CN105911990A - Track bias determination method for ship sailing turning phase - Google Patents
Track bias determination method for ship sailing turning phase Download PDFInfo
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- CN105911990A CN105911990A CN201610344608.5A CN201610344608A CN105911990A CN 105911990 A CN105911990 A CN 105911990A CN 201610344608 A CN201610344608 A CN 201610344608A CN 105911990 A CN105911990 A CN 105911990A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses a track bias determination method for a ship sailing turning phase. The method comprises six steps: basic information of two track sections before and after the turning process and a turning arc is acquired; the direction angle between a transfer point and the turning arc center is calculated; the distance between the transfer point and the turning arc center is calculated; the longitude and the latitude of the turning arc center are calculated; the longitude and the latitude of a ship at the current position are acquired, and the distance between the ship and the turning arc center is calculated; and track bias during the ship sailing turning process is calculated. The course of the ship can be quickly corrected during the turning phase, the sailing time is shortened, and the sailing cost is saved; and when the track bias determination method during the turning process, the track bias during the ship sailing turning phase can be calculated accurately and in real time, the ship track control precision is improved, and the ship can be controlled to complete sailing in the phase more economically and reliably.
Description
Technical field
The present invention relates to flight tracking control technology during a kind of boats and ships sail, be related specifically to a kind of boats and ships in boat
The course-line deviation assay method in row turning stage.
Background technology
During ship's navigation, people expect that boats and ships navigate by water on desired track, if the deviation from desired track, and can
Ship's navigation can be made to produce danger, so underway flight tracking control is particularly significant.Flight tracking control can make navigation process saving
Energy resource consumption, avoid danger such as hitting a submerged reef.In ship's navigation, to turn unavoidably, during turning, carry out flight path control
System, needs to calculate the course-line deviation during turning.
The turning path of boats and ships is a circular arc, during boats and ships deviation desired track, and the beeline of distance turning flight path, can
To be considered course-line deviation when boats and ships are turned.In order to calculate this beeline, traditional method generally uses Mercator projection
Method, projects earth surface and calculates in another plane, and traditional method, when the difference of latitude of navigation is bigger, can produce bigger
The distortion of degree, this method proposes a kind of feasible computational methods, and the longitude and latitude that can directly calculate the turning circular arc center of circle is sat
The course-line deviation when calculating of mark, more intuitive and convenient is turned.
Summary of the invention
It is an object of the invention to provide a kind of boats and ships course-line deviation assay method in the stage of turning, it is intended to improve boats and ships
In the flight tracking control effect in navigation turning stage, reach to save hours underway and the purpose of the energy, make sea transport safer
Convenient.
The object of the present invention is achieved like this, the course-line deviation assay method in a kind of stage of turning for ship's navigation,
Specifically include following step:
1) two air route sections and the essential information of turning circular arc before and after turning process is obtained:
Turning beginning and end latitude and longitude coordinates is respectivelyWithIntermediate transit point latitude and longitude coordinates isTurning arc radius is R；
2) intermediate transit point P is calculated2Deflection to turning circular arc center of circle O；
At known coordinate P2To coordinate P1, coordinate P2To coordinate P3Deflection be respectively as θ1、θ2After, according to the two side
To angle angle value, triangle P can be calculated1P2P3Middle ∠ P1P2P3Size θ3；∠P1P2P3Bisector is with direct north angle
OP2Deflection θ；
3) intermediate transit point P is calculated2Spacing with turning circular arc center of circle O；
Calculate coordinate P2To coordinate P1Distance, in conjunction with radius of turn R given in trajectory planning, at triangle P1P2O
Middle coordinates computed P2Distance s to turning circular arc center of circle O；
4) longitude and latitude of turning circular arc center of circle O is calculated；
Intermediate transit point latitude and longitude coordinatesIt is s with the distance between two points of turning circular arc center of circle O, calculates turning circular arc circle
Heart O point longitude and latitude method particularly as follows:
P2, 2 differences of latitude of O:
ReFor earth radius；
O point latitude:
Due under different latitude, the rate of change of longitude is different, it is assumed that boats and ships with ship's speed v along OP2Direction is navigated by water, boat
The row time is Δ t,For the latitude value of boats and ships current location, so the longitude changing value in this period is:
Degree of learning from else's experience time differential:
Without time variable t on the right side of above formula, it is impossible to d λ is quadratured, therefore it is transformed on the left of above formula:
Taking the changing value of latitude in the Δ t time is:
Take latitude time differential:
Above formula is substituted intoAfter obtain:
D λ in above formula is quadratured:
O point longitude: λO=λ2+Δλ；
5) obtaining the longitude and latitude of boats and ships current location, Ship ' is to distance L of turning circular arc center of circle O；
Obtain boats and ships longitude and latitudeShip ' is to center of circle distance L；
6) course-line deviation during Ship ' navigation is turned, and return to step 5.
