CN104880186B - The detection method and device of ship offshore distance - Google Patents
The detection method and device of ship offshore distance Download PDFInfo
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- CN104880186B CN104880186B CN201510233489.1A CN201510233489A CN104880186B CN 104880186 B CN104880186 B CN 104880186B CN 201510233489 A CN201510233489 A CN 201510233489A CN 104880186 B CN104880186 B CN 104880186B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention is suitable for ship's navigation field, there is provided a kind of detection method and device of ship offshore distance, described method includes following steps：Receive the ships data of boat-carrying transmission, parse ships data, ships data includes at least the latitude and longitude coordinates of ship parameter, ship azimuth and gps antenna, and ship parameter includes at least the positional information of boat length, ship width, the angle of fore acute angle and gps antenna in ship；Coordinate of the ship boundary point in sea chart is determined according to ships data；The minimum value of the ship boundary point and the bank frontier distance is obtained according to the coordinate of ship boundary point and bank border in sea chart.The embodiment of the present invention determines coordinate of the ship boundary point in sea chart by ships data, and coordinate based on ship boundary point and bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, improves the accuracy of distance detection.
Description
Technical field
The invention belongs to navigation safety field, more particularly to a kind of detection method and device of ship offshore distance.
Background technology
With the development of global shipping, each coastal, riparian area all begins setting up different types of bank, and bank berth is
Necessaryly, the throat of cargo unloading, once the accident that berth is knocked, its maintenance cost is extremely high for ship offshore,
More very other ships can be caused can not to be stopped within a period of time, thus the safety in berth is particularly important.
Current medium-and-large-sized bank is stopped in ship and is all commanded from the process of pool by pilot on target ship, to ensure
The safety of the Fairway navigation of large ship especially dangerous goods shipping, berthing and berthing operation, and bank is installed on large-scale bank
Kiev helps berthing device, distance and angle of ship and harbour for providing shipping sail speed, ship and harbour for pilot etc.
Data aid in pilotage.The prior art measures ship forward andor aft distance codes head edge using 2 laser range sensors
Distance, the distance by obtaining forward andor aft leaving wharf edge calculates the angle and speed of the ship in metres per second of ship and harbour face.
The measurement result that this measurement method obtains can be influenced by flood tide and ebb, and flood tide or ebb may result in target ship
Ship side draft is different, and since laser is along straightline propagation, cause that the laser that laser range sensor is sent reaches can
It can not be the ship side of object ship, cause ship not accurate to quayside along range measurements, and then influence ship and harbour face
Angle and speed of the ship in metres per second calculating.
The content of the invention
The embodiment of the present invention provides a kind of detection method of ship offshore distance, it is intended to improves ship and is measured to water depth
Accuracy.
The embodiment of the present invention is achieved in that a kind of detection method of ship offshore distance, and the described method includes as follows
Step：
Receive the ships data of boat-carrying transmission, parse the ships data, the ships data include at least ship parameter,
Ship azimuth and the latitude and longitude coordinates of gps antenna, it is sharp that the ship parameter includes at least boat length, ship width, fore
Positional information of the angle and gps antenna at angle in ship；
Coordinate of the ship boundary point in sea chart is determined according to the ships data；
The ship boundary point and the bank are obtained according to the coordinate of the ship boundary point and bank border in sea chart
The minimum value of side frontier distance.
A kind of detection device for ship offshore distance that the embodiment of the present invention also provides, described device include：
Ships data acquiring unit, for receiving the ships data of boat-carrying transmission, parses the ships data, the ship
Data include at least the latitude and longitude coordinates of ship parameter, ship azimuth and gps antenna, and the ship parameter includes at least ship
The positional information of length, ship width, the angle of fore acute angle and gps antenna in ship；
Boundary point is sat and determines to take unit, for determining coordinate of the ship boundary point in sea chart according to the ships data；
And
Minimum border distance acquiring unit, is obtained for the coordinate in sea chart according to the ship boundary point and bank border
Take the minimum value of the ship boundary point and the bank frontier distance.
The embodiment of the present invention obtains coordinate of the ship boundary point in sea chart by ships data, based on ship boundary point and
Coordinate of the bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, using ship boundary point with
Coordinate of the bank border in sea chart carrys out the distance of Ship ' boundary point and bank border, improves the accurate of distance detection
Property.
