CN103763448A - System and method for ship navigation data processing and warning based on smart phone - Google Patents
System and method for ship navigation data processing and warning based on smart phone Download PDFInfo
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Abstract
The invention discloses a system for ship navigation data processing and warning based on a smart phone. A method for combination of the smart phone and a wireless network is applied to the ship navigation warning system and the smart phone serves as a server and a measuring unit. The system can measure twenty-six ship information parameters such as a course of a ship, the navigational speed, the longitude and the latitude; the measured parameters can be stored in a database and written to a file; measured information can be sent to any seaman holding a device provided with a smart operating system on the ship through the wireless network; an individual warning setting service is provided for each seaman according to six items of important data in ship information data. The system comprises a sub server, a main server and a client terminal which are all covered with the same wireless local network.
Description
Technical field
The present invention relates to utilize the processing method of the boats and ships navigations information that smart mobile phone and WLAN are management object and the navigation warning system of boats and ships.
Background technology
Along with the development of mobile communication industry, the production of smart mobile phone and use amount have had significantly raising, and smart mobile phone is popularized substantially.The development of intelligent mobile phone system and hardware technology is maked rapid progress, how further to promote mobile phone using value, open up new application and become the focus of a mobile terminal research.How by emerging smart mobile phone technological service in navigational field, become the big hot topic topic in navigations information automatic field instantly.
The operating system of smart mobile phone can be supported the application development showing based on global positioning system location, transducer exploitation, map well at present.Operation system of smart phone is except possessing GPS module, and also integrated nearly 13 kinds of sensor interfaces, make the various entertainment applications relevant to mobile phone navigations information moving situation become possibility.Also just because of mobile phone transducer to surrounding enviroment of living in as temperature, air pressure, direction even humidity measurement Presentation Function and be more convenient for daily life.As list of references 1 has proposed a kind of method of utilizing wireless network to share shipping information, the present invention designs ship's navigation warning system on this basis.
Based on many good characteristics of smart mobile phone, the present invention proposes a sets of plan: ship information collection and warning system based on smart mobile phone.GPS module and the sensor device of smart mobile phone for this system, gather multinomial shipping information, and partial information sent to the crewman of all hand-held intelligent mobile phones by local area network (LAN).By system parameters scope, when information exceeds fence coverage, the hand-held smart mobile phone of crewman is reported to the police in the mode of alarm bell or vibration.This system is small and exquisite portable, and cost is low, be quick on the draw, measure precisely, diverse in function, and the client warning function that system arranges, is equivalent to the alarm that crewman carries, and can to each crewman, give a warning in time by the larger clutch that waits at boats and ships inclination angle.
Summary of the invention
The present invention is based on the smart mobile phone that current main flow and growth momentum are swift and violent, design a ship information Real-time Collection and monitoring and alarming system, utilize the GPS module of mobile phone to carry out ship positioning navigation, the warning function by multiple mobile phone transducer mensuration vessel motion navigations information, permission crewman setting individual.This system not only can be collected ship information and be checked for crewman, also can to each crewman, give a warning in time by the larger clutch that waits at boats and ships inclination angle, can reserve more escape time for crewman.
Technical problem solved by the invention can realize by the following technical solutions:
Ship information collection and warning system that global positioning system, mobile phone transducer and electronic chart based on smart mobile phone and wireless network combine, in links such as the digital collection of ship information, calculation process, network delivery, integrated demonstration and variation storages, all contain to some extent, for boats and ships navigations information mensuration and navigation safety have been opened up new approach.This system can be measured course, the speed of a ship or plane and the longitude and latitude of boats and ships, and is presented on mobile phone electronic sea chart; Can measure the boats and ships navigations information such as the Angle of Trim, Angle of Heel of boats and ships; Also can measure the parameters such as the temperature, air pressure, ship's head on deck; The information exchange of measurement can be crossed to network, not be subject to spatio-temporal restriction, send to the crewman who holds arbitrarily smart mobile phone on ship, can carry out centralized monitor to the navigation situation of boats and ships; Can for each crewman provides personalized warning, service be set for 6 significant datas in ship information data.
System hardware is divided into three parts: from server section, and master server part and client part, three parts must be covered by same WLAN (wireless local area network).Before and after server and master server are arranged on respectively boats and ships, head and the tail center line in same level, client operates in any crewman that can connect local area network (LAN) and carries in smart mobile phone.From server unit, must have GPS module and baroceptor, master server device must possess GPS module, 6 kinds of transducers such as gravity, linear acceleration, earth magnetism, gyroscope, temperature and air pressure.
Systems soft ware is by forming from server, master server and three programs of client.Software application Java language is developed in Eclipse environment.The program of 3 parts is all the secondary development based on the different emphasis of electronic chart, all relates to network operation, is all every 1 second real-time update one secondary data.From server and master server, relate to the use of multiple mobile phone transducers; From server and client side's program, there is perfect UI design, can comparatively intactly present 15 relatively important vessel motion parameters, according to the parameter client-side program obtaining, provide personalized alert service for 6 parameters in ship information.
The invention provides a kind of ship's navigation data processing and warning system, comprise from server, master server, multiple wireless router and multiple client, from server, be a smart mobile phone, comprise air-temperature sensor, baroceptor and from server global location module, from server vessel position service routine module, from server sensor information acquisition module, from server network information exchange module; Master server is a smart mobile phone, comprise 6 kinds of transducers such as gravity sensor, linear acceleration transducer, geomagnetic sensor, gyro sensor, air-temperature sensor and baroceptor, and master server global location module, master server sensor information acquisition module, master server vessel position service module, master server network information Switching Module, UI display module and ship information database module; From server, master server, described multiple wireless routers and described multiple client, be positioned at same WLAN (wireless local area network), from server, master server and multiple client, by described WLAN (wireless local area network), be connected to each other, from server and multiple client, by WLAN (wireless local area network), login master server; Multiple clients are respectively smart mobile phone.