Boats and ships and distance L of turning circular arc center of circle O, the difference calculating L and radius of turn R is current course-line deviation d, poor
The symbol of value can be reflected as the deviation position of current boats and ships in the inner side of turning circular arc or outside, the calculating side of course-line deviation
Method is:
D=L-R.
Technical scheme essence is:
First the radius of turn of boats and ships, and starting point, terminal and the intermediate transit point latitude and longitude coordinates turned, secondly basis are obtained
The latitude and longitude coordinates obtained and radius of turn, calculate the center of circle latitude and longitude coordinates of turning circular arc；Further according to the current institute of boats and ships
The latitude and longitude coordinates at place, by it for the position relationship in the center of circle, finally calculates the course-line deviation of current time.
It is an advantage of the current invention that:
(1) being directed to the serious distortion problem that tradition Mercator projection produces in high latitude, the present invention counts at the earth's surface
Calculate the mode of course-line deviation closer to truth；
(2) known starting point, terminal and intermediate transit point latitude and longitude coordinates can obtain the direction in the turning circular arc center of circle and intermediate transit point
Angle, and the distance of the turning circular arc center of circle and intermediate transit point；
(3) in the case of longitude rate of change produces difference with latitude change, it is known that the turning circular arc center of circle and intermediate transit point
Deflection and distance, can directly obtain turning circular arc center of circle latitude and longitude coordinates；
(4) apply the course-line deviation assay method in this turning stage, ship's navigation can be calculated the most accurately and turn
The course-line deviation in stage, is conducive to improving flight tracking control precision.
Accompanying drawing explanation
Fig. 1 is ship's navigation turning stage course-line deviation assay method analysis diagram；
Fig. 2 is the expressed as parameters figure of earth surface；
Fig. 3 is that ship's navigation turning stage course-line deviation measures flow chart.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples pair
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, not
For limiting the present invention.
As depicted in figs. 1 and 2, the present invention is achieved in that and specifically includes following step:
S101: obtain the starting point of turning process, terminal, intermediate transit point latitude and longitude coordinates；
S102: calculate the deflection in the turning circular arc center of circle and intermediate transit point；
S103: calculate the distance in the turning circular arc center of circle and intermediate transit point；
S104: calculate turning circular arc center of circle longitude and latitude；
S105: obtain boats and ships current location information；
S106: calculate course-line deviation, and return to step S105；
Step S101: combine Fig. 1, obtains turning starting point coordinate P1(0.6 ' W, 0.6 ' N), intermediate transit point coordinate P2(O,1.2′
N), terminal point coordinate P3(0.6′E,0.6′N)。
Step S102: obtain P2、P1The difference of 2 longitudes and latitudesWithObtain P2To P1Deflection be:
In like manner obtain P2To P3Deflection θ2, concrete:
Step S103: combine Fig. 1, at known P2To P1、P2To P3Deflection after, derived by geometry, ∠ can be obtained
P1P2P3Angular bisector, i.e. place, turning circular arc center of circle ray, ∠ P1P2P3Size and θ3Identical；Its ∠ P1P2P3Angle bisection
The center of circle of turning circular arc is pointed in line direction, tries to achieve OP2Deflection θ=0；
Step S104: combine Fig. 1, calculates P2To P1Distance, in conjunction with radius of turn given in trajectory planning, according to
Pythagorean theorem, at Δ OP1P2Middle calculating P2Distance s=1.2nmile (in the sea) to O.