Brief description of the drawings
Fig. 1 is the flow chart of the detection method of ship offshore distance provided in an embodiment of the present invention；
Fig. 2 is the flow provided in an embodiment of the present invention that coordinate of the ship boundary point in sea chart is determined according to ships data
Figure；
Fig. 3 is ship model schematic diagram provided in an embodiment of the present invention；
Fig. 4 is that the coordinate provided in an embodiment of the present invention according to gps antenna in sea chart obtains ship center in sea chart
Coordinate flow chart；
Fig. 5 is the structure diagram of the detection device of ship offshore distance provided in an embodiment of the present invention；
Fig. 6 is the structure diagram of point coordinates determination unit in border provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention is by obtaining coordinate of the ship boundary point in sea chart, based on ship boundary point and bank border
Coordinate in sea chart obtains the minimum value of ship boundary point and bank frontier distance, using ship boundary point and bank border
Coordinate in sea chart carrys out the distance of Ship ' boundary point and bank border, improves the accuracy of distance detection.
Fig. 1 is the flow chart of the detection method of ship offshore distance provided in an embodiment of the present invention, and details are as follows：
In step s 110, the ships data of boat-carrying transmission is received, parses the ships data, ships data includes at least ship
The latitude and longitude coordinates of oceangoing ship parameter, ship azimuth and gps antenna, ship parameter include at least the length of ship, ship width,
Positional information of the angle and gps antenna of fore acute angle in ship；
In embodiments of the present invention, GPS (Global Positioning System, global positioning system) antenna is in ship
Positional information in oceangoing ship have recorded distance of the gps antenna with respect to ship all around side.
In embodiments of the present invention, boat-carrying exported a ships data every one second, in order to ensure in data recording process
Major key uniqueness requirement, the ships data exported using output time as main key record.
In the step s 120, coordinate of the ship boundary point in sea chart is determined according to above-mentioned ships data；
In embodiments of the present invention, ship boundary point and offset of the gps antenna in ship according to ship parameter；
Latitude and longitude coordinates and offset further according to gps antenna can obtain coordinate of the ship boundary point in sea chart.
In step s 130, the Coordinate generation ship boundary point and bank according to ship boundary point and bank border in sea chart
The minimum value of side frontier distance.
In embodiments of the present invention, the position acquisition ship boundary point based on ship boundary point and bank border in sea chart
Specific method with the minimum value of bank frontier distance is：
Centered on ship boundary point, using radius as R1Whether the picture circle of=r, judge ship boundary point during drawing circle
Intersect with bank border, if not having, with R2=2r for radius draw circle, draw circle during judge ship boundary point whether with bank
Side border is intersected, if it is not, with Rn=2n-1R draws circle for radius, until having friendship with bank border to draw circle for radius and find
Collect point, then with S1=(2n-1+2n-2) r is found for radius picture circle and the intersection point on bank border, if not having, with S2=(2n-1+
2n-2+2n-3) r is found for radius picture circle and the intersection on bank border, if not having, with Sm=(2n-1+2n-2+2n-3+2n-4+…+2n -m-1) r is found for radius picture circle and the intersection on bank border, and so on, there is friendship up to finding ship boundary point and bank border
Collect point, which is the minimum value of ship boundary point and bank frontier distance.
The embodiment of the present invention obtains coordinate of the ship boundary point in sea chart by ships data, based on ship boundary point and
Coordinate of the bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, using ship boundary point with
Coordinate of the bank border in sea chart carrys out the distance of Ship ' boundary point and bank border, improves the accurate of distance detection
Property.
Fig. 2 is the flow provided in an embodiment of the present invention that coordinate of the ship boundary point in sea chart is determined according to ships data
Figure, detailed step are as follows：：
Step S210, ship model is established according to ship parameter；
In embodiments of the present invention, rectangle hull is established with the length L and width W of ship, in the axis parallel to ship side
Line-spacing rectangle hull central pointPlace, two endpoints nearest to rectangle hull draw two rays, the ray and square
The above-mentioned two-end-point of shape hull is crossed to form fore, establishes the ship model of similar pencil-shaped, and ship model diagram is intended to ginseng
Examine Fig. 3.
