CN102305936A - Autonomous positioning navigation system for automatic identification system (AIS) vessel - Google Patents
Autonomous positioning navigation system for automatic identification system (AIS) vessel Download PDFInfo
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- CN102305936A CN102305936A CN201110133252A CN201110133252A CN102305936A CN 102305936 A CN102305936 A CN 102305936A CN 201110133252 A CN201110133252 A CN 201110133252A CN 201110133252 A CN201110133252 A CN 201110133252A CN 102305936 A CN102305936 A CN 102305936A
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Abstract
The invention relates to an autonomous positioning navigation system for an automatic identification system (AIS) vessel, and belongs to the field of positioning navigation. The system comprises an AIS shore-based reference station system with high-precision time synchronization, vessel AIS navigation terminal equipment and a plurality of high-precision synchronous atomic clocks, wherein the AIS shore-based reference station system comprises a plurality of AIS shore-based reference stations, shares in a self-organization manner, exclusively occupies one high-precision synchronous atomic clock, and is used for sending a navigation message and measuring a carrier wave by sharing and exclusively occupying an AIS wireless channel; the vessel AIS navigation terminal equipment comprises a wireless receiving module, a signal measurement processing module and a main control module; the wireless receiving module is used for receiving various navigation messages and measuring a carrier wave signal; the signal measurement processing module is used for measuring the carrier wave, extracting the messages, resolving positioning and submitting a positioning result to the main control module; and the main control module is used for outputting and applying the positioning result. By the system, AIS equipment can be directly utilized by a vessel for positioning, and the demand of an air-based and ground-based dual-backup positioning system provided by an international maritime organization (IMO) is met.
Description
Technical field
The invention belongs to positioning and navigation field, relate to the cross-application subject of continental rise location technology, electrical wave measurement, be specifically related to a kind of high availability New System AIS (Automatic identification System) boats and ships automatic positioning navigation system.
Background technology
At present, the main GNSS satellite navigation system that relies on of marine ships navigation, IMO member state is consistent to be thought but the fragility of GNSS satellite navigation system makes: in order to guarantee navigation safety, boats and ships are in the future answered mandatory carriage space-based and continental rise double copies Position Fixing Navigation System.At present the Loran system is one of ground based navigational system, but this system terminal costs an arm and a leg, and mounting shipping is less.And along with the closing of U.S. Loran system, it is also definite basically that it withdraws from the position application field at the international level, therefore in order to satisfy the demand of international current marine navigation double copies system, presses for new continental rise Research on Locating System.Along with in June, 2000, the 73rd meeting of IMO The Maritime Safety committee (MSC) passed through the SOLAS pact V chapter of new revision about forcing the resolution of mounting shipping automatic recognition system (AIS).Main maritime province, the world has covered AIS bank station system basically at present; And all boats and ships have basically all been installed terminal device; Therefore, study a kind of technology of utilizing existing AIS system to carry out ship's fix and both had application foundation widely, satisfy the demand of current double copies system again.
Summary of the invention
The purpose of this invention is to provide the high availability New System navigational system that a kind of AIS of utilization system carries out ship's fix; This system utilizes the distance of existing AIS base station electrical wave measurement boats and ships to different base station; And carry out ship's fix, thereby realize continental rise navigation according to the exact position of distance that records and AIS base station.
To achieve these goals, technical scheme of the present invention is following:
A kind of AIS boats and ships automatic positioning navigation system; Comprise AIS bank base Reference System, watercraft AIS navigation terminal equipment and a plurality of high-precise synchronization atomic clock that split-second precision is synchronous; Said AIS bank base Reference System comprises a plurality of AIS bank base reference stations; And self-organization is shared and monopolize a high-precise synchronization atomic clock, through sharing or monopolizing the AIS wireless channel or send navigation message and measurement carrier wave; Said watercraft AIS navigation terminal equipment comprises wireless receiving module, signal measurement processing module and main control module; Wireless receiving module is used to receive various navigation messages and measures carrier signal; And send these signals to the signal measurement processing module; The signal measurement processing module is carried out the carrier wave measurement to the received signal, text extracts; And utilize the range finding positioning principle to position and resolve; And positioning result submitted to main control module, main control module is exported application to the positioning result that receives.
