detail with reference to the drawings.

1st @ke is a configuration diagram of an embodiment of the navigation display device according to the present invention, where ■ is an own ship's track processing section, 2 is a track display section, 3 is a mixer, 4 is a color display, 5d5 is a control section, 6 is a radar interface, 7 is a radar image processing unit, 8 is a target tracking unit 1
, 9 is another ship's track processing section, and 10 is a display section.

Next, to describe these operations, the own ship's track processing unit 1 sets the scale of the sea area to be displayed and the initial values for drawing the latitude and longitude lines, and stores them in the internal memory in advance. The information is sent to the track processing section 2 together with the information on the coastline, dangerous area, destination, etc., which has been or has been memorized, and preparations are made to display it on the color display 4. In addition, the self-contained track processing unit 1 sequentially stores and saves position information indicating the latitude and longitude of the own ship sent from a navigation device that measures the own ship's position, such as a Loran navigation device or a satellite navigation device, in an internal memory. At the same time, it converts the generated nautical chart into information that can be displayed as the own ship's track, adds color or mark information that can be clearly identified as the own ship's track, and displays the position information from the navigation device.
, if the information is sent to the track processing unit 2 every time the information is sent;
The initial values such as the above-mentioned scale values are reset, and the coastline and dangerous area are determined based on the initial value of χ.

The information such as the destination is regenerated, the past position information of the ship stored in the internal memory is sequentially read out, and the NC chart information and the track information are sent to the track display section 2 in the same manner as described above. Further, the ship's track processing unit 1 sends information on topography such as coastlines, dangerous areas, scale values, and position information of the ship to the control unit 5 at once or at regular intervals.

The track display section 2 has a refresh memory for storing color CRT screen information, and displays the information from the ship's track processing section 1 in a color CRT corresponding to the dRT on the color display 4.
While converting the information into RT screen information and writing it into the reset memory, by scanning the color display 4, a video signal containing the own ship's track and navigation information, nautical chart information, etc. read from the refresh memory is sent to the mixer 3. Also, track display, part 2
transmits a video signal to the display unit 10 simultaneously with the scanning of the color display 4.

Mixer "1%, ?@' This is a device that combines multiple video signals, and combines video signals such as the own ship's track and chart information from the track display section 2, and radar images and other ships' images from the display section 10, which will be described later. Video signals such as the track and navigation information are combined and sent to the color display 4.

The color display 4 is a raster scan type display that receives the video signal from the mixer 3 and displays chart information on the CRT.
It displays the tracks, navigation information, and radar images of your ship and other ships, coded in several different colors.

The above has described the display method mainly for the own ship. Next, the display method for radar images will be described below.

Radar echo sent from radar, bow.

Oh, shush information with values indicating the marker, radar scanner rotation angle, transmission trigger, and maximum distance range of the radar image.

Feeling 4. Lotus, □7-2. It is received and transmitted by IA2A86'.

The radar interface 6 performs preprocessing such as depth removal, sea surface reflection suppression, and rain/snow reflection suppression on the radar echoes, then quantizes the echoes and stores them in an internal buffer memory for one sweep. This preprocessed radar echo is read out at an appropriate timing by the radar interface 6 and sent to the radar image processing section 7 and the target tracking section 8. .

Further, the bow marker, the rotation angle of the radar scanner, the transmission trigger, and the range information are also converted into digital values and sent to the radar image processing section 7 and the target tracking section 8.