In embodiments of the present invention, the length L for relating to ship refers both to the length of rectangle hull, and ship width W refers to
The width of rectangle hull.
Step S220, coordinate of the gps antenna in sea chart is generated according to the latitude and longitude coordinates of gps antenna；
Step S230, according to Coordinate generation ship center coordinate in sea chart of the gps antenna in sea chart；
In embodiments of the present invention, ship center refers to the central point of rectangle hull, according to seat of the gps antenna in sea chart
The relative position of mark and gps antenna with ship central point in sea chart obtains coordinate of the ship center in sea chart.
Step S240, using ship center as the point of rotation, fore is rotated to ship azimuth from datum line；
In embodiments of the present invention, ship azimuth refers to that ship deviates the angle of datum line, which is usually just
True north orientation, using ship central point as the point of rotation, by whole ship from due north orientation rotation to ship azimuth.
Step S250, ship boundary point is generated in sea chart according to coordinate of the ship center on sea chart and ship azimuth
Coordinate.
In embodiments of the present invention, ship boundary point shares five, and five ship boundary points are the four of rectangle hull respectively
A endpoint and fore top endpoint, L as shown in Figure 21、L2、L3、L4And L5.According to coordinate of the above-mentioned ship center in sea chart
And the azimuth of ship calculates coordinate of above-mentioned five boundary points in sea chart respectively.
The embodiment of the present invention establishes ship model by ships data, and ship is obtained according to the latitude and longitude coordinates of gps antenna
Coordinate of the center in sea chart, ship center are the point of rotation, and fore is rotated to ship azimuth, and then according to ship from datum line
Coordinate and ship azimuth of the center in sea chart carry out coordinate of the Ship ' boundary point in sea chart.
Fig. 4 is that the coordinate provided in an embodiment of the present invention according to gps antenna in sea chart obtains ship center in sea chart
Coordinate flow chart, detailed step is as follows：
Step S410, exists according to positional information calculation ship center of the gps antenna in ship relative to gps antenna
Offset in sea chart；
In embodiments of the present invention, according to positional information calculation ship center of the gps antenna in ship relative to
The specific steps of offset of the gps antenna in sea chart include：
Calculate gps antenna and offset of the ship center in ship；
The offset is converted to by offset of the ship center relative to gps antenna in sea chart according to the diminution ratio of sea chart
Amount.
In embodiments of the present invention, if position of the gps antenna in ship is：Distance apart from ship side is Ga, apart from ship
The distance of tail is Gb, and the distance of ship centre distance ship side isDistance apart from stern is1：K is the diminution of sea chart
Ratio, therefore, ship center is relative to the offset (Da, Db) of gps antenna:
Step S420, seat of the ship center on sea chart is obtained according to gps antenna in the coordinate of sea chart and above-mentioned offset
Mark.
In embodiments of the present invention, according to gps antenna in the coordinate of sea chart and ship center relative to gps antenna in sea chart
In coordinate of the offset Ship ' center on sea chart, if coordinate of the gps antenna in sea chart is (X, Y), ship center
Coordinate (X on sea chart1, Y1) it is specific calculate it is as follows：
X1=X+Ga
Y1=Y+Gb
The embodiment of the present invention is by offset of the Ship ' center relative to gps antenna in sea chart, according to gps antenna
Coordinate of the ship center on sea chart is obtained in the coordinate and offset of sea chart.
As the embodiment of the present invention, further include after step s 130：
Step 510, by above-mentioned ship boundary point with the minimum value of bank frontier distance compared with threshold value, when ship side
When boundary's point and the minimum value of bank frontier distance are more than or equal to threshold value, early warning is exported.
In embodiments of the present invention, the mode of early warning can be voice prompt, such as send alarm, play in real time currently
The minimum value of distance；Early warning mode can also be text prompt or vibration.
The embodiment of the present invention obtains coordinate of the ship boundary point in sea chart by ships data, based on ship boundary point and
Coordinate of the bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, if the minimum value is more than etc.
In threshold value, that is, early warning is exported, so that pilot pays attention to monitoring the distance on ship boundary point and bank, leaned on easy to safety of ship
Bank.
