CN104122568A - Beidou/GPS combined navigation method and device for ship - Google Patents
Beidou/GPS combined navigation method and device for ship Download PDFInfo
- Publication number
- CN104122568A CN104122568A CN201410318714.7A CN201410318714A CN104122568A CN 104122568 A CN104122568 A CN 104122568A CN 201410318714 A CN201410318714 A CN 201410318714A CN 104122568 A CN104122568 A CN 104122568A
- Authority
- CN
- China
- Prior art keywords
- data
- gps
- module
- big dipper
- beidou
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention relates to a Beidou/GPS combined navigation method and device for a ship. The Beidou/GPS combined navigation method includes that sending serial port data information, wherein the serial port data information comprises locating information received by Beidou and GPS receivers and preset route information input through keystroke; receiving the serial port data information, extracting locating data and calculating navigation parameters according to the data information, and sending the calculated result to a human-computer interface; displaying the locating data and navigation parameters. The Beidou/GPS combined navigation method and device for the ship can guarantee the Beidou locating precision and improve the locating reliability through combining a GPS navigation system with a newly developed Beidou navigation system of China; the Beidou/GPS combined navigation method and device for the ship are good for popularizing the Beidou on the civilian market; the Beidou/GPS combined navigation method and device for the ship are good for popularizing the newly produced Beidou navigation system on the international market by the aid of the GPS navigation system well developed in the globe.
Description
Technical field
The present invention relates to navigator fix field, relate in particular to a kind of Big Dipper peculiar to vessel/GPS associating air navigation aid and device thereof.
Background technology
At present, Technique of Satellite Navigation and Positioning has been widely used in the fields such as sea-lanes of communication transport navigation, basic mapping, engineering survey, seismic monitoring, aerological sounding.GPS (Global Position System) taking GPS as representative has very strong attractive force to user, compatible strong with GPS, and don't the satellite navigation system that relies on GPS completely has also had living space widely.Building up of Beidou satellite navigation system, promote the development of China's autonomous satellite navigation cause, embody the comprehensive strength of China, make China aspect satellite application, break away from the dependence to external satellite navigation system, break the monopolization of GPS of America, and drive the development of a collection of hi-tech industry, form new growth engines.But the Big Dipper is as emerging technology, its positioning precision, except some specific region, still has most of zone location precision high not enough.Secondly, GPS is suitable for civilian, and the Big Dipper does not also enter into civilian track now completely, and usable range is restricted.Moreover current GPS is at comparative maturity of global development, to be approved by numerous countries in the world, China's Big Dipper is as new product, and its confidence level and reliability are lower, and therefore entering into international market also needs stretch journey.
Summary of the invention
The object of the present invention is to provide a kind of Big Dipper peculiar to vessel/GPS associating navigation terminal and its implementation that can overcome above defect.
In first aspect, the invention provides a kind of Big Dipper peculiar to vessel/GPS and combine air navigation aid.The method comprises: send serial data information, described data message comprises locating information that the Big Dipper, GPS receiver receive and the default route information of key-press input; Receive described serial data information, position the extraction of data and the calculating of navigational parameter according to described data message, and calculation process result is sent to man-machine interface; Show described locator data and navigational parameter.
In second aspect, the invention provides a kind of Big Dipper peculiar to vessel/GPS and combine guider.This device comprises: serial communication modular, message processing module, keyboard input module and display module, described serial communication modular, be used for receiving the Big Dipper, GPS navigation satellite-signal, and completing place is resolved the locating information of resolving is sent to message processing module; Described keyboard input module, for completing the input of default route information; Described message processing module, for extract locator data, satellite information, complete typing, selection, the calculating of navigational parameter and the data transmission of other navigator to course line simultaneously; Display module, carries out output display to data after treatment, and man-machine interface is provided.
