CN104267723B - Ocean vessel navigation automatic sailing system and navigation method - Google Patents
Ocean vessel navigation automatic sailing system and navigation method Download PDFInfo
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- CN104267723B CN104267723B CN201410456803.8A CN201410456803A CN104267723B CN 104267723 B CN104267723 B CN 104267723B CN 201410456803 A CN201410456803 A CN 201410456803A CN 104267723 B CN104267723 B CN 104267723B
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Abstract
The invention discloses an ocean vessel navigation automatic sailing system and a navigation method. The automatic sailing system comprises an automatic sailing controller, a touch screen, a trackball, a three-dimensional electronic chart module, a GSP module, a ship radar module, an AIS module, a compass module, a distance metering module, a wind direction and wind speed metering module, a depth metering module and a 4G wireless network communication module; the touch screen, the trackball, the three-dimensional electronic chart module, the GSP module, the ship radar module, the AIS module, the compass module, the distance metering module, the wind direction and wind speed metering module, the depth metering module and the 4G wireless network communication module are each connected with the automatic sailing controller. According to the navigation method, a starting point and a terminal point are marked on an electronic chart, the optimum path is automatically arranged, barriers and sailing vessels in the path are automatically avoided in the automatic sailing period, a vessel is automatically driven to the specific terminal point, the number of persons distributed to the vessel is decreased, and the work intensity of seamen is reduced.
Description
Technical field
The present invention relates to a kind of automatic navigation system, more particularly to a kind of automatic navigation system of foreign-going ship and its navigation side
Method, belongs to ship equipment technical field.
Background technology
As the navigation manipulation of ship ocean is manipulated with aircraft space flight, need control staff that there is abundant knowledge hierarchy, specialty
Manipulation technology, it is especially desirable to control staff spirit high concentration, the various situations in Real Time Observation ship's navigation.Flight now is certainly
Dynamic driving technology has been widely applied to aerospace field, and flight autopilot facility can be greatly reduced the work of pilot
Intensity, simplifies the difficulty of flight operation.The same automatic navigation technology of marine navigation can reduce the number of the operator of ship, reduce people
The working strength of member, simplifies operation difficulty.
Since the U.S. is built up after " meridian instrument " satellite navigation system, respective aeronautical satellite is all being greatly developed in countries in the world
System.At present, Russia, France, Japan, China all establish respective satellite navigation system.Satellite navigation system solid is covered
Lid global space, it is possible to achieve accurate three-dimensional localization and real time speed measuring, and with strong interference immunity, the excellent spy of real-time
Point.With developing rapidly for satellite navigation system, electronic chart is also in evolution with rapid changepl. never-ending changes and improvements.GPS (global locations are equipped with present
System), the intelligent handhold electronic equipment of electronic compass instrument goed deep into daily life.This kind equipment have miniaturization,
In high precision, can be civilian etc. series of advantages.
In sum, if a of exploitation need to indicate beginning and end on electronic chart, it is possible to arrange automatically
Optimal travel route, according to GPS (global positioning system) data, electronic three-dimensional map data, weather on route data, course line water
Literary data, marine radar data, AIS (ship automatic answering system) data etc., the travel conditions of real-time monitoring ship are repaiied automatically
The best route of positive ship, and current course line and prediction course line are reported regulatory authorities and put on record so that ship is quick, peace
Entirely, automatic running will be with great meaning to the equipment for specifying terminal.This automatic navigational equipment can improve ship manipulation
Automatization level, topmost can be to reduce the number of human pilot, greatly reduce the working strength of human pilot.With high-precision
Degree, the development of high dynamic sensor, automatic navigation technology is in the rising stage of a fast development, therefore develops marine navigation
Automatically navigation equipment not only conforms with the state of development of automatic navigation technology, and marine automatic navigation is made up the related empty of field is driven
It is white also significant.
The content of the invention
A kind of automatic navigational equipment and air navigation aid it is an object of the invention to provide foreign-going ship navigates, the equipment is real-time
The data of each side are integrated, safety of ship is manipulated automatically and is reliably driven to destination.This ship autopilot device can be with
The working strength of staff is reduced, the configuration number of ship personnel is reduced.
