JPS6173015A - Automatic navigation system - Google Patents

Abstract

PURPOSE:To reduce the deviation of a ship from its waterway and to improve the safety, and to reduce the crew in charge of navigation by measuring the movement extent of the ship body under the influence of winds and waves and correcting the assumed value of the ship position by a feedforward method on the basis of the measured movement extent. CONSTITUTION:Data from sensors 200, etc., are collated with numeric models in memories 112 and 114; and a unit 102 calculates the movement extent of the hull due to wind pressure and a unit 104 calculates the movement extent of the hull due to a wave drift force. An arithmetic unit 106, on the other hand, estimates the ship position and a unit 108 measures the ship position. Then, a control signal output unit 110 makes a feedforward correction of the ship position assumed value inputted from the unit 106 on the basis of the movement extents of the ship body inputted from the units 102 and 104. A computing element 116 inputs the measured value of the ship position from the unit 108 and this is compared with the corrected value to obtain the error, which is inputted to a Karman filter 118. Its output is fed back to the unit 110 so that the control over a rudder and a screw machine 120 is in the optimum state.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic navigation system that performs appropriate control so that a ship does not deviate from a preset course.

[Conventional technology]

Conventional ship navigation uses electronic navigation instruments or satellite navigation instruments to determine the position of the ship, determines the error between this and a preset route, and uses feedback control to correct this error. By doing this, it is possible to operate and control ship maneuvering means such as the rudder and propulsion equipment.

However, apart from speeds such as the open ocean, when navigating at low speed in convergent sea areas such as in ports or narrow channels,
The influence of wind or drifting due to waves is relatively large, and conventional feedback control requires great attention to deviations from the set course, requiring a large number of personnel.

[Problem that the invention seeks to solve]

The present invention has been made in view of these points, and is designed to significantly improve the navigational safety of ships by reducing the deviation of ships from their set routes, especially in sea areas where ships pass. It is something.

Furthermore, the present invention is designed to reduce the number of personnel required for navigation in such a rich camellia sea area.

[Means for solving problems]

The present invention includes a first hull movement measuring means for determining the amount of movement of the ship due to the influence of wind, a second ship movement measuring means for determining the amount of movement of the ship due to the influence of waves, and a first and second ship body movement measuring means for determining the amount of movement of the ship due to the influence of waves. The displacement force of the ship determined by the displacement measurement means 4"
and a correction means for correcting the estimated value of the ship position by the ship position estimation means based on the ship position estimation means.

[Effect]

According to the present invention, the estimated value of the ship position is corrected by the amount of movement of the ship caused by the influence of wind and waves determined by the ship movement measuring means. This corrected estimated value of the ship position and the actual measurement of the ship position The ship maneuvering means is controlled based on the value.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The automatic navigation system according to the present invention will be described in detail below based on embodiments shown in the accompanying drawings.

FIG. 1 shows an embodiment of an automatic navigation system according to the present invention. 9. FIG. 2 shows an example of the arrangement of the apparatus shown in FIG. 1 on a ship.

In FIGS. 1 and 2, the automatic navigation system is composed of a navigation device 100 and various sensors 200. The automatic navigation device 100 includes a ship body movement calculation unit 102 (a unit for calculating the amount of ship movement against waves).
104. Ship position estimation calculation unit 106. It has a ship position actual measurement calculation unit 108 and a control signal output unit 110 for the ship position determination front rudder/propulsion unit.

The unit 102 is connected to a memory 112 that stores a wind pressure ship shape mathematical model, and the output of the engineering unit 102 is connected to the unit 110. Connected as is done to unit 110. Also, =Sito11
0 also receives the output of the unit 106. The output of the unit 110 and the output of the unit 108 are output to an arithmetic unit 116, and the output of the arithmetic unit 116 is sent to a Kalman filter 118. The output of this Kalman filter 118 is the unit 11
0, this unit 1
The output of 10 is the memory 1 in which the rudder and propulsion machine are stored.
22 are connected.