The present invention combines by the triones navigation system that GPS navigation system is newly developed with China, can ensure the positioning precision of the Big Dipper, improves the reliability of location.From market point of penetration, GPS is suitable for civilian, and the Big Dipper contributes to the Big Dipper to enter into commercial market with combining of GPS.In addition, by means of the GPS navigation system at global evolution comparative maturity, will contribute to the triones navigation system as new product to enter into international market.
Brief description of the drawings
Fig. 1 is the Big Dipper peculiar to vessel/GPS associating guider structured flowchart according to the embodiment of the present invention;
Fig. 2 is the part-structure block diagram of Fig. 1;
Fig. 3 is the method flow diagram of combining navigation according to the Big Dipper/GPS peculiar to vessel of the embodiment of the present invention;
Fig. 4 combines navigation schematic diagram according to the Big Dipper/GPS peculiar to vessel of the embodiment of the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 1 is the Big Dipper peculiar to vessel/GPS associating guider structured flowchart according to the embodiment of the present invention.
As shown in Figure 1, the present invention's Big Dipper peculiar to vessel/GPS associating guider comprises: serial communication modular, message processing module, keyboard input module, display module, alarm module and power module, serial communication modular, keyboard input module, display module, alarm module and power module are all connected with message processing module.
Serial communication modular includes source antenna and signal dash receiver, is used for receiving the Big Dipper, GPS navigation satellite-signal, and completing place is resolved the locating information of resolving is sent to message processing module.Locating information can be or combination in any in longitude, latitude, time and speed.Serial communication is mainly that the data message that receiver is received sends.This part function key is to meet the requirement of international standard regulation, ensures locating terminal peculiar to vessel signal receives during operation real-time and continuity, prevents the information of missing or misconnection information state.
Keyboard input module comprises keyboard, for completing the input of default route information.The default route information of key-press input comprises the longitude and latitude of boat signal and way point.
Message processing module comprises processor, for extract locator data, satellite information, complete typing, selection, the calculating of navigational parameter and the data transmission of other navigator to course line simultaneously.
Display module comprises LCDs, for data after treatment are carried out to output display, and provides man-machine interface.
Alarm module comprises LED lamp or loudspeaker, monitors and reports to the police or emergency alerts for course-line deviation warning, turning point warning, anchor position.For example, in the time that boats and ships utilize navigation terminal by setting routine navigation, open course-line deviation warning, turning point warning, if the real navigation route diasporometer plot a course of boats and ships in navigation, and this deviation value has reached predefined threshold value, at this moment message processing module just can provide course-line deviation warning; Preset threshold value or slip-angle steering is put certain value if reached us apart from the distance of next turning point when ship's navigation, message processing module also can provide turning point and report to the police.These two kinds of warnings are very important, and we remind driver to correct in time accommodation or change in time course with it, in advance danger reduction are arrived to minimum degree.
Power module, in order to give the power supply of navigation terminal modules, guarantees that navigation terminal normally uses.
Fig. 2 is the part-structure block diagram of Fig. 1.
As shown in Figure 2, message processing module comprises again reception locating information module, extracts locator data module and navigation module.
Receive the data message that locating information module sends for receiving described serial communication modular, this data message is the locating information that the Big Dipper, GPS receiver receive.
Extract locator data module for carrying out the extraction of part locator data according to locating information, and the data that calculate are sent to display module and navigation module.
Navigation module is for according to the calculating of the navigational parameters such as distance, crab angle of going off course of the default route information of locator data and input, and the data that calculate are sent to display module again.
The data of associating navigation terminal internal information processing system mainly comprise two parts: the one, and the locating information receiving from the Big Dipper and GPS dash receiver, the essential information of location is as longitude, latitude, speed etc.; Another part is the information in the default course line that obtains from user of service there, as the longitude and latitude of boat wire size, way point.So by the inputoutput data of information handling system, the merit II-that describes it receives the locating information of following certain agreement from serial ports, extract through information such as, latitudes according to our needs, this partial information of while is not only delivered to man-machine interface and is shown, and it still calculates the requisite information data of navigational parameter.Locator data is sent into navigation module and in conjunction with the go off course calculating of the navigational parameters such as distance, crab angle of the default route information of input, and by the data that the calculate machine interface display of making a gift to someone again.