The purpose of the present invention is achieved by the following technical programs：
A kind of foreign-going ship navigates automatic navigation system, including navigation controller automatically, touch screen, trace ball, three-dimensional electricity
Sub- sea chart module, GPS module, marine radar module, AIS modules, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, survey
Deep module, 4G wireless network communication modules；The touch screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar
Module, AIS modules, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communications module point
It is not connected with navigation controller automatically.
A kind of foreign-going ship navigates the air navigation aid of automatic navigation system, comprises the following steps：
S1：The starting point navigated by water automatically by touch screen or trace ball input and destination；
S2：Ask for the most short navigation route between starting point and destination；
S3：Ship ' navigates by water average speed, it is contemplated that the theoretical course line of ship, the weather, the hydrology in binding isotherm course line
Situation, corrects most short navigation route and obtains theoretical optimal navigation route；
S4：Ship current actual positions are positioned by GPS module, and is surveyed with reference to compass module, module of having the records of distance by the log, wind direction and wind velocity
Weather, the estimated letter of the hydrology after the optimal navigation route of theory that amount module and 4G wireless network communication modules are obtained in several days course lines
Breath, the operational configuration of several days after judgement, and then the optimal navigation route of revised theory obtain actual optimal navigation route；
S5：According to the scanning information and the Water Depth Information of depth measurement module, real-time monitored reef or submerged reef of marine radar module
Situation, the further actual optimal navigation route of amendment；
S6：According to the data of scanning information and AIS (ship automatic answering system) module of radar module with to carry out ship automatic
Exchange information, realizes avoidance action；
S7：By the actual optimal navigation route of real navigation back up and by 4G wireless communications by it is newest it is actual most
Good navigation route reports aviation management department and updates to be put on record.
The purpose of the present invention can also further be realized by following technical measures：
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, wherein step S2 ask for starting point and destination it
Between the method for most short navigation route be：
First, beginning and end is marked in electronic chart；Second, between zequin and terminal between straight line most
Short course line；3rd, judge to whether there is barrier in straight line Minimal Flight Path；4th, if there is barrier, judge Minimal Flight Path
With the intersection point of barrier, and go out to make vertical line in the intersection point, the obstacle length+safe distance in the length=vertical line direction of vertical line；
5th, connect the most short one end of this section of starting point and vertical line, the section is referred to as Minimal Flight Path _ i, and i is segment number；6th, by this section of end
The most short one end of point, i.e. vertical line is defined as the starting point in next judgement cycle；Second step is recycled to, is made with the starting point of new definition
Straight line Minimal Flight Path and terminal between, continuation judges to whether there is barrier in straight line Minimal Flight Path；7th, only straight line is most
No longer there is barrier in short course line, connect Minimal Flight Path _ i paragraph by paragraph successively, it is possible to obtain between starting point and terminal most
Short course line route.
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, and wherein revised theory most preferably navigates by water road in step S4
Line obtains the method for actual optimal navigation route：Bad weather and hydrology harsh conditions are considered as into barrier to be evaded.
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, the method that avoidance action is wherein realized in step S6
For：
First, marine radar module scans ambient conditionss centered on ship, finds to have in evaded distance to carry out ship；Second,
Always ship sends answer signal to AIS modules；3rd, judge to come whether ship replys the answer signal sent from ship；4th, if
Carry out ship and do not reply the answer signal sent from ship, system sends alarm, be switched to artificial control；5th, if carrying out ship response
From the answer signal that ship is sent, system intercourses travel route, judges from ship route, whether carrys out ship and keeps pacifying from ship
Full distance；6th, if from ship route, carrying out ship and can keep safe distance from ship, the course line of itself need not be changed from ship,
Normally travel；7th, if from ship route, carrying out ship and from ship safe distance, system can not be kept to make from ship and carry out ship
Communicated, confirmed that the avoidance direction of two ships must be contrary from ship and the avoidance direction for carrying out ship；8th, radar module scanning
Carry out ship, confirm from ship and carry out the distance between ship；9th, system selects to avoid point between two ships；Tenth, avoid point at
Safe distance makees equidistant vertical line, and connects from ship, comes the two ends of ship and equidistant vertical line, is allowed to constitute a tetragon；11st,
Judge whether any a line of tetragon intersects with barrier；12nd, if any a line of tetragon not with barrier
Intersecting, then two ships first to one end of equidistant vertical line, then are travelled according to the avoidance direction of agreement to the position of opponent vessel, are kept away
Allow action；13rd, if any a line of tetragon intersects with barrier, whether needs judge to select to avoid point more than certain
Number of times；14th, if selecting to avoid point more than certain number of times, illustrate to select to avoid point anyway, all can not cause
From ship and carry out ship the navigation channel is driven through with meeting, need the contact of AIS modules from ship and carry out ship, carry out from ship or carry out ship
Wait avoidance action；15th, if selecting avoidance point to be not above certain number of times, illustrate to there may be keeping away for safety meeting
Allow a little, reselect new avoidance point.