The feature of ship's navigation data processing of the present invention and warning system is: from server, be installed on bow and master server is installed on stern, or be installed on stern and master server is installed on bow from server, from server and master server, be set to when boats and ships are steady, in same level, and from the line of server and master server and bow tail centerline in same vertical section; From server by from server air-temperature sensor with obtain temperature value and the atmospheric pressure value of boats and ships from server baroceptor, by obtaining system time, boats and ships latitude, boats and ships longitude, boats and ships height above sea level, error radius, ship motion direction and ship motion speed from server global location module, and the numerical value of system time, boats and ships latitude, boats and ships longitude, error radius and boats and ships height above sea level is sent to master server; Master server obtains the component g of three directions of gravity
x, g
y, g
z, the component of three directions of magnetic flux, the component a in three directions of linear acceleration
x, a
y, a
z, the component ω in gyrostatic three directions
x, ω
y, ω
z, the ambient temperature t of master server position and air pressure p, and indirectly obtain the sensing at terrestrial space of boats and ships Angle of Trim, ship's heeling angle, boats and ships upheaval index and master server.
The further feature of ship's navigation data processing of the present invention and warning system is: from server, every 1 second, constantly gather the latitude and longitude information of global positioning system, and atmospheric pressure information, and send latitude and longitude information and atmospheric pressure information to master server, the Socket from server and all clients that master server storage connects with it, when having global positioning system position to upgrade, is transferred to each Socket from server and each client by shipping information with the data format of Json, master server storage also sends following 26 ship information parameters: update time, longitude, latitude, bow stern difference in height, error radius, course made good, headway, stem to, compass points to, Angle of Heel, Angle of Trim, deck temperature, deck air pressure, boats and ships rock the GPS satellite number that exponential sum searches, master server X-axis angular speed, master server Y-axis angular speed, master server Z axis angular speed, gravity X-axis component, gravity Y-axis component, gravity Z axis component, master server longitude, master server latitude, from server longitude, from server latitude, from server height above sea level and master server height above sea level, extremely from server and each client, master server, from the interface of server and each client, can show 15 ship information parameters described 26 ship information parameters: update time, longitude, latitude, bow stern difference in height, error radius, course made good, headway, stem rock to, compass sensing, Angle of Heel, Angle of Trim, deck temperature, deck air pressure, boats and ships the GPS satellite number that exponential sum searches, the data item that master server upgrades described 26 ship information parameters is saved in the Sqlite database of system.
The further feature of ship's navigation data processing of the present invention and warning system is: each client comprises mixed-media network modules mixed-media, UI module and alarm module; Alarm module provides sound and vibration alarming function and the setting of 8 alarm parameters is provided: maximum speed, maximum trim angle, maximum heeling angle, maximum wavy index, minimum air pressure, maximum gas pressure, the lowest temperature and the highest temperature, and excursion and the alarming value of alarm parameters are as follows:
1) maximum speed 0kn～30kn, system default alarming value is 20kn,
2) 0 °～15 °, maximum trim angle, system default alarming value is 10 °,
3) 0 °～30 ° of maximum heeling angles, system default alarming value is 15 °,
4) maximum is rocked index 0～10, and system default alarming value is 5,
5) minimum air pressure 950hPa～1010hPa, system default alarming value is 1000hPa,
6) maximum gas pressure 1000hPa～1060hPa, system default alarming value is 1020hPa,
7) lowest temperature-40 ℃～60 ℃, system default alarming value is 0 ℃,
8) highest temperature-40 ℃～60 ℃, system default alarming value is 30 ℃;
The excursion of alarm parameters and alarming value can arrange voluntarily; When one of above-mentioned 8 alarm parameters touch corresponding alarming value, alarm module is sounded and vibration alarming.
Accompanying drawing explanation:
Fig. 1 system ER figure
The C/S network architecture of Fig. 2 system
The information processing link schematic diagram that Fig. 3 system relates to
Fig. 4 is from server info flow graph
Fig. 5 connects master server schematic diagram from server input IP
Fig. 6 is from the workflow diagram of server
Fig. 7 error radius and hi-Fix schematic diagram
Fig. 8 mixed-media network modules mixed-media operational flowchart
Two kinds of situations of Fig. 9 server mobile phone interface
The data message of Figure 10 master server mobile phone flows to figure
Structure and the information source of Figure 11 ship information database
Figure 12 client-side program flow chart
Figure 13 client network module flow chart
Figure 14 alarm parameters arranges interface and warning interface
Embodiment
Systematic research method is as follows:
1), according to the demand of system, determine and use C/S network model, the i.e. network model of client and server.Utilize on deck and fix smart mobile phone as server, each crewman carries smart mobile phone as client.Client-requested connection server, server sends data to client.
2) according to data attribute, the acquisition means of specified data.Select the mobile phone transducer image data of mobile phone GPS module and some kinds.
3) according to the feature of various information and importance degree, selected needs arrange parameter and the span of warning, and the mode of sending of definite alarm signal.
The designed system of similar list of references 1, the ship information collection based on smart mobile phone and warning system are divided into the design of two parts of hardware and software generally.Wherein hardware designs is relatively simple, and Software for Design is core emphasis.System hardware can be divided into three parts by vertical distribution.Systems soft ware is divided into three programs greatly independently, and each program part contains again some modules.The module of entire system has: vessel position service module, sensor information acquisition module, network information Switching Module, UI display module and personalized alarm module.
The Hardware Design is simple, several wireless routers and 3 or above the smart mobile phone mobile terminal device of operation system of smart phone (or be provided with), consists of.Smart mobile phone in system divides three major types: the first kind be one from server mobile phone, comprise GPS module, contain baroceptor; Equations of The Second Kind is a master server mobile phone, comprises GPS module, contains gravity, gyroscope, linear acceleration, temperature, air pressure, 6 kinds of transducers of earth magnetism; The 3rd class is several normal client end mobile phones.From server mobile phone, be fixed on fore deck, master server mobile phone is fixed on aftdeck, and boats and ships are when plateau, and the line of two mobile phones and bow tail centerline are in same vertical section, and two mobile phones are in same level.Principal and subordinate's server mobile phone connects boats and ships local area network (LAN) by the wireless router on deck, and other mobile phones are the smart mobile phone that crewman carries, and can in any cabin, connect equally boats and ships WLAN (wireless local area network).