Fig. 3 is the method flow diagram of combining navigation according to the Big Dipper/GPS peculiar to vessel of the embodiment of the present invention.
In step 301, send serial data information, this data message comprises locating information that the Big Dipper, GPS receiver receive and the default route information of key-press input.
In step 302, the serial data information in receiving step 301, positions the extraction of data and the calculating of navigational parameter according to these data messages, and calculation process result is sent to man-machine interface.
In step 303, the locator data in step display 302 and navigational parameter.
Fig. 4 combines navigation schematic diagram according to the Big Dipper/GPS peculiar to vessel of the embodiment of the present invention.
Way point navigation is the basic skills of marine navigation.So-called way point refers to each turning point in planned course, comprises starting point and terminal.Such way point string and the arbitrarily line between two way points have just formed course line.Line between two adjacent way points has just formed a course line section.Way point navigation be exactly guide boats and ships arrive successively each way point in course line a kind of air navigation aid H ".In a course line section. the specific tasks of navigation are exactly the impact point that guiding boats and ships drive towards current course line section.Therefore, the navigation in whole piece course line just can be decomposed into the navigation of each course line section.Guide boats and ships to drive towards the impact point of current course line section, must calculate at any time two navigational parameters the most basic: to the distance of impact point and the orientation of impact point.Drive towards in the process of current course line section impact point at guiding boats and ships, make accommodation remain on-course, also must calculate at any time the off-line distance of boats and ships, i.e. amount of yaw simultaneously.Basic parameters of way point navigation to distance, orientation, these three parameters of amount of yaw of front way point.In addition can also set some auxiliary parameters, as crab angle, the time to next way point, the time that arrives destination, distance, orientation driftage alarm threshold value etc.
1) as shown in the figure.A01, A02 A05 are way point, and what the line between them formed is that .P point in course line is boats and ships current location.
2) the position angle DTK that advances: the angle between current some P of boats and ships and line and the real north of next way point A02.
3) crab angle YAW: the angle of line between the line PA01 of boats and ships current location point P and starting point and two way points.
4) driftage is apart from XTE: boats and ships current location is put the vertical range of air route line, and cross track distance and crab angle are all to the left for negative, to the right for just.
5) to the distance of next way point: the distance between current boats and ships position and next way point.
6) expect time of next way point: know that boats and ships now to the distance of next way point, the speed that boats and ships advance, just can obtain the time in position.
7) distance to destination: arrive the distance of next way point and be left apart from sum.Know the speed of distance to destination divided by boats and ships, just can obtain the time of destination.
8) driftage is reported to the police: driftage alarm threshold value is set, when setting value or crab angle are greater than setting value, just produces warning when driftage distance is greater than.Remind driver's boats and ships to reach off-line ultimate value with this, need to revise in time course, make boats and ships ensure not depart from predetermined course line too large.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. the Big Dipper peculiar to vessel/GPS combines an air navigation aid, it is characterized in that, comprises the following steps:
Send serial data information, described data message comprises locating information that the Big Dipper, GPS receiver receive and the default route information of key-press input;
Receive described serial data information, position the extraction of data and the calculating of navigational parameter according to described data message, and calculation process result is sent to man-machine interface;
Show described locator data and navigational parameter.
2. the Big Dipper peculiar to vessel/GPS according to claim 1 combines air navigation aid, and the locating information that the described Big Dipper, GPS receiver receive comprises one or more in longitude, latitude, time and speed.
3. the Big Dipper peculiar to vessel/GPS according to claim 1 combines air navigation aid, and the default route information of described key-press input comprises the longitude and latitude of boat signal and way point.