Compared with prior art, the invention has the beneficial effects as follows：The present invention only need to remember a little and whole in electronic chart subscript
Point, it is possible to arrange best route, automatic Pilot ship to advance to specified terminal automatically.Automatically can be with automatic decision during navigation
Route, avoids the barrier and vessel in route, reduces the personnel depaly of ship, mitigates the working strength of crewman.
Description of the drawings
Fig. 1 is the automatic navigational equipment system construction drawing of marine navigation of the present invention；
Fig. 2 is the automatic program navigation flow chart of marine navigation of the present invention；
Fig. 3 is to calculate most short navigation route exemplary plot；
Fig. 4 is most short navigation route calculation flow chart；
Fig. 5 is that theoretical optimal navigation route is modified to into actual optimal navigation route exemplary plot；
Fig. 6 is the flow chart that automatic avoidance is carried out according to the scanning information and AIS modules of radar module.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with specific embodiment.
As shown in figure 1, being the system construction drawing of the automatic navigation equipment of marine navigation proposed by the present invention.Marine navigation is automatic
Navigation equipment above all navigates by water controller automatically, and automatically navigation controller is the core of equipment.Touch screen is the defeated of system
Enter outut device, trace ball can be input into aid system；Three-dimensional electronic sea chart to navigation controller automatically provides marine site
The natural informations such as geography, the hydrology, weather；4G wireless network communication modules are responsible for the data exchange between ship and control station, can
With relevant informations such as the geography in real-time update navigation channel marine site, the hydrology, weather, steamer lines；GPS (global positioning system) module is used
To be accurately positioned the longitude and latitude of ship in real time；Marine radar scans surrounding sea areas, real-time monitoring surrounding sea areas centered on ship
Situation (island, reef, submerged reef, ship), it is ensured that all barriers are all outside the safe distance of steamer line；AIS (ships
Automatic-answering back device) module be used for from ship and come ship exchange information, control ship meeting traveling；Compass module is used to determine ship
Orientation；Module of having the records of distance by the log is used to record the route and mileage number of ship's navigation；Wind direction measurement module is used to measure wind direction and wind speed；Survey
Deep module is used to measure the hydrographic information around ship.
The automatic navigation equipment of marine navigation proposed by the invention, it is critical only that calculating navigation algorithm, only need to be in electron sea
Figure subscript remembers beginning and end, and the automatic navigation equipment of marine navigation just can automatically arrange best route, automatic Pilot ship row
Enter specified terminal.Automatically route can be automatically selected during navigation, avoids barrier and vessel in route, it is very big to obtain
The personnel depaly of ship is reduced, mitigates the working strength of crewman.Therefore the automatic navigation equipment of this marine navigation has important
Application value and economic worth.
As shown in Fig. 2 Fig. 2 is the program flow diagram of the automatic navigation system of marine navigation proposed by the present invention.Step is as follows：
S1：The starting point navigated by water automatically by touch screen or trace ball input and destination；
By touch screen or trace ball, mark sails capable beginning and end in three-dimensional electronic sea chart, and here touch screen is not
Only play input action and also act as the output action for showing navigation route, showing relevant information.
S2：Automatically navigation controller asks for the most short navigation route between starting point and destination；
The calculating of most short navigation route, principle is according to the current hull drinking water data of ship, it is to avoid three-dimensional electronic sea chart
In all barriers, such as island, reef, submerged reef etc..When avoiding the barrier in three-dimensional electronic sea chart, with minimum target offset
Angle is criterion.
Fig. 3 is, in electron sea chart display beginning and end, and to calculate an example of most short navigation route.
