CN101033003A - Dynamic localization method for ship - Google Patents

Abstract

The present invention relates to ship position keeping technology, aims at solving the special problem of keeping ship position and discloses one kind of dynamic ship position keeping method. The method includes selecting power control system mode, setting the executing mechanism control in 'dynamic position keeping control' mode, acquiring the ship and environment information with the measurement equipment, sending out command with the dynamic ship position keeping control system and keeping the ship position dynamically with the executing mechanisms. The said method can realize fixed point control of ship, automatic heading, automatic tracking navigation, etc. and may be applied widely in military and civil ships with special position keeping requirement.

Description

A kind of dynamic localization method for ship

Technical field

The present invention relates to the ship's fix technology, specifically be used for the method for position of ship control.

Background technology

Some military-civil special boat such as marine research ship, fire fighting ship, replenishment at sea warship etc., usually control has specific (special) requirements to position of ship: or require fixed point control position, or require tracking to navigate by water, or require boats and ships and other target to keep relative position constant, or require submarine target is carried out automatic tracking or the like.And up to now, domesticly still can't realize above-mentioned special position of ship control requirement.Along with the development of seafaring, also more and more to the specific (special) requirements of position of ship control, this has just caused showing great attention to of the parties concerned, fills up this blank of domestic dynamic positioning of vessels, the problem that has become relevant scientific research personnel to manage to capture.

Summary of the invention

At the deficiency that prior art exists, solve the special orientation problem of boats and ships, the invention provides a kind of dynamic localization method for ship, it can satisfy the special positioning requirements of boats and ships effectively.

A kind of dynamic localization method for ship, the concrete steps of this method are as follows:

1) select power-positioning control system to required mode;

2) control with actuating unit places " Dynamic Positioning Control System " pattern;

Actuating unit comprises main thrust device, steering wheel, auxilliary thruster,

3) utilize position measurement apparatus, measure the variation of the position of boats and ships own;

According to different positioning requirements and boats and ships navigating area, can select one or more position measurement apparatus for use, this position measurement apparatus can be GPS (Global Position System), radio position system, underwater acoustic positioning system, open rope system or laser orientation system,

4) utilize sensor, measure the boats and ships bow to, shake and wind direction in length and breadth;

According to different positioning requirements, can select one or more sensors for use, this sensor can be electric Luo Jing, motion reference units, vertical reference unit, laser inertial navigation system, anemoclinograph or Doppler log,

5) utilize power-positioning control system, the thrust and the moment of each actuating unit are distributed;

The hardware of power-positioning control system comprises operating console, control housing, portable hand behaviour terminal, uninterrupted power supply (UPS), chopping machine,

6) each actuating unit instruction of sending according to control system produces the thrust and the moment that require, with disturbance force and the distrubing moment of equilibrium activity in boats and ships, realizes dynamic positioning of vessels;

According to different positioning requirements, select the auxilliary thruster of one or more actuating units for use, auxilliary thruster can be side thruster, full circle swinging thruster or water spray thruster.

The invention has the beneficial effects as follows: adopt this dynamic localization method, can make that boats and ships are realized fixed point control position, bow is to functions such as, automatic tracking navigation, automatic tracking submarine targets automatically.Can be widely used in having the military-civil special boat of special positioning requirements, as need bear the marine research ship of investigation such as deep-sea multi-beam detection, the detection of seabed shallow seismic profile, submarine geology investigation, submarine oil detection, boating type acoustic Doppler phased array flow measurement (ADCP) operations, to the higher replenishment ship of positioning requirements etc.

The specific embodiment

The present invention with " No. one, ocean " ocean Scientific Research Ship as embodiment.