When calculating the position of a target object, such as another ship, from radar echoes, it is normally displayed in a polar coordinate system based on the distance from the own ship and the rotation angle of the scanner, but this device uses a raster scan display. 4, it is necessary to convert it to an orthogonal coordinate system. Also, when displaying normal radar images, simply set the bow direction or due north direction at the top of the screen, set the own ship's position (the center of the radar image) at the center of the six-point display screen, and change the polar coordinate system to Cartesian coordinates. All you need to do is to convert it to the system, but in this device, there is a gold plate that is superimposed and displayed on the nautical chart generated by own ship's track processing section division section 1, so this 1.
It is necessary to correct the screen position to match the nautical chart. In other words, when a nautical chart is drawn using the Mercator projection, it is necessary to correct the length in the latitude line direction and the latitude line direction depending on the latitude and longitude base indicating the own ship's position. is performed by the control section 5 and the radar image processing section 7. That is, since the control unit 5 receives own ship position information and nautical chart information from the self-sufficiency track processing unit 1 at all times or at regular intervals, corrections to the current own ship position are made based on this information. The values include the length in the latitude and longitude directions, the deviation in the latitude line direction which is the deviation between the center point of the CRT display screen and the center point of the radar image at the scale 1 of the generated nautical chart, and the longitude. Linear direction 7) both sides of the deviation (hereinafter referred to as center offset amount).

), and further receives the own ship's direction information from the gyro.
The bow azimuth angle, which is the angle at which the bow rotates with respect to the true midair direction; is calculated and sent to the radar image processing unit 7 along with the ratio of the lengths in the latitude and longitude directions and the center offset amount described above. send.

The radar image processing unit 7 corrects the angular direction of the boat azimuth using the bow azimuth from the control unit 5 and the bow marker, rotation angle of the radar scanner, and range information sent from the radar interface 6, and then corrects the angular direction of the boat azimuth. is converted from an extreme pressure system to an orthogonal system, and further corrected in the latitude and longitude directions based on the ratio of the lengths of the center pressure and longitude lines from the control unit 5 and displayed. The write address of the reality memory of the unit 10 is calculated. In addition, the radar image processing unit 7 converts the radar echoes sent from the radar interface 6 into CRs, Ts, and Cs of several colors depending on their intensities.
This CRT screen In information and the above-mentioned write address information are converted into screen information and are sent to the display section 10 and stored in the refresh memory of the display section 10.

Next, a method for displaying the tracks of other ships will be described.

In the same way as displaying the upper radar image, preparations for displaying the wakes of other ships are made in the control unit 5. In addition, the control m++ support IS5 extracts information on coastlines, dangerous areas, etc. that are not subject to tracking processing in the target tracking unit 8 from among the nautical chart information and the own ship's position information from the self-sufficient track processing unit 1. Convert own ship's position to the preparation and 1-vertical coordinate system. This conversion d is performed every time the own ship position is updated and is sent to the target tracking unit 8 as tracking anxiety information. Further, the control unit 5 sends own ship's position information and nautical chart information to the other ship's track processing unit 9 as parameters to be displayed as the other ship's track on the nautical chart generated by the own ship's track processing unit 1. do.

In the target tracking unit 8, the radar echo information of the preprocessing υ1 from the radar interface 6 described above is stored in an internal buffer memory for multiple sweeps, and the radar echo is used from this Bannon memory at an appropriate timing.
Echoes such as sounds are removed. The radar echoes made in this way are compared with tracking unnecessary information from the control unit 5 and judged 2, land echoes are removed and the radar echoes containing information about the ship are removed. The position information indicating the relative distance from own ship and the rotation angle of the scanner is stored in Sen'υ memory 4.
remembered. This process is performed by Radar Interface Ice 6.
By repeating this process in accordance with the sending timing from [0], information for the echoes corresponding to the scan can be obtained. Furthermore, this process is performed for multiple scans, and for each scan, the echo position indicating the relative position to the own ship's position in the past scan and the echo position in the current scan are stored in the memory. By comparing the echoes for each echo, the position information (relative position) of other ships is extracted, and the relative speed and relative course of each other ship is calculated. Calculated relative scolding [! (The relative position of each other ship is estimated from the relative course, and a more accurate position is extracted by sampling radar echoes in the vicinity. Then, the relative speed,
The relative course is calculated. Thereafter, this process is repeated and the position of each river boat is tracked.Furthermore, the target tracking unit 8 collects the relative position information of each other boat being tracked by the above-mentioned method. Range information and information that allows classification of individual other ships are added to the information and supplied to the other ship track processing unit 9' for each scan or for each fixed scan.