As shown in figure 3, mark goes out beginning and end first on three-dimensional electronic sea chart, pecked line a1 is origin-to-destination
Straight line beeline, pecked line a1 intersects with barrier " Yongxing Island "；Take its intersection point and make vertical line a2, the length=vertical line side of vertical line
To obstacle length+safe distance；Judge vertical line most short end, this end is rising in the next most short navigation route judgement cycle
Point；Connection source and vertical line most short end, obtains dotted line a3, and dotted line a3 is the most short navigation route in this section of voyage；With the next one
Starting point in the most short navigation route judgement cycle to terminal does straight line, and continuation is judged with the presence or absence of barrier in this straight course,
If there is barrier, it is necessary to the above-mentioned judgement of repetition, the intersection point of straight course and barrier is asked for, point of intersection makees vertical line,
Judge the most short one end of vertical line, connect the most short one end of this section of starting point and vertical line and obtain this section of Minimal Flight Path route, so obtain
Line segment a4～a10.
Fig. 4 is most short navigation route calculation flow chart.Firstly, it is necessary to mark beginning and end in electronic chart；The
Two, between zequin and terminal between straight line Minimal Flight Path；3rd, judge to whether there is obstacle in straight line Minimal Flight Path
Thing；4th, if there is barrier, judge the intersection point of Minimal Flight Path and barrier, and go out to make vertical line in the intersection point, the length of vertical line
Obstacle length+the safe distance in degree=vertical line direction；5th, connect this section of starting point and vertical line most short end, the section is referred to as most short
Course line _ i, i is segment number；6th, this segment endpoint, i.e. vertical line most short end is defined as into the starting point in next judgement cycle；Circulation
To second step, straight line Minimal Flight Path between making and terminal between with the starting point of new definition, continue to judge straight line Minimal Flight Path
In whether there is barrier；7th, only no longer there is barrier in straight line Minimal Flight Path, successively paragraph by paragraph connect Minimal Flight Path _
I, it is possible to obtain the Minimal Flight Path route between starting point and terminal.
S3：Ship ' navigates by water average speed, it is contemplated that the theoretical course line of ship, the weather in binding isotherm course line, the hydrology
Situation, corrects most short navigation route and obtains theoretical optimal navigation route；
Set is had the records of distance by the log the average speed of module Ship ' navigation, predicts the theoretical navigation circuit of ship, i.e. when ship
Can navigate by water to where, according to weather, the hydrologic regime of prediction, with reference to the theoretical navigation route of ship prediction, adjust most short boat
Walking along the street line, obtains theoretical optimal navigation route.
S4：Further the optimal navigation route of revised theory obtains actual optimal navigation route；
By GPS (global positioning system) module position ship current actual positions, and with reference to compass, have the records of distance by the log, wind direction wind
The meteorology of several from now on days and hydrologic(al) prognosis letter in the optimal navigation route of theory that fast measurement module and 4G wireless communications are obtained
Breath, corrects navigation route, and severe to the hydrology in several from now on days, meteorological severe marine site is predicted evades, so as to further repair
Positive theoretical optimal navigation route obtains actual optimal navigation route.
As shown in figure 5, Fig. 5 is that theoretical optimal navigation route is further modified to into actual optimal navigation route.Route is repaiied
Positive process and most short navigation route calculation process is more similar, differs primarily in that makeover process combines closely following several days in advance
The meteorology of survey, hydrologic regime, meteorological severe and hydrology harsh conditions are considered as barrier and are evaded.Contrast Fig. 3 and Fig. 5, Fig. 5
Middle circle represents meteorological severe or hydrology harsh conditions, needs to be evaded when actual optimal navigation route is planned, evades
Flow process as most short navigation route calculation process in Fig. 4.
In Fig. 5, b10 represents most short end (the actual optimal navigation of terminal/b12 of the actual optimal navigation routes of b9 of b8 vertical lines
The starting point of route) to the optimal navigation route of theory of terminal, due to circle (representing the meteorological severe or severe marine site of the hydrology)
Exist, the optimal navigation route of theory of ship is obstructed.B10 intersects with circle；Take its intersection point and do vertical line b11, the length of vertical line
Obstacle length+the safe distance in=vertical line direction；Judge the most short one end of vertical line, this end is next actual optimal navigation road
Starting point in the line amendment cycle, connects the most short end of b8 vertical lines and the most short end of b11 vertical lines, obtains actual optimal navigation route section
b12.B13～b16 can be obtained successively in the same manner, connect b3, b6, b9, b12, b15, b16, it is actual optimal after being corrected
Navigation route.