4. the Big Dipper peculiar to vessel/GPS according to claim 1 combines air navigation aid, describedly positions the extraction of data and the calculating of navigational parameter according to data message, and calculation process result is sent to man-machine interface specifically comprises as follows:
Receive the locating information of following certain agreement from serial ports, extract the locator data needing, and described data are sent to man-machine interface;
Described locator data is sent into navigation module the default route information calculating of the navigational parameters such as distance, crab angle of going off course in conjunction with input simultaneously, and the data that calculate are sent to man-machine interface again.
5. the Big Dipper peculiar to vessel/GPS combines a guider, it is characterized in that, comprising: serial communication modular, message processing module, keyboard input module and display module,
Described serial communication modular, for receiving the Big Dipper, GPS navigation satellite-signal, and completing place is resolved the locating information of resolving is sent to message processing module;
Described keyboard input module, for completing the input of default route information;
Described message processing module, for extract locator data, satellite information, complete typing, selection, the calculating of navigational parameter and the data transmission of other navigator to course line simultaneously;
Display module, carries out output display to data after treatment, and man-machine interface is provided.
6. the Big Dipper peculiar to vessel/GPS according to claim 5 combines guider, it is characterized in that, described serial communication modular specifically includes source antenna and signal dash receiver.
7. the Big Dipper peculiar to vessel/GPS according to claim 5 combines guider, and described message processing module specifically comprises: receive locating information module, extract locator data module and navigation module,
Receive locating information module, the data message sending for receiving described serial communication modular, comprises the locating information that the Big Dipper, GPS receiver receive;
Extract locator data module, for carry out the extraction of part locator data according to locating information, and the data that calculate are sent to display module and navigation module;
Navigation module, for the calculating of the navigational parameters such as distance, crab angle of going off course according to the default route information of locator data and input, and sends to display module again by the data that calculate.
8. the Big Dipper peculiar to vessel/GPS according to claim 5 combines guider, it is characterized in that, also comprises alarm module, monitors and reports to the police or emergency alerts for course-line deviation warning, turning point warning, anchor position.
9. the Big Dipper peculiar to vessel/GPS according to claim 5 combines guider, it is characterized in that, also comprises power module, for powering to described associating guider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410318714.7A CN104122568A (en) | 2014-07-07 | 2014-07-07 | Beidou/GPS combined navigation method and device for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410318714.7A CN104122568A (en) | 2014-07-07 | 2014-07-07 | Beidou/GPS combined navigation method and device for ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104122568A true CN104122568A (en) | 2014-10-29 |
Family
ID=51768055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410318714.7A Pending CN104122568A (en) | 2014-07-07 | 2014-07-07 | Beidou/GPS combined navigation method and device for ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104122568A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157715A (en) * | 2015-09-02 | 2015-12-16 | 深圳市天工测控技术有限公司 | Self-adaptive return method and self-adaptive return system based on Beidou navigation system |
| CN107179081A (en) * | 2017-06-23 | 2017-09-19 | 南京康派电子有限公司 | A kind of transim |
| CN108801262A (en) * | 2018-05-31 | 2018-11-13 | 青岛中乌特种船舶研究设计院有限公司 | A kind of ship autopilot controller routeing and modification method of rectifying a deviation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101276520A (en) * | 2007-12-30 | 2008-10-01 | 深圳华强信息产业有限公司 | Method for scheduling navigation channel transportation |
| CN101738185A (en) * | 2008-11-11 | 2010-06-16 | 孟红 | Embedded ship navigation system of electronic chart |