Software is the emphasis core of native system, three parts, consists of, and is respectively from server section, master server part and normal client end part.From server section mainly by 3 large module composition, i.e. vessel position service routine module, sensor information acquisition module, network information Switching Modules.Vessel position service routine module and sensor information acquisition module are used for obtaining information, and network information Switching Module is used for transmission of information.
Master server is by 5 large module composition, i.e. the sensor information acquisition module of master server, vessel position service module, network information Switching Module, UI display module and ship information database module.Vessel position service module and sensor information acquisition module are used for Information Monitoring and processing section data, ship information database module is mainly concerned with the storage of ship information, UI module is mainly the demonstration of information, the reception that network information Switching Module is ship information and transmission.
Client modules consists of network information Switching Module, UI display module and self-defined alarm module 3 major parts.UI module shows the map locating and displaying of necessary 15 ship information parameters and boats and ships.Mixed-media network modules mixed-media is used for obtaining ship information from master server.Alarm module has 8 settings, relates to the warning to 6 important ship information parameters, and the preservation of warning message.
The three parts of systems soft ware all comprise network information Switching Module separately, all by this module ship information that circulates.Ship information database memory module and personalized alarm module are peculiar by master server and client institute respectively.The graph of a relation of the each module of systems soft ware three parts as shown in Figure 1.
The C/S network architecture of system:
The three parts of system have adopted respectively the C/S network architecture to carry out network information exchange.From server service in master server, unilaterally directly to master server, provide data, and by master server, indirectly to numerous clients, provide low volume data.Master server receives on the one hand from server info, and own acquisition process bulk information on the one hand sends to client by the information after processing simultaneously.If crewman wants to obtain boats and ships for information about by smart mobile phone, client-side program must be first installed, binding server network.The network architecture model of system is illustrated in fig. 2 shown below.
The processing links of ship information:
Ship information collection and warning system that global positioning system, mobile phone transducer and electronic chart based on smart mobile phone and wireless network combine, at the digital collection of ship information, computing, network delivery, UI, show and the link such as multimode storage covers comprehensively, as shown in Figure 3.
1) this link of digital collection link has embodiment at the vessel position service module from server and master server and sensor information acquisition module etc.The ship information finally collecting has two to originate greatly, by information such as the information of mobile phone global positioning system hardware collection and the boats and ships navigations information getting by mobile phone transducer and direction air pressure temperature.
2) this link of computing link and last link are closely related.When the collection of information, just there is the processing that relates to simple precision number of significant digit.Some parameters of ship information are if stem is to, Angle of Trim etc., the not data of original measurement, the multiple parameter combinations computing gained that record through global positioning system or transducer.Convenience in order to understand in the UI of longitude and latitude demonstration, conventionally take degree (°) as data degree of the being converted into every minute and second of unit (° ' ") as the display format of unit.
3) this link of network delivery link is embodied on three large program parts network information Switching Module separately, be divided into from server to master server and master server to the network delivery of the ship information of client.
4) UI shows that this link is embodied on master server and client UI display module separately.UI interface numeral separately shows multiple ship information parameters, and shows the sea chart position at boats and ships place.
5) multimode is stored on the alarm module of ship information database module, UI module and client that this link is embodied in master server.At master server end, one group of data of the every collection of system just write one group of data in Sqlite ship information database.On master server UI interface, there is the button event together of can touching that historical datas all in ship information database is deposited in the part of SD Cavan with Json data format.Personalized alarm module in client can deposit alert data in the SD Cavan presents of client automatically in some way.
Each link of information processing is not isolated by the module of system completely, and each link is intersected again each other closely, such as when ship information gathers, just has simple computing.Information exchanging process relates between principal and subordinate's server, the network information transmission between master server client between three large programs.Master server and client have the demonstration of UI module to ship information, and database or the storage of file to information.
The software of system is realized:
On ship information collection based on smart mobile phone and warning system software, be divided into three programs, be followed successively by from server program, master server program and client-side program.From service routine, be arranged on the mobile phone that is positioned over fore; Master server program is arranged in stern master server mobile phone; Client-side program is arranged on each crewman's smart mobile phone (or the arbitrary equipment such as the panel computer of operation system of smart phone are housed).From server, every 1 second, constantly gather the latitude and longitude information of global positioning system, and atmospheric pressure information, and send these information to master server.Master server receives on the one hand from server info, on the other hand the various ship informations that collect is sent to each and client mobile phone master server network bound.
Three programs of system are actually the secondary development on electronic chart.The partial function on electronic chart is used in principal and subordinate's service of system, allows to, in the sufficient situation of global positioning system signal, very accurately obtain the latitude and longitude information of boats and ships.Master server and client-side program have been used the display interface of electronic chart, can be by latitude and longitude information, and the direction of motion and position error radius, the various navigations information of boats and ships, the temperature and air pressure on deck etc. is presented on interface in real time.
From server program part:
From the stricti jurise of Transmission Control Protocol, from server end, be not server, but its effect is different from the client mobile phone program in crewman's hand, it is system production information, but only to master server, provides low volume data, thereby is referred to as from server.
From server, mainly contain four large functions: 1. the latitude and longitude information that gathers global positioning system by the related service of electronic chart; 2. by mobile phone transducer Real-time Collection atmospheric pressure and air themperature information; 3. the information of collection is sent to master server with certain frequency; 4. Information Monitoring is reflected on mobile phone interface.The first two function in four functions is the collection approach of information, the outflow approach that latter two is information, and front 3 functions are just corresponding to Map Services module, mobile phone sensor assembly and mixed-media network modules mixed-media.From the information flow direction of server as shown in Figure 4.