As an alternative embodiment of the invention, further include after step s 130：
Step 610, the coordinate according to the ship boundary point in sea chart, can obtain the navigation speed of each boundary point of ship
Degree；The obtaining step of the headway on ship border is：
Step 620, obtain the coordinate of upper one second ship boundary point in sea chart, calculate upper one second ship boundary point with it is current
The displacement of ship boundary point；
The headway of current ship boundary point is obtained according to above-mentioned displacement.
The embodiment of the present invention calculates ship of upper second border by obtaining coordinate of the different time ship boundary point in sea chart
The displacement of point and current ship boundary point, by displacement come the headway of Ship ' boundary point, so that pilot can be with base
Safe speed early warning analysis is carried out in the headway.
As other embodiments of the invention, between step S110 and step S120, further include：
By distance of the gps antenna away from ship side and the width of ship, and/or distance and ship of the gps antenna away from hull head and the tail
Length be compared, if distance of the gps antenna away from ship side be more than ship width, and/or gps antenna away from hull head and the tail away from
From the length more than ship, then the ship parameter exception ship parameter is judged；
If above-mentioned ship parameter is abnormal ship parameter, registration of ships information is obtained according to the catchword of ship.
The embodiment of the present invention is by determining the advance of coordinate of the ship boundary point in sea chart according to the ships data
Row is abnormal to be judged and revises, to ensure to obtain coordinate of the accurate ship boundary point in sea chart.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, relevant hardware can also be instructed to complete by program, a kind of meter can be stored in by performing the program of above-mentioned steps
In calculation machine readable storage medium storing program for executing, storage medium mentioned above can be read-only storage, flash memory, disk or CD etc..
Fig. 5 is the structure diagram of the detection device of ship offshore distance provided in an embodiment of the present invention, for the ease of saying
It is bright, only show and the relevant part of the embodiment of the present invention.The device includes：
Ships data acquiring unit 51, receives the ships data of boat-carrying transmission, parses the ships data, ships data is at least
Include the latitude and longitude coordinates of ship parameter, ship azimuth and gps antenna, ship parameter includes at least the length of ship, ship
Positional information in ship of width, the angle and gps antenna of fore acute angle；
In embodiments of the present invention, positional information of the gps antenna in ship have recorded gps antenna with respect to before and after ship
The distance of left and right sides.
In embodiments of the present invention, boat-carrying exported a ships data every one second, in order to ensure in data recording process
Major key uniqueness requirement, the ships data exported using output time as main key record.
Border point coordinates determines to take unit 52, and coordinate of the ship boundary point in sea chart is determined according to above-mentioned ships data；
In the embodiment of the present invention, border point coordinates determines to take unit 52, ship boundary point and GPS according to ship parameter
Offset of the antenna in ship；Latitude and longitude coordinates and offset further according to gps antenna can obtain ship boundary point in sea
Coordinate in figure.
Minimum border distance acquiring unit 53, ship is obtained according to the coordinate of ship boundary point and bank border in sea chart
The minimum value of boundary point and bank frontier distance.
In embodiments of the present invention, the position acquisition ship boundary point based on ship boundary point and bank border in sea chart
Specific method with the minimum value of bank frontier distance is：
Centered on ship boundary point, using radius as R1Whether the picture circle of=r, judge ship boundary point during drawing circle
Intersect with bank border, if not having, with R2=2r for radius draw circle, draw circle during judge ship boundary point whether with bank
Side border is intersected, if it is not, with Rn=2n-1R draws circle for radius, until having friendship with bank border to draw circle for radius and find
Collect point, then with S1=(2n-1+2n-2) r is found for radius picture circle and the intersection point on bank border, if not having, with S2=(2n-1+
2n-2+2n-3) r is found for radius picture circle and the intersection on bank border, if not having, with Sm=(2n-1+2n-2+2n-3+2n-4+…+2n -m-1) r is found for radius picture circle and the intersection on bank border, and so on, there is friendship up to finding ship boundary point and bank border
Collect point, which is the minimum value of ship boundary point and bank frontier distance.
The embodiment of the present invention obtains coordinate of the ship boundary point in sea chart by ships data, based on ship boundary point and
Coordinate of the bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, using ship boundary point with
Coordinate of the bank border in sea chart carrys out the distance of Ship ' boundary point and bank border, improves the accurate of distance detection
Property.