S5：According to the scanning information and the feelings of the Water Depth Information of depth measurement module, real-time monitored reef or submerged reef of radar module
Condition, further corrects actual optimal navigation route；
Geographical and hydrologic regime around radar and depth measurement module real time scan ship, prevents from not having above three-dimensional electronic sea chart
There are the information of mark and the depth of water situation of real-time change, it is ensured that the safety zone around ship.
S6：According to the data of scanning information and AIS (ship automatic answering system) module of radar module with to carry out ship automatic
Exchange information, realizes avoidance action；
As shown in fig. 6, Fig. 6 is carried out according to scanning information and AIS (ship automatic answering system) module of radar module
Automatically the flow process for avoiding.First, radar scans ambient conditionss centered on ship, finds to have in evaded distance to carry out ship；Second,
Always ship sends answer signal to AIS (ship automatic answering system)；3rd, judge to come whether ship replys the response sent from ship
Signal；4th, if carrying out ship does not reply the answer signal sent from ship, system sends alarm, notifies stand-by vessel person, needs to carry
Height is vigilant, is switched to artificial control；5th, if carrying out the answer signal that ship response is sent from ship, system intercourses traveling
Route, judges from ship route, whether carrys out ship and keeps safe distance from ship；6th, if from ship route, carrying out ship and from ship
Safe distance can be kept, from ship the course line of itself, normally travel need not be changed；7th, if from ship route, carrying out ship
Safe distance can not be kept with from ship, system makes from ship and carrys out ship and communicated, confirm from ship and the avoidance direction for carrying out ship, two
The avoidance direction of ship must be contrary；8th, radar module scanning carrys out ship, confirms from ship and carrys out the distance between ship；9th, system
Select to avoid point between two ships；Tenth, equidistant vertical line is made with safe distance at point avoiding, and connection from ship, carry out ship and wait
Away from the two ends of vertical line, it is allowed to constitute a tetragon；11st, judge whether any a line of tetragon intersects with barrier；
12nd, if any a line of tetragon does not intersect with barrier, two ships according to agreement avoidance direction, first to equidistant
One end of vertical line, then travel to the position of opponent vessel, carry out avoidance action；13rd, if any a line of tetragon and barrier
Thing is hindered to intersect, needs judge to select to avoid whether point exceedes certain number of times；14th, if selecting to avoid point more than certain
Number of times, illustrates to select to avoid point anyway, can not all cause from ship and carry out ship with the navigation channel that drives through of meeting, needs
AIS (ship automatic answering system) contacts are from ship and carry out ship, carry out from ship or come the wait avoidance action of ship；15th, such as
Fruit selects avoidance point to be not above certain number of times, illustrates the avoidance point that there may be safety meeting, reselects new avoidance
Point.
S7：After a period of time, the actual optimal navigation route of real navigation is backed up and by 4G wireless communications
Newest actual optimal navigation route is reported aviation management department and updated and is put on record.
Obtain actual optimal navigation route and offer aviation management department in advance to enter by newest by the wireless wireless network communication modules of 4G
Row puts for future reference on record.
In addition to the implementation, the present invention can also have other embodiment, all employing equivalents or equivalent transformation shape
Into technical scheme, all fall within the protection domain of application claims.