When server is normally worked, master server be must connect, thereby IP address and the network service end slogan of master server from server, must be known.In program, start for the first time user and must press Menu key, select setting options, the IP address of correct input server in text box.Program has memory function to most recently used IP address, thereby while starting next time, will to give tacit consent to the address arranging last time be server IP address.Fig. 5, for to press Menu key from server, selects after setting options the interface while preparing to connect master server.
From server, except network operation (connect master server and send data to master server), most task all completes in main thread.From the cardinal principle workflow of server as shown in Figure 6.
From the vessel position service module of server:
By loading the associated documents of electronic chart, call the disclosed interface service of special electronic sea chart, can obtain GPS system information, return to the information such as longitude, latitude, error radius, the direction of motion and movement velocity of current point.From server, choose the information that passes to master server and only have longitude, latitude and error radius.In program, the gps data renewal frequency of Map Services is manually set to 1s/ time.
From the sensor information acquisition module of server:
From service, two kinds of mobile phone transducers, air-temperature sensor and baroceptors have been used.The stem height above sea level value that has air pressure conversion in the design from server to the data of master server transmission and obtain.In system, the sample frequency of baroceptor is set to SENSOR_DELAY_NORMAL(20ms/ time).For reducing sensor measurement error, during a gps data of every renewal (approximately passing through 1000ms), the some atmospheric pressure values that just sampling recorded do an average calculating operation, the atmospheric pressure value that the longitude and latitude again global positioning system being recorded and baroceptor record is converted to height, and sends to master server by TCP network.Master server can be by latitude and longitude information simultaneously, the height above sea level that atmospheric pressure value is corresponding, and temperature is presented in simply from server mobile phone interface.The concrete formula of the transformational relation of air pressure and height above sea level is as follows:
Wherein h is height above sea level, the m of unit; The atmospheric pressure that p surveys for transducer, the hPa of unit; P0 is constant, acute pyogenic infection of finger tip standard atmospheric pressure, and required standard atmospheric pressure is 1013.25hPa here.The absolute altitude of merely measuring boats and ships have little significance and error variation large especially.The object of measuring this height above sea level is to coordinate master server, and the relative altitude of measuring ship bow stern is poor, and this measurement to vessel motion safe condition has larger meaning.
From the network information Switching Module of server:
From server with the Frequency Transfer data of about 1Hz to master server.Although obtain numerous data from server from Map Services with transducer, the data that pass to master server are also few, only comprise four contents.These data comprise that system time while obtaining GPS system information (has been the unified zebra time since on January 1st, 1970 00:00:00, unit is a millisecond ms), longitude, latitude and error radius, these data are isolated with "/", and add a string character prefix " sendInfoToMasterServer :/" above.The concrete form of transmission of information is:
SendInfoToMasterServer :/[time]/[latitude]/[longitude]/[height above sea level]
Master server program part:
The most crucial program of master server program software section of the present invention, be from server and client-side program bridge, the place, source of a large amount of ship information data especially.Master server receives longitude and latitude and the height above sea level information from server on the one hand, also can call on the other hand some mobile phone transducers, obtains numerous dynamic datas; Meanwhile, main service, by Map Services, is obtained GPS navigation information.Master server program is also the secondary development to doing on electronic chart, not only obtains gps data, also by the map interface of electronic chart, above these navigation datas are presented on.On electronic chart, dynamically show position, error radius and the course made good of boats and ships.
Master server end java applet code is positioned in three bags under src catalogue: com.liu.db, com.liu.graduatepaper and com.liu.tool.Xml topology file is the navigation_info.xml file under res/layout catalogue.This file and server UI are closely related.The operation of com.liu.db and database is closely related, and in bag, having encapsulated three classes is respectively DbInfo, ShipInfoDao and ShipInfoDBHelper class.DbInfo has encapsulated the data segment that deposits database information in, and its object correspondence a string data of ship information database, comprises 26 significant data item.Also encapsulated the method that generates Jason data character string.ShipInfoDao and ShipInfoDBHelper encapsulated ship information database creation database, data inserting, deletion data, reading out data, empty data, data write to a series of operations such as SD Cavan part.
Com.liu.graduatepaper bag only contains a Main class, is the entrance class of engineering.The function that Activity of such succession comprises has initialization interface, and initialization transducer, upgrades interface, response map click event, and transducer is new events more, and all data are calculated to the operations such as interface display.
Com.liu.tool comprises NetManage, Server2Info and Tool class.NetManage has encapsulated the all-network operation of server end, comprises creating server network, waiting for that client connects, creates separate threads client is carried out exchanges data, resolved the data that send from server end etc.Similar with from server of Server2Info class, is used for representing to come the data object since server.Tool class has mainly been deposited some shapings and character string type static constant.In order to alleviate the size of code of the Main class in com.liu.graduatepaper bag, Tool class has also encapsulated some static methods and has been used for some data that processes sensor returns.
The sensor information acquisition module of master server:
Master server has been used some transducers, has gravity sensor, linear acceleration transducer, gyro sensor, air-temperature sensor, baroceptor and geomagnetic sensor.Except the renewal frequency of temperature sensor is made as 10s/ time, the frequency of other sensor settings is SENSOR_DELAY_NORMAL(20ms/ time).
The data that master server directly records by transducer have: the component g of three directions that gravity sensor records
x, g
y, g
z, the component a in three directions that linear acceleration transducer records
x, a
y, a
z, the component ω in three directions that gyroscope records
x, ω
y, ω
z, the ambient temperature t that air-temperature sensor is surveyed, the p of baroceptor gained.The data of indirectly measuring and obtain have Angle of Trim pitch, Angle of Heel roll, boats and ships upheaval index (self-defining) roil, the boats and ships tail end height mheight at master server place and the compass direction compass of mobile phone of boats and ships.Below specifically introduce the effect of each transducer.