Others 01) Wake. /lpQzuku1 (in 9, target tracking unit 8
The latitude and longitude of each fm ship are calculated based on the relative position information and range information from the control unit 5, and the own ship's position report and scale value from the control unit 5, and are stored in the internal memory in a format that can be classified by other ships. Furthermore, the position information of other ships is converted into CRT screen information to be displayed as individual ship tracks on the nautical chart generated by own ship track processing unit 1 and sent to display unit 10. be done. At the time of this delivery, the wake of each other ship has several different colors or marks, so that each other ship and own ship can be easily identified.
Also, navigational information such as the speed, speed, course, etc. of individual other ships is also added.

In addition, since the other ship's track processing unit 19 recognizes the position, speed, course, etc. of each ship as described above in 7J, the own ship's track processing unit 1 can control When another ship enters a dangerous area, a flashing lamp, buzzer, or
It is designed to issue an alarm such as ringing of 1! Φ, when the own ship's track processing unit 1 sets the scale value, etc., to 11, the other ship's track processing unit 9 reads out the position information of the other ship stored in the memory and performs the same process as described above. The information is converted into CRT screen information for redisplaying the other ship's track, and the information is sent to the display section 10.

In the display section 10, the CRT screen information of the radar image from the radar image processing section 7 and the CRT screen information of the other ship's track from the other ship's track processing section 9 are stored in the corresponding addresses of the respective refresh memories, and these memories are The contents are read out in synchronization with the synchronization signal from the track processing section 2 and sent to the mixer 3 as video signals such as radar images, other ships' tracks, and information on the JALL line.

Mixer; 3 in 1-, as mentioned above, synthesizes the self-contained fJRT track, navigation information, nautical chart information, etc. with the video signal of the radar image and other ships / γ) track, navigation information, etc. As described above, the combined video signal displays on the CRT of the color display 4 nautical chart information, the tracks of the own ship and other ships that are coded in several colors, navigation information, and radar images.

An example of what is displayed on the color display 4 in this way is shown in Figure 2, where the diagram shows nautical chart information.

This shows the case where all the images of the ship's own ship's track, navigation, and radar images are superimposed. The own ship's track is blue, and the tracks of two other ships are yellow and green, and fishing is prohibited as a dangerous area. Each ward boundary line is shown as a dotted line.

The control unit 51rU' has a function of setting several types of screen display modes. In other words, a nautical chart showing the track of your ship and other ships, topography such as coastlines, latitude lines, longitude lines, etc.

In cases such as the one shown in Figure 1 where all images such as dangerous area and radar images are superimposed and displayed, and in cases where all images are superimposed but the latitude and longitude lines are not displayed,
Alternatively, you can divide the CRT screen into two, displaying only radar images on one side, and displaying paper trails, charts, etc. of your own ship and other ships on the other side, by controlling the track display section using control lines (not shown). 2. These screen display modes are set by controlling each of the radar image processing section 7 and the other ship's track processing section 9. This sets the screen display mode C.
RT screen information can be obtained.

As described above, according to the navigation display device of the present invention, the position of each other ship can be recognized, and the nautical chart, dangerous area, own ship and other ships are displayed in several colors on the same CRT. Track, speed, and course of other ships.

Radar images, etc. can be displayed in superimposed 1-split or arbitrarily selected form. Therefore, the position and navigation status of individual ships can be directly read from a single CRT screen, and each ship can be easily identified. island.

It is possible to superimpose and display radar images with nautical chart information such as shallow waters, latitude lines, longitude lines, etc. This makes it extremely easy and accurate to judge radar images. It has great effects, such as being able to display dangerous areas such as ships, monitoring the movement of other ships, and issuing a warning if they enter these areas.