A kind of dynamic localization method for ship, the concrete steps of this method are as follows:

1) select power-positioning control system to required mode, as automatic bow to pattern, automated location pattern, flight path pattern, automatic navigation pattern, target tracking pattern etc. automatically;

2) control with main thrust device, steering wheel, tail lateral thruster and full-rotating rudder paddle device places " Dynamic Positioning Control System " pattern;

3) utilize position measurement apparatus, measure the variation of the position of boats and ships own;

A. select FUGRO 3100 type wide area differential GPS (Global Position System) receivers for use,, realize boats and ships difference location in the world, have the accuracy of positioning of 1-3 rice and sub-meter grade by the differential signal that OMNISTAR satellite and INMARSAT satellite are transmitted,

B. select for use POSIDONIA 6000 type ultra-short baselines (containing projector and receptor) to locate under water, this system can be at the latent device ROV of the marine tracking remote underwater manipulation of depth of water 3000m, and maximum working depth reaches 6000m,

4) utilize sensor, measure the boats and ships bow to, shake and wind direction in length and breadth;

A. select laser inertial navigation system " PHINS " and " South Pole star OCTANS " measuring unit for use, measure the boats and ships bow to and shake information in length and breadth,

B. select OMC160 type anerovane measuring wind and wind direction for use, the wind speed precision reaches ± 0.3m/s, and the measurement threshold value is 1m/s, and wind direction resolution is 1 °, and precision reaches ± and 3 °,

5) utilize power-positioning control system, the thrust and the moment of each actuating unit are distributed;

This ship control system is selected GreenDP11 system of Norway KONGSBERG SIMRAD company for use, native system gather above-mentioned position of ship, bow to, shake and information such as wind direction in length and breadth, according to the Dynamic Positioning Control System requirement, each actuating unit is sent the instruction of required thrust and moment by computing machine

Native system comprises main console desk, control housing, auxilliary control unit, control transformation switch, chopping machine, is furnished with bar handle, various control button on the main console desk, requires to carry out corresponding operating according to control,

6) each actuating unit produces the thrust and the moment that require according to the instruction of sending of control system, with disturbance force and the distrubing moment of equilibrium activity in boats and ships, realizes dynamic positioning of vessels;

A. select HRP4001TT type tail lateral thruster for use, its maximum thrust is 65kN,

B. select the scalable full-rotating rudder paddle device of HRP530-51 type for use, its maximum thrust is 125kN.

Dynamic localization method is implemented on " No. one, ocean " ship, realizes dynamic positioning under 1kn ocean current, moderate gale sea situation, and device ROV follows the tracks of, flight path keeps for fixed point control position, remote underwater manipulation are dived in specific requirement at present, and fixed point control position precision is not less than 40m.

Claims (1)

1. dynamic localization method for ship is characterized in that the concrete steps of this method are as follows:

1) select power-positioning control system to required mode;

2) control with actuating unit places " Dynamic Positioning Control System " pattern;

Actuating unit comprises main thrust device, steering wheel, auxilliary thruster,

3) utilize position measurement apparatus, measure the variation of the position of boats and ships own;

According to different positioning requirements and boats and ships navigating area, can select one or more position measurement apparatus for use, this position measurement apparatus can be GPS (Global Position System), radio position system, underwater acoustic positioning system, open rope system or laser orientation system,

4) utilize sensor, measure the boats and ships bow to, shake and wind direction in length and breadth;

According to different positioning requirements, can select one or more sensors for use, this sensor can be electric Luo Jing, motion reference units, vertical reference unit, laser inertial navigation system, anemoclinograph or Doppler log,

5) utilize power-positioning control system, the thrust and the moment of each actuating unit are distributed;

The hardware of power-positioning control system comprises operating console, control housing, portable hand behaviour terminal, uninterrupted power supply (UPS), chopping machine,

6) each actuating unit instruction of sending according to control system produces the thrust and the moment that require, with disturbance force and the distrubing moment of equilibrium activity in boats and ships, realizes dynamic positioning of vessels;

According to different positioning requirements, select the auxilliary thruster of one or more actuating units for use, auxilliary thruster can be side thruster, full circle swinging thruster or water spray thruster.