(1) data that this transducer of gravity sensor is surveyed are the axial gravity decomposition value of mobile phone x, y, z three.According to the size of these three values and positive and negative relation, can judge the navigations information of mobile phone.After mobile phone is fixed on boats and ships, the variation of mobile phone navigations information is also just signifying the variation at boats and ships navigations information angle.The data parameters being associated with gravity sensor in master server has the Angle of Trim pitch of boats and ships, Angle of Heel roll.The two reduction formula is as follows:
Wherein g
x, g
y, g
zrepresent respectively the component of gravity sensor in three directions of mobile phone x, y, z.
(2) linear acceleration transducer, this two classes transducer of gyroscope can be measured three-dimensional linear acceleration and the three dimensional angular speed of boats and ships.The variation of acceleration and angular speed is characterizing the severe degree of nonlinear motion of ship.This two classes transducer is used in conjunction with, and has reacted to a certain extent the safe coefficient of boats and ships.Herein according to these two groups of data definitions a parameter---the wavy index (roil) of boats and ships.The specific definition mathematic(al) representation of this parameter is:
Wherein a
x, a
y, a
zrepresent the component of linear acceleration transducer on x, y, z axle, represent the linear three-dimensional acceleration of ship, unit is m/s
2; ω
x, ω
y, ω
zfor three values that gyro sensor returns, represent the angular speed that mobile phone is rotated in the forward around x, y, z, unit is rad/s.
(3) this transducer of air-temperature sensor directly returns to the ambient temperature t that current mobile phone records, unit be ℃ (degree Celsius).
(4) this transducer of baroceptor directly returns to the atmospheric pressure that current mobile phone records, and unit is hPa(hundred handkerchiefs).The interface method that can provide according to operation system of smart phone, is converted to height above sea level by air pressure, and coordinates from server, can measure the head and the tail difference in height of boats and ships.The pressure height above sea level conversion formula that operation system of smart phone provides is as follows: (h is required height above sea level, the m of unit; P is known pressure, the hPa of unit; P
0for standard atmospheric pressure, constant, value is 1013.25hPa)
(5) magnetic flux of three directions of this transducer return measurement point mobile phone of geomagnetic sensor, can calculate the sensing of mobile phone in terrestrial space according to the positive and negative relation of the size of magnetic flux.Computing formula is as follows.
Wherein φ
x, φ
ybe respectively earth magnetic field flux component in x, y direction in mobile phone coordinate system.Compass be geographical north to, unit is " ° (degree) ".Because magnetic pole point has certain deviation with arctic point, so the direction that compass refers to and stem are to there being certain deviation.And the sensing of compass is easy to be subject to the impact of periphery magnet, thereby this parameter is only for referencial use, and in reality, the amplitude of fluctuation of compass is often larger.
The vessel position service module of master server:
By electronic chart related software, import chart data and data.Then by the relevant interface function of electronic chart, can return to the information such as the longitude and latitude, error radius, course made good, the speed of a ship or plane, update time of boats and ships global positioning system terminal, a GPS satellite number that can search.
With compared with server, master server, when using Map Services, has obtained the more GPS navigation information of horn of plenty.These information comprise: information updating time, longitude, latitude, course, the speed of a ship or plane, error radius.With compared with server, master server has not only been used the Map Services of electronic chart, has also used the electronic chart bag of electronic chart, and this makes mobile phone can clearly present particular geographic location, course and the position error radius of boats and ships.
When global positioning system signal is good, can search at most 16 GPS satellite, absolute fix error precision even can be up to 3m, be about the latitude earth surface distance of upper 0.1 second, the visible positioning function based on mobile phone global positioning system electronic chart is enough accurate.The error radius of simulated experiment and hi-Fix sectional drawing are as shown in Figure 7.
The network information Switching Module of master server:
TCP is a kind of agreement of connection-oriented assurance transmitting.When using TCP, must between transmit leg and recipient's two Socket, connect.As a normally ServerSocket of Socket() wait for that while connecting, another Socket can require to connect, and after successful connection, can carry out bidirectional data communication.When server starts in the design, can set up a ServerSocket, wait for from server and normal client end mobile phone and pass through input IP address access services device, connect.Server end can be stored the client Socket of each connection, when having global positioning system position to upgrade, shipping information can be transferred to each client Socket with the data format of Json.
The mixed-media network modules mixed-media of master server end is encapsulated in NetManage class.Be responsible for master server specially and from the data interaction between server and client side.In class, encapsulated some static methods, comprised and judge whether Wifi network is communicated with and the network ip address of obtaining master server.While starting mixed-media network modules mixed-media, main thread can create a thread and be used for specially binding a port numbers (54321 port), creates server socket.After server creates successfully, have a thread and monitor specially the port of binding.When having client (from server or normal client end) connection server, sub-thread creates a thread again and is used for processing and the data interaction of client.Server can carry out a judgement to the client of new connection, to distinguish client whether as from server or normal client end.If from server, wait for from server and send data and resolve the data that send over from server.If normal client end, when having ship information to upgrade, sends the ship information data of Json form to normal client end.The flow chart of mixed-media network modules mixed-media as shown in Figure 8.
The UI display module of master server:
Master server end has only designed an Activity UI active window, and it is corresponding to res/layout/navigation_info.xml file under engineering catalogue.3 Button button controls in UI, have been created, 16 TextView text control, in addition the map control of 1 MapView electronic chart.Text control and part button control have the effect of the expansion of drawing in, and Fig. 9 is the contrast sectional drawing of two kinds of situations.
The effect of UI control
1. button control (Button) refresh button, works to refresh map, and pressing refresh button will translation map, makes current anchor point be presented on the center of map.The button that saves historical data, can be saved in all information of the ship information lane database in server mobile phone in mobile phone SD file and go with the form of Json, has played the effect of shifting ship's navigation historical data.While emptying routine data when there is misoperation, these data can be unaffected.Pack up button, the effect of playing is to pack up boats and ships real time information, makes map control reach maximization, can substantially cover whole mobile phone interface.Click is packed up shown in the following Fig. 9 right-hand component in interface after button.Now pack up button and become expansion button, then click expansion button and just can recover previous interface.