Fig. 6 is the structure diagram of border point coordinates determination unit 52 provided in an embodiment of the present invention, for convenience of description,
Only show and the relevant part of the embodiment of the present invention.
Border point coordinates determination unit 52 includes：
Ship model establishes subelement 61, and ship model is established according to ship parameter；
In embodiments of the present invention, ship model establishes subelement 61 and establishes rectangle ship with the length L and width W of ship
Body, and in the central axes parallel to ship side away from rectangle hull central pointPlace, two endpoints nearest to rectangle hull
The above-mentioned two-end-point of two rays of extraction, the ray and rectangle hull is crossed to form fore, establishes the ship mould of similar pencil-shaped
Type, the ship model figure is with reference to figure 2.
In embodiments of the present invention, the length L for relating to ship refers both to the length of rectangle hull, and ship width W refers to
The width of rectangle hull.
Gps antenna Coordinate generation subelement 62, gps antenna is generated in sea chart according to the latitude and longitude coordinates of gps antenna
Coordinate.
Ship centre coordinate generates subelement 63, according to Coordinate generation ship center of the gps antenna in sea chart in sea chart
In coordinate；
In embodiments of the present invention, ship center refers to the central point of rectangle hull, ship centre coordinate generation subelement
63 obtain in ship according to the relative position of coordinate and gps antenna with ship central point in sea chart of the gps antenna in sea chart
Coordinate of the heart position in sea chart.
Ship rotates subelement 64, and using ship center as the point of rotation, fore is rotated to ship azimuth from datum line；
In embodiments of the present invention, ship azimuth refers to that ship deviates the angle of datum line, which is usually just
True north orientation, ship rotates subelement 64 using ship central point as the point of rotation, by whole ship from due north orientation rotation to ship side
Parallactic angle.
Boundary point Coordinate generation subelement 65, for being generated according to coordinate of the ship center on sea chart and ship azimuth
Coordinate of the ship boundary point in sea chart.
In embodiments of the present invention, ship boundary point shares five, and five ship boundary points are the four of rectangle hull respectively
A endpoint and fore top endpoint, L as shown in Figure 21、L2、L3、L4And L5.According to coordinate of the above-mentioned ship center in sea chart
And the azimuth of ship calculates coordinate of above-mentioned five boundary points in sea chart respectively.
The embodiment of the present invention establishes ship model by ships data, and ship is obtained according to the latitude and longitude coordinates of gps antenna
Coordinate of the center in sea chart, ship center are the point of rotation, and fore is rotated to ship azimuth, and then according to ship from datum line
Coordinate and ship azimuth of the center in sea chart carry out coordinate of the Ship ' boundary point in sea chart.
In embodiments of the present invention, boundary point Coordinate generation subelement 65 further includes：
Offset computing module 651, according to positional information calculation ship center of the gps antenna in ship relative to
Offset of the gps antenna in sea chart；
In embodiments of the present invention, offset computing module 651 includes：
Offset calculating sub module, calculates gps antenna and offset of the ship center in ship；
Offset transform subblock, ship center is converted to relative to GPS according to the diminution ratio of sea chart by the offset
Offset of the antenna in sea chart.
In embodiments of the present invention, if position of the gps antenna in ship is：Distance apart from ship side is Ga, apart from ship
The distance of tail is Gb, and the distance of ship centre distance ship side isDistance apart from stern is1：K is the diminution of sea chart
Ratio, therefore, ship center is relative to the offset (Da, Db) of gps antenna:
Ship centre coordinate acquisition module 652, according to gps antenna in the coordinate of sea chart and above-mentioned offset obtain ship
Coordinate of the heart on sea chart.
In embodiments of the present invention, according to gps antenna in the coordinate of sea chart and ship center relative to gps antenna in sea chart
In coordinate of the offset Ship ' center on sea chart, if coordinate of the gps antenna in sea chart is (X, Y), ship center
Coordinate (X on sea chart1, Y1) it is specific calculate it is as follows：
X1=X+Ga
Y1=Y+Gb
The embodiment of the present invention is by offset of the Ship ' center relative to gps antenna in sea chart, according to gps antenna
Coordinate of the ship center on sea chart is obtained in the coordinate and offset of sea chart.