Above-mentioned signal measurement processing module comprises AIS base station text extraction module, phase locked track measurement module and positioning calculation processing module, and the phase locked track measurement module utilizes the radiowave Phase Tracking to measure the distance of different AIS base station to user's watercraft AIS terminal device; AIS base station text extraction module is used to extract and store the precise position information of respectively locating the AIS base station; The positioning calculation processing module is utilized the data message of AIS base station text extraction module and phase locked track measurement module to position and is resolved.
The invention has the beneficial effects as follows: utilize this invention, boats and ships can directly utilize AIS equipment to position, and satisfy space base and continental rise double copies positioning system demand that IMO proposes; Utilize the present invention can under the prerequisite that increases watercraft AIS terminal device cost hardly, realize the continental rise location, realized the recycling of resource to greatest extent.
Description of drawings
Fig. 1 is the structured flowchart of AIS boats and ships automatic positioning navigation system of the present invention;
Fig. 2 is the structured flowchart of watercraft AIS navigation terminal equipment of the present invention;
Fig. 3 is a signal measurement processing module in house software program flow diagram of the present invention;
Fig. 4 is the circuit theory diagrams of signal measurement processing module of the present invention.
Among the figure: 1, AIS bank base Reference System; 2, watercraft AIS navigation terminal equipment; 3, high-precise synchronization atomic clock; 4, wireless receiving module; 5, signal measurement processing module, 6, main control module, 7, AIS base station text extraction module; 8, phase locked track measurement module, 9, the positioning calculation processing module.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
As depicted in figs. 1 and 2, AIS boats and ships automatic positioning navigation system of the present invention is made up of split-second precision synchronous AIS bank base Reference System 1, watercraft AIS navigation terminal equipment 2 and a plurality of high-precise synchronization atomic clock 3 and is realized.Wherein, AIS bank base Reference System 1 comprises a plurality of AIS bank base reference stations, and self-organization is shared and monopolize a high-precise synchronization atomic clock 3, through having the AIS wireless channel now or monopolizing channel and send navigation message and measure carrier wave.Watercraft AIS navigation terminal equipment 2 comprises wireless receiving module 4, signal measurement processing module 5 and main control module 6; Wireless receiving module 4 is responsible for receiving various navigation messages and is measured carrier signals, and is undertaken by signal measurement processing module 5 that carrier wave is measured, text extracts and positioning calculation, and positioning result is submitted to main control module 6, exports application by main control module 6.Wherein, signal measurement processing module 5 is being moved various measurements and location algorithm software, is the technological core of watercraft AIS navigation terminal equipment 2.Signal measurement processing module 5 comprises AIS base station text extraction module 7, phase locked track measurement module 8 and positioning calculation processing module 9.Wherein phase locked track measurement module 8 utilizes the radiowave Phase Tracking to measure the distance of different AIS base station to user's watercraft AIS terminal device; AIS base station text extraction module 7 is responsible for extracting and storing the precise position information of respectively locating the AIS base station.Positioning calculation processing module 9 is utilized the data message of AIS base station text extraction module 7 and phase locked track measurement module 8 to position according to the range finding positioning principle and is resolved.
As shown in Figure 3, the concrete treatment step of the signal measurement processing module 5 among the present invention is following:
1) watercraft AIS navigation terminal equipment 2 starts;
2) watercraft AIS navigation terminal equipment 2 detects and obtains AIS base station on every side;
3) can the AIS base station that judge to obtain position, if can continue to carry out next step, otherwise, return step 2) search for AIS base station on every side again;
4) phase locked track measurement module 8 is measured and respectively is used to locate AIS base station distance or range difference, if measure normally, satisfy positioning requirements and then carry out next step, otherwise, return step 2) AIS base station around the search again;
5) AIS base station text extraction module 7 obtains the exact position, AIS base station that is used to locate, if obtain, then carries out next step, otherwise, return step 2) continuation search available AIS base station on every side;
6) positioning calculation processing module 9 is utilized the base station position information of measurement data and the step 5) of step 4) to position to resolve;
7) return step 2) continue to carry out, until obtaining AIS user's boats and ships longitude and latitude.