Next, the sensors 200 will be explained. First, the wind direction anemometer 2021 and the wave radar 204. The wave sensor 206 and radar 208 are arranged at appropriate positions on one mast, as shown in FIG. In the illustrated example, sensors are arranged on one mast, but sensors may be arranged on a plurality of masts, and the arrangement may be determined as appropriate depending on the WK.

Next, the gyro compass 210 is placed in the bridge together with the automatic navigation device 100. Further, draft gauges 212 and 214 are placed on each side of the vessel, and a Doppler speed log 216 is placed near the draft gauge 212. In addition, the draft total 212.214 is
It is connected to appropriate amplifiers 218 and 220.

Next, the connection of the above sensors 200 will be explained.

First, the anemometer 202 is connected to the unit 102 . The draft gauges 212 and 214 are connected to the units 102 and 104, respectively. Also, Units)
A wave radar 204 and a wave sensor 206 are connected to the wave radar 104, respectively. Further, a gyro compass 210 and a Doppler speed log 216 are connected to one unit 106, and a radar 208 is connected to the unit 108.
is connected.

Next, the overall operation of the above embodiment will be explained.

First, the entire system is put into operation by the operator's switch operation, and the sensors 200 detect the wind direction, wind speed, and draft amount as shown in FIG.

Data regarding the wave height is input to the automatic navigation device 100.

First, the unit compares the wind speed and direction data inputted from the anemometer 202 and the draft amount inputted from the draft gauges 212 and 214 against the wind pressure boat shape mathematical model stored in the memory 112. The amount of body movement, that is, the amount of ship movement due to wind pressure is calculated.

Further, the unit 104 inputs the draft amount inputted from the draft gauges 212 and 214, the wave height inputted from the wave radar 204, and the wave direction inputted from the wave sensor 206 to the wave direction stored in the memory 114. The drifting force is compared with the mathematical model of the hull, and the amount of hull displacement due to the wave source current force is calculated.

Further, the unit 106 integrates the azimuth input from the gyro compass 210 and the speed input from the Doppler speed log 216 to estimate the ship's position.

On the other hand, the unit 108 actually measures the ship's position by turning on the radar 208.

Next, in the control signal output unit 110, the unit) 10
Based on the amount of ship movement due to wind pressure and wave source current input from unit 2,104, the estimated ship position value input from unit 106 is corrected in a feedforward manner. This correction value is
is input to the computing unit 116 ◎On the other hand, the computing unit 116 has the following information:
The actual measured value of the ship's position is input from the unit 108, and this is compared with the corrected value to determine its error, which is input to the Kalman filter 118. The output of this Kalman filter 118 is input to the unit 110, and the control of the rudder/propulsion device 120 by the signal output from the unit 110 is performed in an optimal state.

〔Effect of the invention〕

As explained above, according to the automatic navigation system according to the present invention, the amount of movement of the ship due to the influence of wind and waves is measured,
Based on this, we decided to make feedforward corrections to the ship's estimated position, which reduces the amount and possibility of deviation from the preset route, allowing for highly accurate navigation, thereby preventing collisions with other ships. This has the effect of preventing collisions or groundings, improving navigation safety, and reducing the number of ship operators.

4, t'2. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an automatic navigation system according to the present invention, and FIG. 2 is an explanatory diagram showing an example of the arrangement of the device shown in FIG. 1 on a ship.

100... automatic navigation device, 102... anti-balloon body movement amount calculation unit, 104... relative ship movement amount calculation unit, 106... ship position estimation calculation unit, 108...
・Ship position actual measurement calculation unit, 110...Control signal output unit, 200...Sensors.

Claims (1)

[Scope of Claims] An automatic navigation system that controls a ship maneuvering means based on an estimated value of the ship's position obtained by a ship's position estimation means and an actual measured value of the ship's position obtained by an actual ship position measuring means. a first ship movement measuring means for calculating the amount of movement of the ship due to the influence of waves; a second ship movement measuring means for calculating the amount of movement of the ship due to the influence of waves; and correction means for correcting the estimated value of the ship position by the ship position estimating means based on the amount of movement of the ship body determined by the ship position estimation means.