Further, the detection device of the ship offshore distance further includes：
Apart from early warning unit, the minimum value of above-mentioned ship boundary point and bank frontier distance is compared with threshold value
Compared with, when the minimum value of ship boundary point and bank frontier distance is more than or equal to threshold value, output early warning.
In embodiments of the present invention, the mode of early warning can be voice prompt, such as send alarm, play in real time currently
The minimum value of distance；Early warning mode can also be text prompt or vibration.
The embodiment of the present invention obtains coordinate of the ship boundary point in sea chart by ships data, based on ship boundary point and
Coordinate of the bank border in sea chart obtains the minimum value of ship boundary point and bank frontier distance, if the minimum value is more than etc.
In threshold value, that is, early warning is exported, so that pilot pays attention to monitoring the distance on ship boundary point and bank, leaned on easy to safety of ship
Bank.
Further, the detection device of the ship offshore distance further includes：
Headway acquiring unit, the ship is obtained for coordinate of the ship boundary point described in headway in sea chart
The headway of boundary point；
The headway acquiring unit includes：
Displacement computation subunit, for obtaining coordinate of the ship boundary point of upper second in sea chart, calculates ship of upper second border
The displacement of point and current ship boundary point；And
Headway computation subunit：For calculating the headway of current ship boundary point according to the displacement.Root
The headway of current ship boundary point is obtained according to above-mentioned displacement.
The embodiment of the present invention calculates ship of upper second border by obtaining coordinate of the different time ship boundary point in sea chart
The displacement of point and current ship boundary point, by displacement come the headway of Ship ' boundary point, so that pilot can be with base
Safe speed early warning analysis is carried out in the headway.
Further, the detection device of the ship offshore distance further includes：
Ship parameter abnormality determination unit, by distance of the gps antenna away from ship side and the width of ship, and/or gps antenna away from
The distance of hull head and the tail is compared with the length of ship, if distance of the gps antenna away from ship side is more than the width of ship, and/or
Distance of the gps antenna away from hull head and the tail is more than the length of ship, then judges the ship parameter exception ship parameter；
Abnormal ship parameter processing unit, if above-mentioned ship parameter is abnormal ship parameter, is obtained according to the catchword of ship
Take registration of ships information.
The embodiment of the present invention is by determining the advance of coordinate of the ship boundary point in sea chart according to the ships data
Row is abnormal to be judged and revises, to ensure to obtain coordinate of the accurate ship boundary point in sea chart.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of detection method of ship offshore distance, it is characterised in that described method includes following steps：
The ships data of boat-carrying transmission is received, parses the ships data, the ships data includes at least ship parameter, ship
Azimuth and the latitude and longitude coordinates of gps antenna, the ship parameter include at least boat length, ship width, fore acute angle
The positional information of angle and gps antenna in ship；
Coordinate of the ship boundary point in sea chart is determined according to the ships data；
Described the step of determining coordinate of the ship boundary point in sea chart according to the ships data, specifically includes：
Ship model is established according to the ship parameter；
Coordinate of the gps antenna in sea chart is generated according to the latitude and longitude coordinates of the gps antenna；
According to positional information generation ship center of coordinate and the gps antenna of the gps antenna in sea chart in ship
In the coordinate of sea chart；
Using the ship center as the point of rotation, fore is rotated to the ship azimuth from datum line；
According to coordinate and ship azimuth generation ship boundary point seat in sea chart of the ship center in sea chart
Mark；
The ship boundary point and the bank side are obtained according to the coordinate of the ship boundary point and bank border in sea chart
The minimum value of boundary's distance.
2. the detection method of ship offshore distance as claimed in claim 1, it is characterised in that described according to the gps antenna
The positional information generation ship center of coordinate and the gps antenna in ship in sea chart is walked in the specific of coordinate of sea chart
Suddenly include：
According to ship center described in positional information calculation of the gps antenna in ship relative to the gps antenna in sea chart
In offset；
Coordinate of the ship center in sea chart is generated in the coordinate of sea chart and the offset according to the gps antenna.
3. the detection method of ship offshore distance as claimed in claim 1, it is characterised in that described according to ship boundary point
After the minimum value step of ship boundary point described in position acquisition of the bank border in sea chart and the bank frontier distance
Further include：
By the ship boundary point with the minimum value of the bank frontier distance compared with threshold value, when the minimum value is more than
During equal to the threshold value, early warning is exported.