In the AIS boats and ships automatic positioning navigation system of the present invention, phase locked track measurement module 8 comprises AIS communication carrier phase measurement module, is present in the signal measurement processing module 5 with the mode of hardware logic electric circuit.
In AIS boats and ships automatic positioning navigation system of the present invention, exclusively enjoy between the AIS base station or shared area synchronized atomic clock, and do not need high precision atomic clock 3 in the watercraft AIS navigation terminal equipment 2, use common crystals to get final product.
Embodiment:
(1) AIS base station text sends:
The base station precise position information is modulated in the AIS base station on VHF designated frequency band carrier wave, specifically comprise following information: AIS base station longitude, latitude and height, and be accurate to the millimeter level.
Form is following:
The electricity code, AIS base station MMSI, latitude, longitude, highly.
Example is following:
28，04113127，3852.623153，12131.141528，0090.9352。
(2) range finding is followed the tracks of in watercraft AIS terminal device location
Utilize 8 pairs of AIS base stations of phase locked track measurement module arriving signal
r 0(
t) catch and follow the tracks of, and measure the amplitude of arriving signal
, postpone
And phase place
According to formula
In the formula,
ωBe the ais signal carrier angular frequencies.AIS measurement of two or more base stations and the phase delay of the signal, to calculate the base station to the user terminal equipment from the vessel AIS
.
(3) watercraft AIS terminal device location outputting standard position data
The watercraft AIS terminal device is according to AIS base station distance or the range difference measured; Under the situation of obtaining exact position, relative AIS base station; Resolve and obtain watercraft AIS terminal device longitude and latitude data and elevation information; And come out; Concrete form uses De $GPGGA statement output in the NMEA-0183 standard, and actual output result is following:
$GPGGA,031202.000,3852.3032,N,12131.6046,E,0,0,0.0,45.9,M,0.0,M,,0000*77
As shown in Figure 4, it is the circuit theory diagrams of the signal measurement processing module 5 among the present invention.Signal measurement processing module 5 main being responsible for are confirmed signal transmission distance through the method for measuring carrier phase and code phase from the AIS carrier frequency.
Claims (2)
1. AIS boats and ships automatic positioning navigation system; Comprise the synchronous AIS bank base Reference System (1) of split-second precision, watercraft AIS navigation terminal equipment (2) and a plurality of high-precise synchronization atomic clock (3); Said AIS bank base Reference System (1) comprises a plurality of AIS bank base reference stations; And self-organization is shared and monopolize a high-precise synchronization atomic clock (3), through sharing and monopolizing the AIS wireless channel and send navigation message and measure carrier wave; It is characterized in that
,Said watercraft AIS navigation terminal equipment (2) comprises wireless receiving module (4); Signal measurement processing module (5) and main control module (6); Wireless receiving module (4) is used to receive various navigation messages and measures carrier signal; And send these signals to signal measurement processing module (5); Signal measurement processing module (5) is carried out carrier wave to the received signal and is measured; Text extracts; And utilize the range finding positioning principle to position and resolve; Then positioning result is submitted to main control module (6), main control module (6) is exported application to the positioning result that receives.
2. a kind of AIS boats and ships automatic positioning navigation system as claimed in claim 1; It is characterized in that; Said signal measurement processing module (5) comprises AIS base station text extraction module (7), phase locked track measurement module (8) and positioning calculation processing module (9), and phase locked track measurement module (8) utilizes the radiowave Phase Tracking to measure the distance of different AIS base station to user's watercraft AIS terminal device; AIS base station text extraction module (7) is used to extract and store the precise position information of respectively locating the AIS base station; Positioning calculation processing module (9) is utilized the data message of AIS base station text extraction module (7) and phase locked track measurement module (8) to position according to the range finding positioning principle and is resolved.