| CN102156428A (en) * | 2011-05-20 | 2011-08-17 | 大连交通大学 | Yacht monitoring device and system |
| CN102278986A (en) * | 2011-06-21 | 2011-12-14 | 海华电子企业(中国)有限公司 | Optimization method for electronic marine chart ship route design |
| CN102967310A (en) * | 2012-12-12 | 2013-03-13 | 中国船舶重工集团公司第七0七研究所 | Seaway monitoring method based on electronic chart |
| CN103778803A (en) * | 2014-02-24 | 2014-05-07 | 黄河水利委员会黄河水利科学研究院 | Inland river hydrological and water administrative ship real-time location monitoring system and method |
-
2014
- 2014-07-07 CN CN201410318714.7A patent/CN104122568A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101276520A (en) * | 2007-12-30 | 2008-10-01 | 深圳华强信息产业有限公司 | Method for scheduling navigation channel transportation |
| CN101738185A (en) * | 2008-11-11 | 2010-06-16 | 孟红 | Embedded ship navigation system of electronic chart |
| CN102156428A (en) * | 2011-05-20 | 2011-08-17 | 大连交通大学 | Yacht monitoring device and system |
| CN102278986A (en) * | 2011-06-21 | 2011-12-14 | 海华电子企业(中国)有限公司 | Optimization method for electronic marine chart ship route design |
| CN102967310A (en) * | 2012-12-12 | 2013-03-13 | 中国船舶重工集团公司第七0七研究所 | Seaway monitoring method based on electronic chart |
| CN103778803A (en) * | 2014-02-24 | 2014-05-07 | 黄河水利委员会黄河水利科学研究院 | Inland river hydrological and water administrative ship real-time location monitoring system and method |
Non-Patent Citations (1)
| Title |
|---|
| 文豪 等: "基于北斗和GPS的船载导航系统的模块设计", 《机电技术》, no. 6, 31 December 2012 (2012-12-31), pages 160 - 162 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157715A (en) * | 2015-09-02 | 2015-12-16 | 深圳市天工测控技术有限公司 | Self-adaptive return method and self-adaptive return system based on Beidou navigation system |
| CN107179081A (en) * | 2017-06-23 | 2017-09-19 | 南京康派电子有限公司 | A kind of transim |
| CN108801262A (en) * | 2018-05-31 | 2018-11-13 | 青岛中乌特种船舶研究设计院有限公司 | A kind of ship autopilot controller routeing and modification method of rectifying a deviation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101289349B1 (en) | Marine navigation system | |
| CN106125099A (en) | A kind of marine celestial navigation rescue system based on big-dipper satellite | |
| CN108562923A (en) | A kind of Multi-source Information Fusion ship's fix method based on AIS ship station | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| CN201435162Y (en) | Intelligent anti-collision prewarning device for ship | |
| CN103975576A (en) | Augmented reality system using moving ceiling transparent display for ship and method for enabling same | |
| JP2015215278A (en) | Information display device | |
| JP7159338B2 (en) | AIS information processing device | |
| CN104122568A (en) | Beidou/GPS combined navigation method and device for ship | |
| CN106403995A (en) | Device used for RNP airborne performance monitoring and warning | |
| CN106767760A (en) | Multi-source ship target fusion method based on various dimensions | |
| CN104049239A (en) | Self-organizing ship locating method based on moving reference point assistance | |
| CN106710310A (en) | Integrated ship monitoring system | |
| CN104034338B (en) | A kind of dynamic navigation method and device | |
| KR101727141B1 (en) | The Method of Automatic Vessel Tracking and fusion based on fishing boat Target Information with wireless Korea Coast Guard maritime data communication In Radar Tracking System | |
| CN104101360A (en) | Navigation message display processing method for unmanned undersea vehicle | |
| CN203981885U (en) | A kind of Big Dipper peculiar to vessel/GPS combines guider | |
| CN204177966U (en) | A kind of Shipborne terminal machine based on big-dipper satellite | |
| KR102412419B1 (en) | A Method for Providing a Safety Supervising Service Based on a Next Generation Electronic Chart System | |
| CN102982699A (en) | Display method and display device for traffic signal of controlled river reach | |
| TWM554985U (en) | Display of nautical electronic navigation chart and safety warning system | |
| KR101134627B1 (en) | Searching system for vessels sank using position sensor and oil detection sensor | |
| CN111044032A (en) | Road navigation flight route navigation prompt display system | |
| CN107990889A (en) | A kind of routeing work station and its planning implementation method | |
| CN105572709A (en) | High-precision sea chart instrument based on Beidou satellite positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141029 |