4. the detection method of ship offshore distance as claimed in claim 1, it is characterised in that described according to the ship side
After the minimum value of ship boundary point described in the Coordinate generation of boundary's point and bank border in sea chart and the bank frontier distance
Further include：
The headway of the ship boundary point is obtained according to coordinate of the ship boundary point in sea chart；
The obtaining step of the headway is specially：
Coordinate of one second ship boundary point in sea chart is obtained, calculates upper one second ship boundary point and current ship boundary point
Displacement；
The headway of current ship boundary point is calculated according to the displacement.
5. a kind of detection device of ship offshore distance, it is characterised in that described device includes：
Ships data acquiring unit, for receiving the ships data of boat-carrying transmission, parses the ships data, the ships data
Including at least the latitude and longitude coordinates of ship parameter, ship azimuth and gps antenna, the ship parameter is grown including at least ship
Degree, the positional information of ship width, the angle of fore acute angle and gps antenna in ship；
Border point coordinates determination unit, for determining coordinate of the ship boundary point in sea chart according to the ships data；
The border point coordinates determination unit includes：
Ship model establishes subelement, for establishing ship model according to the ship parameter；
Gps antenna Coordinate generation subelement, for generating gps antenna in sea chart according to the latitude and longitude coordinates of the gps antenna
Coordinate；
Ship centre coordinate generates subelement, for according to coordinate of the gps antenna in sea chart and the gps antenna in ship
Positional information in oceangoing ship generates coordinate of the ship center in sea chart；
Ship rotates subelement, for using the ship center as the point of rotation, fore to be rotated to the ship side from datum line
Parallactic angle；And
Boundary point Coordinate generation subelement, for being given birth to according to coordinate of the ship center in sea chart and the ship azimuth
Into coordinate of the ship boundary point in sea chart；And
Minimum border distance acquiring unit, for obtaining institute according to the coordinate of the ship boundary point and bank border in sea chart
State the minimum value of ship boundary point and the bank frontier distance.
6. the detection device of ship offshore distance as claimed in claim 5, it is characterised in that the ship centre coordinate generation
Subelement includes：
Offset computing module is opposite for the ship center according to positional information calculation of the gps antenna in ship
In offset of the gps antenna in sea chart；And
Ship centre coordinate generation module, described according to the gps antenna in the coordinate of sea chart and offset generation
Coordinate of the ship center in sea chart.
7. the detection device of ship offshore distance as claimed in claim 5, it is characterised in that described device further includes：
Apart from early warning unit, for the minimum value of the ship boundary point and the bank frontier distance and threshold value to be carried out
Compare, when the minimum value is more than or equal to the threshold value, export early warning.
8. the detection device of ship offshore distance as claimed in claim 5, it is characterised in that described device further includes：
Headway acquiring unit, the ship border is obtained for coordinate of the ship boundary point described in headway in sea chart
The headway of point；
The headway acquiring unit includes：
Displacement computation subunit, for obtaining coordinate of the ship boundary point of upper second in sea chart, calculate upper second ship boundary point and
The displacement of current ship boundary point；And
Headway computation subunit：For calculating the headway of current ship boundary point according to the displacement.
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| CN107389027B (en) * | 2017-07-27 | 2019-08-13 | 中铁大桥局集团第二工程有限公司 | A kind of quick accurate positioning method of gravity anchor waterborne |
| CN109613578B (en) * | 2018-12-29 | 2020-11-06 | 上海大学 | Ship positioning method for searching underwater target |
| CN111260961B (en) * | 2020-01-17 | 2021-04-02 | 中国水产科学研究院东海水产研究所 | Fishing boat remote parking information extraction method |
| CN111552309B (en) * | 2020-05-21 | 2021-04-20 | 上海海洋大学 | Ship edge-tracking control method |
| CN113176588B (en) * | 2021-05-18 | 2022-04-08 | 中移(上海)信息通信科技有限公司 | Distance measuring method, device and system and readable storage medium |
| CN113436467B (en) * | 2021-06-23 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | Collision avoidance decision method for unmanned surface vehicle in river course navigation |
| CN114194335A (en) * | 2021-12-27 | 2022-03-18 | 湖北中南鹏力海洋探测系统工程有限公司 | Intelligent drifting buoy with power device |
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