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| CN 201110133252 CN102305936B (en) | 2011-05-23 | 2011-05-23 | Autonomous positioning navigation system for automatic identification system (AIS) vessel |
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| CN 201110133252 CN102305936B (en) | 2011-05-23 | 2011-05-23 | Autonomous positioning navigation system for automatic identification system (AIS) vessel |
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| CN102305936B CN102305936B (en) | 2013-07-17 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102769910A (en) * | 2012-07-13 | 2012-11-07 | 北京邮电大学 | Terminal and autonomous positioning method for same |
| CN103326895A (en) * | 2013-05-30 | 2013-09-25 | 天津理工大学 | AIS message packet error rate measuring system based on arbitrary waveform generator |
| CN103529466A (en) * | 2013-08-22 | 2014-01-22 | 大连海事大学 | Ship self-positioning method for two AIS (automatic identification system) reference points |
| CN104049239A (en) * | 2014-05-30 | 2014-09-17 | 大连海事大学 | Self-organizing ship locating method based on moving reference point assistance |
| CN104614708A (en) * | 2015-02-13 | 2015-05-13 | 武汉大学 | Ship remote wireless automatic locating system and method |
| CN107315164A (en) * | 2017-06-01 | 2017-11-03 | 大连海事大学 | A kind of ship autonomic positioning method of single AIS reference points |
| CN109379435A (en) * | 2018-11-14 | 2019-02-22 | 胡青 | A kind of ship end business service interconnects plateform system |
| CN110058285A (en) * | 2019-05-03 | 2019-07-26 | 苏州神海港航数据服务有限公司 | High-precision ship profile based on more alignment sensors constructs system |
| CN110058284A (en) * | 2019-05-03 | 2019-07-26 | 苏州神海港航数据服务有限公司 | High-precision ship profile construction method based on more positioning labels |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102769910A (en) * | 2012-07-13 | 2012-11-07 | 北京邮电大学 | Terminal and autonomous positioning method for same |
| CN103326895A (en) * | 2013-05-30 | 2013-09-25 | 天津理工大学 | AIS message packet error rate measuring system based on arbitrary waveform generator |
| CN103326895B (en) * | 2013-05-30 | 2016-04-06 | 天津理工大学 | A kind of AIS message Packet Error Ratio measuring system based on AWG (Arbitrary Waveform Generator) |
| CN103529466B (en) * | 2013-08-22 | 2016-02-17 | 大连海事大学 | A kind of boats and ships autonomic positioning method of two AIS reference point |
| CN103529466A (en) * | 2013-08-22 | 2014-01-22 | 大连海事大学 | Ship self-positioning method for two AIS (automatic identification system) reference points |
| CN104049239A (en) * | 2014-05-30 | 2014-09-17 | 大连海事大学 | Self-organizing ship locating method based on moving reference point assistance |
| CN104049239B (en) * | 2014-05-30 | 2016-08-24 | 大连海事大学 | A kind of self-organizing ship's fix method based on moving reference point auxiliary |
| CN104614708A (en) * | 2015-02-13 | 2015-05-13 | 武汉大学 | Ship remote wireless automatic locating system and method |
| CN107315164A (en) * | 2017-06-01 | 2017-11-03 | 大连海事大学 | A kind of ship autonomic positioning method of single AIS reference points |
| CN107315164B (en) * | 2017-06-01 | 2020-12-08 | 大连海事大学 | Ship autonomous positioning method with single AIS reference point |
| CN109379435A (en) * | 2018-11-14 | 2019-02-22 | 胡青 | A kind of ship end business service interconnects plateform system |
| CN110058285A (en) * | 2019-05-03 | 2019-07-26 | 苏州神海港航数据服务有限公司 | High-precision ship profile based on more alignment sensors constructs system |
| CN110058284A (en) * | 2019-05-03 | 2019-07-26 | 苏州神海港航数据服务有限公司 | High-precision ship profile construction method based on more positioning labels |
| CN110058285B (en) * | 2019-05-03 | 2022-09-27 | 苏州神海港航数据服务有限公司 | High-precision ship contour construction system based on multiple positioning sensors |
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