2. text control (TextView) is except a title " boats and ships real time information ", and other text control are all used for showing certain ship information parameter.The ship information parameter showing on interface has 15, is respectively: update time, longitude, latitude, bow stern difference in height, position error, course made good, headway, stem rock to, compass sensing, Angle of Heel, Angle of Trim, deck temperature, deck air pressure, boats and ships the GPS satellite number that exponential sum searches.When global positioning system signal is sufficient, these data were upgraded once every 1 second.
3. map control (MapView) it is worth mentioning that, this control is not the map control that operation system of smart phone carries, but is derived from the map control of electronic chart kit.Use this control must in engineering storehouse, import electronic chart related tool bag, and must add All Paths name in topology file.
The ship information database module of master server:
Master server has been played the part of multiple player to ship information, is the consumer of information, is again the producer and the processor of information, or the transporter of information and storage person (as Figure 10).Master server has three kinds of approach to obtain ship information data, respectively: 1. by mobile phone transducer, obtain boats and ships navigations information angle, temperature, barometric information etc.; 2. by the Map Services of electronic chart, obtain gps data; 3. by obtaining data from server.The ship information data of master server have three kinds of flow directions, are respectively: 1. ship information database; 2. numerous client mobile phone; 3. server mobile phone interface
Master server end has gathered numerous data, and what these data had can directly use, and what have must just can pass to client, pass to master server mobile phone interface and store in the ship information database of master server through certain processing.The Sqlite database that ship information database provides for operation system of smart phone, it includes 26 data item.Server upgrades once these data every a second, and these data is sent to the client having connected, and stores in ship datebase, and partial data is presented on mobile phone interface.These data item are according to the approach of information source and whether initial data can be divided into 4 large classes, are respectively: master server sensor information, the GPS system information of Map Services, from server info and indirect metrical information.The source of these four classes data and relation are as shown in figure 11.
Master server is finally stored and is sent to the source of 26 data item of client as follows:
1. directly by the data item of sensor measurement, had: deck temperature, deck air pressure, mobile phone X-axis angular speed, mobile phone Y-axis angular speed, mobile phone Z axis angular speed, gravity X-axis component, gravity Y-axis component, gravity Z axis component.
2. through the gps data of electronic chart service acquisition, have: master server longitude, master server latitude, update time, course made good, the speed of a ship or plane, error radius, a GPS satellite number.
3. the data that provide from server have: from server longitude, from server latitude, from server height above sea level.
4. by the above directly data that acquired information indirectly obtains after data processing, had: compass sensing, master server height above sea level, mobile phone (boats and ships) Angle of Heel, mobile phone (boats and ships) Angle of Trim, boats and ships rock index, bow stern difference in height, stem and record (boats and ships) Angle of Trim to, global positioning system.
In these 26 data item, present to have 15 on master server mobile phone interface, successively: update time, master server longitude, master server latitude, head and the tail difference in height, error radius (position error), course made good, the speed of a ship or plane, stem rock index, a GPS satellite number (characterizing the power of global positioning system signal) to, compass sensing, Angle of Heel, deck temperature, Angle of Trim, deck air pressure, boats and ships.
Server mobile phone receives the information sending from server every 1 second.In the situation that satellite-signal is good, server mobile phone also can upgrade one time every 1 second GPS system information.GPS system information of every renewal, server will be saved in the data item of all renewals in the Sqlite database of system.When master server is clicked " saving historical data " button on interface, all data in ship information database can be write in SD card with the form of Json.
Normal client end program part:
Client-side program has three large functional modules: the alarm module of mixed-media network modules mixed-media, UI module, sound and vibration alarming store alarms information.Mixed-media network modules mixed-media mainly connects master server reception data resolution data, and UI module is in order to upgrade mobile phone interface, and alarm module mainly arranges interface and preserves alarm parameters in order to load to report to the police.
Client part program operates in the hand-held smart mobile phone of crewman, directly contacts with crewman user.Client-side program Java program in machine code is placed in the edu.liu.graduatepaper_client bag under src catalogue, 4 classes, consists of.Respectively AlertSettings, ClientActivity, DbInfo and NetManage class.
AlertSettings class is corresponding with alarm module, is responsible for setting and the storage of alarm parameters and type of alarm.
ClientActivity class is the main-inlet class of engineering, is also the subclass of Activity class.Its effect is huge, is responsible for starting whole application, the object that generates other classes, other modules of initializer, upgrades UI interface etc.
DbInfo class is the data object of ship information, and function is consistent with server.
The effect of NetManage class is to connect master server network, receives the ship information from master server.And these information analysis are become to DbInfo data object.For ClientActivity, use.
The operational process of client-side program is as follows.
1. after client terminal start-up, understand initialization alarm module, mixed-media network modules mixed-media and UI control successively;
2. initialization timing device, the cycle that timer event is carried out is 1 second;
3. judge whether ship information is empty (mixed-media network modules mixed-media can read the network information after starting, and upgrades ship information, also judges whether to get server ship information);
If 4. information is not empty, upgrades UI interface, otherwise jump to 7.;
5. judged whether that parameter exceeds warning value;
If 6. there is parameter to exceed warning value, sends alarm signal, and these warning informations are write to " the historical warning message .txt of the boats and ships " file in SD card root.Otherwise jump to 7.;
7. because mixed-media network modules mixed-media just upgrades ship information one time every a second, be offloading the CPU, thread can dormancy one second, to guarantee that client obtains new ship information data.
Figure 12 is the flow chart of client-side program operation.
The network information Switching Module of client:
The ship information data of client-side program, all by TCP network, are taken from master server via mixed-media network modules mixed-media.Client does not gather any global positioning system and sensing data, and substantially can not do processing to data and process.The information of client is a lot of Json character, must, by certain methods, he be resolved to useful independent data.That in engineering, be suitable for is existing kit Gson-2.1.jar.Use this bag, it must be imported under the libs catalogue of engineering.