[Brief explanation of the drawing]

Figures 1 and 2 are a block diagram and an example of a navigation display panel of an embodiment according to the present invention. ■...Own ship's track tt'' is displayed by Iku 2...Track display section 3...
・Mixing 4 4...Color display 5...Control unit 6...Radar interface 7...Radar image processing unit 8...Target tracking unit 9...Other ship's track processing unit 10
...Display section patent applicant Japan Radio Co., Ltd.

Claims (1)

[Claims] In addition to setting nautical chart information such as the scale of the ocean area, latitude lines, longitude lines, coastlines, and dangerous areas, it is also possible to set nautical chart information such as the scale of the ocean area, latitude lines, longitude lines, coastlines, and dangerous areas. Display the ship's position information in the above nautical chart information, add the track information of 'su゛, color loss, or mark and track #; = rffiB 2, and send the above chart information, own ship's track information, and position information to the control unit. own ship's track processing unit 1, which sends information to the own ship's track processing unit 1; a wake processing section 2 which sends a synchronizing signal to the mixer 3 and also sends a video signal to the display section 10 in synchronization with the scanning of the color display 4, and a plurality of video signals. A mixer 3 synthesizes signals and sends them to the color display 4, and a radar also receives radar information such as the sent radar echo, bow marker, radar scanner rotation angle, transmission trigger, and range information. Then, a radar intensifier 6 performs interference removal, suppresses sea surface and rain/snow reflections, etc. for radar echoes, quantizes the radar information, and sends it to a radar image processing unit 7 and a target tracking unit 8, and a gyro. The own ship's defense and bird information sent from
The heading angle calculated from the nautical chart information and the own ship's track information 9 position information, the ratio of the lengths in the latitude line direction and the empirical line direction, and the center offset amount are sent to the radar image processing unit 7. Along with the above nautical chart information and own ship's position information, the coastline. Information that does not require tracking, such as dangerous areas, is sent to the target tracking unit 8, and
a control unit 5 that sends the own ship's position information and nautical chart information, which are parameters for displaying the other ship's track in the nautical chart information, to the other ship's track processing unit 9, and the radar image processing unit 7 corrects the bow azimuth using the bow azimuth from the control unit 5 and the quantized radar information from the interface 6, and then converts the polar coordinate system to a rectangular coordinate system,
Correcting the latitude and longitude directions based on the ratio of the lengths in the latitude and longitude directions and the center offset amount from the control unit 5, and calculating the write address of the refresh memory of the display unit 1o; The radar echo from the radar interface 6 is converted into CRT screen information in several colors depending on its intensity and sent to the display unit 1o along with the writing knife and the marking mark. The tail part 8 is
The above radar interface 6P"6 The above radar information -
The radar echo information is compared with the tracking unnecessary information from the control unit 5, and only the information about the ship is extracted, and the tracking process is performed on the position of the other ship. Range information and information that allows the other ship to be classified are added to the above information. The other ship's track processing section 9 receives the position information and range information of the other ship from the target tracking section 8, the own ship's position information from the control section 5, and the nautical chart. According to the information, this nautical chart information is sent to the display section 10 with color coding or marks added to identify the tracks of other ships for each own ship and each other ship, and also when another ship enters the dangerous area. If the
is the CR of the radar image from the radar image processing section '7.
"T screen information and the CRT screen information of the other ship's track from the other ship's track processing section 9 are stored, and sent to the mixer 3 in synchronization with the synchronization signal from the track processing section 2°, and the mixing The device 3 contains the own ship's track information from the track display section 2.Video signals such as the ship's track information and chart information, the radar images of the above-mentioned display sound, λ7.Q%, etc., and the track information of other ships. Video signals such as position information are combined and displayed on C and RT of the color display 4, the tracks of the own ship and other ships, topography such as coastlines, latitude lines, longitude lines, etc., which are divided into several colors, on the nautical chart. All images such as information, danger area, radar images, etc. are displayed in a superimposed manner, and if necessary, all of the above images are divided or selected and C'RT of the color display device 4 is displayed. 1. A navigation display device, characterized in that it has means for displaying a display on the navigation device.