Claims (2)
1. a kind of foreign-going ship navigates the air navigation aid of automatic navigation system, and the foreign-going ship navigates automatic navigation system, bag
Include automatically navigation controller, touch screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS modules,
Compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communication modules；The touch screen, rail
Mark ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS modules, compass module, module of having the records of distance by the log, wind direction and wind velocity
Measurement module, depth measurement module, 4G wireless network communications module are connected respectively with navigation controller automatically；
The air navigation aid of the automatic navigation system of foreign-going ship navigation is comprised the following steps：
S1：The starting point navigated by water automatically by touch screen or trace ball input and destination；
S2：Ask for the most short navigation route between starting point and destination；
S3：Ship ' navigates by water average speed, it is contemplated that the theoretical course line of ship, the weather, hydrologic regime in binding isotherm course line,
The most short navigation route of amendment obtains theoretical optimal navigation route；
S4：Ship current actual positions are positioned by GPS module, and with reference to compass module, module of having the records of distance by the log, wind direction and wind velocity measurement mould
Weather, hydrology prediction information after the optimal navigation route of theory that block and 4G wireless network communication modules are obtained in several days course lines,
The operational configuration of several days after judgement, and then the optimal navigation route of revised theory obtains actual optimal navigation route；
S5：According to the scanning information and the feelings of the Water Depth Information of depth measurement module, real-time monitored reef or submerged reef of marine radar module
Condition, further corrects actual optimal navigation route；
S6：According to the scanning information of radar module and the data of AIS modules with carry out ship automatic exchange message, realize avoidance action；
S7：The actual optimal navigation route of real navigation is backed up and newest reality is most preferably navigated by 4G wireless communications
Walking along the street line reports aviation management department and updates to be put on record；
Characterized in that, the method that step S2 asks for the most short navigation route between starting point and destination is：
First, beginning and end is marked in electronic chart；Second, between zequin and terminal between the most short boat of straight line
Line；3rd, judge to whether there is barrier in straight line Minimal Flight Path；4th, if there is barrier, judge Minimal Flight Path with barrier
Hinder the intersection point of thing, and go out to make vertical line in the intersection point, the obstacle length+safe distance in the length=vertical line direction of vertical line；5th,
Connect the most short one end of the straight line Minimal Flight Path starting point and vertical line, the course line section of acquisition is referred to as Minimal Flight Path _ i, and i is section volume
Number；6th, the most short one end of this segment endpoint, i.e. vertical line is defined as into the starting point in next judgement cycle；Second step is recycled to, with
The starting point of new definition makes the straight line Minimal Flight Path and terminal between, and continuation judges to whether there is obstacle in straight line Minimal Flight Path
Thing；7th, only no longer there is barrier in straight line Minimal Flight Path, connect Minimal Flight Path _ i paragraph by paragraph successively, it is possible to gone out
Send out the Minimal Flight Path route between point and terminal.
2. foreign-going ship as claimed in claim 1 navigates the air navigation aid of automatic navigation system, it is characterised in that the step
The method that avoidance action is realized in S6 is：
First, marine radar module scans ambient conditionss centered on ship, finds to have in evaded distance to carry out ship；Second, AIS mould
Always ship sends answer signal to block；3rd, judge to come whether ship replys the answer signal sent from ship；4th, if carrying out ship
The answer signal sent from ship is not replied, system sends alarm, be switched to artificial control；5th, if carrying out ship response from ship
The answer signal for being sent, system intercourses travel route, judges from ship route, whether carry out ship and from ship keep safety away from
From；6th, if from ship route, carrying out ship and can keep safe distance from ship, the course line of itself need not be changed from ship, normally
Traveling；7th, if from ship route, carrying out ship and can not keep safe distance from ship, system makes from ship and carrys out ship and carry out
Communication, confirms that the avoidance direction of two ships must be contrary from ship and the avoidance direction for carrying out ship；8th, radar module scanning carrys out ship,
Confirm from ship and carry out the distance between ship；9th, system selects to avoid point between two ships；Tenth, avoiding at point with safety
Distance makees equidistant vertical line, and connects from ship, comes the two ends of ship and equidistant vertical line, is allowed to constitute a tetragon；11st, judge
Whether any a line of tetragon intersects with barrier；12nd, if any a line of tetragon does not intersect with barrier,
Then two ships first to one end of equidistant vertical line, then are travelled according to the avoidance direction of agreement to the position of opponent vessel, are carried out avoiding and are moved
Make；13rd, if any a line of tetragon intersects with barrier, needs judge to select to avoid point whether exceed it is certain secondary
Number；14th, if selecting to avoid point more than certain number of times, illustrate to select to avoid point anyway, all can not cause from ship
This section is driven through from ship and the navigation channel that ship is required for passing through is come with meeting with ship is carried out, the contact of AIS modules is needed from ship and is come
Ship, carries out from ship or comes the wait avoidance action of ship；15th, if selecting avoidance point to be not above certain number of times, say
The bright avoidance point that there may be safety meeting, reselects new avoidance point.
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