Start after mixed-media network modules mixed-media, program is opened up the sub-thread of network, and concrete running as shown in figure 13.
1. from historical record or manually, input and obtain server ip address, binding remote server address, creates client socket.
2. as failed in establishment socket, get back to and 1. repeatedly carry out this operation, until create successfully.
3. after successfully creating socket, start to read the content in socket, if read failure, show that client goes offline, will turn back to and 1. re-establish socket.
4. read after socket content success, judge whether content is sky, for sky turns back to after thread dormancy a period of time (300ms) and 3. continues to read socket content.
5. socket content is not empty, according to reading of content, parses ship information object, for ClientActivity class, by ship information object, upgrades mobile phone interface.Parse after ship information object, for offloading the CPU, thread is understood dormancy a period of time equally, returns 3..
The UI display module of client:
Client call the associated packet file of electronic chart, can show by map the geographical position of vessel motion.Client, by the Json data that send over from master server end, resolves to ship information data object (object of DbInfo class), and the partial data in object is passed through to UI interface display.
The UI of client comprises three class controls, comprises 2 button controls (Button) and 15 text control (TextView) that two class operation system of smart phone provide self, and the 3rd class control is 1 the map control (MapView) being provided by electronic chart.
1. map control is provided by the kit of electronic chart, first need in engineering, import relevant jar bag during use, and the fullpath of then introducing control obtains.
2. the text control in the UI interface of text control client is consistent with master server UI, 15 text control can show 15 ship informations, comprise update time, master server longitude, master server latitude, bow stern difference in height, position error, course made good, headway, stem to, compass sensing, Angle of Heel, deck temperature, Angle of Trim, deck air pressure, boats and ships rock index, the GPS satellite number (characterizing the power of global positioning system signal) that searches etc.
3. button control and master server end are different.The button control of client only has 2, packs up button for one, and one is refresh button, compares master server and has lacked a button saving historical data.Pack up button and the function of refresh button the same with the function of master server.
Personalized alarm module:
Compared with master server, client is a many personalized alarm module showing unique characteristics.This module can be to multiple parameters with the mode of sound or vibration report to the police (or remind).And the parameter value size of these warnings, is can be according to each one different requirements, in the scope of license and personal settings, type of alarm is also selected voluntarily.It should be noted that and set after alarm parameters, press confirming button and just can come into force, otherwise can recover to arrange or the acquiescence alarming value of system last time.
1. the selective system of type of alarm provides two kinds of type of alarms, sound and vibrations.Two kinds of modes can independently be selected separately.User both can select, also can be optional one, can also one do not select.What during system initial start-up, give tacit consent to is all not have.Once user selects, during lower secondary program operation, the selection before just can remembering and recover.
2. the system that arranges of alarm parameters provides the setting of 8 alarm parameters, respectively: maximum speed, maximum trim angle, maximum heeling angle, maximum upheaval (rocking) index, minimum air pressure, the maximum gas pressure lowest temperature and the highest temperature.All corresponding slider bars of every alarm parameters, finger sliding slide block, the data on the right will be made corresponding size variation in certain scope.The excursion that for example each parameter arranges is as follows:
8) maximum speed 0kn～30kn, system default alarming value is 20kn;
9) 0 °～15 °, maximum trim angle, system default alarming value is 10 °;
10) 0 °～30 ° of maximum heeling angles, system default alarming value is 15 °
11) maximum is rocked index 0～10, and system default alarming value is 5;
12) minimum air pressure 950hPa～1010hPa, system default alarming value is 1000hPa;
13) maximum gas pressure 1000hPa～1060hPa, system default alarming value is 1020hPa;
14) lowest temperature-40 ℃～60 ℃, system default alarming value is 0 ℃;
15) highest temperature-40 ℃～60 ℃, system default alarming value is 30 ℃.
When having parameter to exceed warning value, will warning function module will send alarm signal.First the background that shows the text control region (rocking index, deck air pressure, deck temperature etc. as headway, Angle of Trim, Angle of Heel, boats and ships) of relevant parameter on mobile phone interface can become redness.Then mobile phone provides chimes of doom or sends vibration according to the type of alarm of setting, until alarm release or change type of alarm.Change the span of alarm parameters or propagate navigation and recover in normal range (NR), alarm red in interface will cancellation.
Will judge each second and once whether have alert, there is alert just to provide alarm one time, and write an alarm logging toward " boats and ships historical warning message .txt " file of mobile phone SD card root (this file will newly-built this file, just has and appends an information in end of file).The content format of record is:
[current time], Current[parameter name]: [parameter current value], the parameter name that Alarm[reports to the police]: [alarming value that alarm parameters arranges]
The needs that personalized function of reporting to the police is set can meets different crewman in client are requisite measures of safety of ship operation.Alarm module is not only the function of warning, and more wide in range says, is for making crewman can understand in time the prompting function that ship's navigation situation provides.As, by maximum report to the police the speed of a ship or plane establish lower, can be to prompting of crewman when boats and ships start; Select suitable atmospheric pressure value, can remind the variation (during Changes in weather, being often accompanied by the variation of air pressure) of weather.Figure 14 is certain warning interface.
The steps flow chart that alarm parameters is set is as follows:
1. click the Menu key in screen;
2. click the warning setting in menu bar;
3. ejecting reports to the police arranges interface, can carry out parameter setting;
4. click ACK button, preserve and arrange.
More than show and what describe is basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and specification, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
List of references:
1: Liu Heqian, Chen Shaoyang, Li Jie etc. based on the realization [J] of Android platform GPS and the shared shipping information of wireless network. scientific and technological visual field, 2013, (4): 87-88,109.
Claims (4)
1. a ship's navigation data processing and warning system, comprise from server, master server, multiple wireless router and multiple client, described is a smart mobile phone from server, comprises air-temperature sensor, baroceptor and from server global location module, from server vessel position service routine module, from server sensor information acquisition module, from server network information exchange module; Described master server is a smart mobile phone, comprise 6 kinds of transducers such as gravity sensor, linear acceleration transducer, geomagnetic sensor, gyro sensor, air-temperature sensor and baroceptor, and master server global location module, master server sensor information acquisition module, master server vessel position service module, master server network information Switching Module, UI display module and ship information database module; Describedly from server, described master server, described multiple wireless routers and described multiple client, be positioned at same WLAN (wireless local area network), describedly from server, described master server and described multiple client, by described WLAN (wireless local area network), be connected to each other, describedly from server and described multiple client, by described WLAN (wireless local area network), login described master server; Described multiple client is respectively smart mobile phone; It is characterized in that: describedly from server, be installed on master server described in bow and be installed on stern, or describedly from server, be installed on master server described in stern and be installed on bow, describedly from server and described master server, be set to when boats and ships are steady, in same level, and the described line from server and described master server and bow tail centerline are in same vertical section; Described from server by described from server air-temperature sensor and described temperature value and the atmospheric pressure value that obtains described boats and ships from server baroceptor, by described, from server global location module, obtain system time, boats and ships latitude, boats and ships longitude, boats and ships height above sea level, error radius, ship motion direction and ship motion speed, and the numerical value of described system time, described boats and ships latitude, described boats and ships longitude, described error radius and described boats and ships height above sea level is sent to described master server; Described master server obtains the component g of three directions of gravity
x, g
y, g
z, the component of three directions of magnetic flux, the component a in three directions of linear acceleration
x, a
y, a
z, the component ω in gyrostatic three directions
x, ω
y, ω
z, the ambient temperature t of described master server position and air pressure p, and indirectly obtain the sensing at terrestrial space of boats and ships Angle of Trim, ship's heeling angle, boats and ships upheaval index and described master server.
2. ship's navigation data processing as claimed in claim 1 and warning system, is characterized in that:
Described from server every 1 second, constantly gather the latitude and longitude information of global positioning system, and atmospheric pressure information, and send described latitude and longitude information and described atmospheric pressure information to master server, the described Socket from server and described multiple clients that described master server storage connects with it, when having global positioning system position to upgrade, shipping information is transferred to the Socket from server and described multiple clients described in each with the data format of Json, described master server storage also sends following 26 ship information parameters: update time, longitude, latitude, bow stern difference in height, error radius, course made good, headway, stem to, compass points to, Angle of Heel, Angle of Trim, deck temperature, deck air pressure, boats and ships rock the GPS satellite number that exponential sum searches, described master server X-axis angular speed, described master server Y-axis angular speed, described master server Z axis angular speed, gravity X-axis component, gravity Y-axis component, gravity Z axis component, described master server longitude, described master server latitude, from server longitude, from server latitude, from server height above sea level and master server height above sea level, to described from server and described multiple client, described master server, the described interface from server and described multiple clients can show 15 ship information parameters described 26 ship information parameters: update time, longitude, latitude, bow stern difference in height, error radius, course made good, headway, stem rock to, compass sensing, Angle of Heel, Angle of Trim, deck temperature, deck air pressure, boats and ships the GPS satellite number that exponential sum searches, the data item that described master server upgrades described 26 ship information parameters is saved in the Sqlite database of system.
3. ship's navigation data processing as claimed in claim 1 or 2 and warning system, is characterized in that:
Described multiple client comprises mixed-media network modules mixed-media, UI module and alarm module; Described alarm module provides sound and vibration alarming function and the setting of 8 alarm parameters is provided: maximum speed, maximum trim angle, maximum heeling angle, maximum wavy index, minimum air pressure, maximum gas pressure, the lowest temperature and the highest temperature, and excursion and the alarming value of described alarm parameters are as follows:
1) maximum speed 0kn～30kn, system default alarming value is 20kn,
2) 0 °～15 °, maximum trim angle, system default alarming value is 10 °,
3) 0 °～30 ° of maximum heeling angles, system default alarming value is 15 °,
4) maximum is rocked index 0～10, and system default alarming value is 5,
5) minimum air pressure 950hPa～1010hPa, system default alarming value is 1000hPa,
6) maximum gas pressure 1000hPa～1060hPa, system default alarming value is 1020hPa,
7) lowest temperature-40 ℃～60 ℃, system default alarming value is 0 ℃,
8) highest temperature-40 ℃～60 ℃, system default alarming value is 30 ℃;
Described excursion and the described alarming value of described alarm parameters can arrange voluntarily; When one of described 8 alarm parameters touch corresponding described alarming value, described alarm module is sounded and vibration alarming.
4. the ship's navigation data processing as described in claim as arbitrary in claim 1-3 and the alarm method of warning system, it is characterized in that: alarm module provides sound and vibration alarming function and the setting of 8 alarm parameters is provided: maximum speed, maximum trim angle, maximum heeling angle, maximum wavy index, minimum air pressure, maximum gas pressure, the lowest temperature and the highest temperature, excursion and the alarming value of described alarm parameters are as follows:
8) maximum speed 0kn～30kn, system default alarming value is 20kn,
9) 0 °～15 °, maximum trim angle, system default alarming value is 10 °,
10) 0 °～30 ° of maximum heeling angles, system default alarming value is 15 °,
11) maximum is rocked index 0～10, and system default alarming value is 5,
12) minimum air pressure 950hPa～1010hPa, system default alarming value is 1000hPa,
13) maximum gas pressure 1000hPa～1060hPa, system default alarming value is 1020hPa,
14) lowest temperature-40 ℃～60 ℃, system default alarming value is 0 ℃,
8) highest temperature-40 ℃～60 ℃, system default alarming value is 30 ℃;
Described excursion and the described alarming value of described alarm parameters can arrange voluntarily; When one of described 8 alarm parameters touch corresponding described alarming value, described alarm module is sounded and vibration alarming.
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