Step S105: calculating P2After the deflection and distance of O, the method calculating center of circle longitude and latitude is:
P2With O difference of latitude:
Wherein ReFor earth radius length, s is P2Distance to O；
O point latitude:
Calculate
Owing to, under different latitude, the rate of change of longitude is different.Assume that boats and ships navigate by water along deflection θ with ship's speed for v, boat
The row time is Δ t,For the latitude value of boats and ships current location, so the longitude changing value in this period is:
The derivation of equation (4) time differential:
Due on the right side of above formula without time variable t, it is impossible to d λ is quadratured, therefore is transformed on the left of above formula:
Wherein introduce formula (2), the i.e. computing formula of latitude changing value:
The derivation of equation (7) time differential:
Become after above formula is substituted into formula (6):
D λ is quadratured:
Result of calculation △ λ is P2, the difference of longitude of O 2, finally calculate O point longitude:
λo=λ2+Δλ (11)
Calculate λo=0；
Obtain turning circular arc center of circle O (0,0).
Step S105: obtaining certain ship current latitude and longitude coordinates information, longitude and latitude is obtained by compass.
Step S106: obtain distance L in the latitude and longitude information of boats and ships current location, Ship ' and the turning circular arc center of circle, L
Being current course-line deviation with the difference of radius of turn R, the symbol of difference can be reflected as the deviation position of current boats and ships and turn
The inner side of bent arc or outside.The computational methods of course-line deviation are:
D=L-R (12)
Obtained certain ship course-line deviation, initial course-line deviation 0.215 nautical mile by formula (12), have flight path Guidance and control to make boats and ships force
Nearly desired track, taking 1min is the cycle to return step S105, updates vessel position information.
Again obtain course-line deviation 0.211 nautical mile, with 1min for being spaced in step S105 and cycle calculations in step S106,
Rear three groups of course-line deviation data are 0.207 nautical mile, 0.201 nautical mile, 0.197 nautical mile.By specific embodiment it may be concluded that boats and ships
Navigation uses the method that the present invention uses during turning, can calculate effective course-line deviation value, utilize this course-line deviation
Value does later stage Heading control, and correction vessel position is to instruction air route, and the function of the present invention is can effectively follow the tracks of ship track
Deviation value.Demonstrating for convenience of embodiment, course-line deviation rate of change is relatively big, and notebook data is not used in this invention of restriction.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that performing creative labour can make still within protection scope of the present invention.
Claims (1)
1. the course-line deviation assay method for the ship's navigation turning stage, it is characterised in that:
1) two air route sections and the essential information of turning circular arc before and after turning process is obtained:
Turning beginning and end latitude and longitude coordinates is respectivelyWithIntermediate transit point latitude and longitude coordinates is
Turning arc radius is R；
2) intermediate transit point P is calculated2Deflection to turning circular arc center of circle O；
At known coordinate P2To coordinate P1, coordinate P2To coordinate P3Deflection be respectively as θ1、θ2After, according to the two deflection
Angle value, can calculate triangle P1P2P3Middle ∠ P1P2P3Size θ3；∠P1P2P3Bisector and direct north angle are OP2Side
To angle θ；
3) intermediate transit point P is calculated2Spacing with turning circular arc center of circle O；
Calculate coordinate P2To coordinate P1Distance, in conjunction with radius of turn R given in trajectory planning, at triangle P1P2O falls into a trap
Calculate coordinate P2Distance s to turning circular arc center of circle O；
4) longitude and latitude of turning circular arc center of circle O is calculated；
Intermediate transit point latitude and longitude coordinatesIt is s with the distance between two points of turning circular arc center of circle O, calculates turning circular arc center of circle O point
Longitude and latitude method particularly as follows:
P2, 2 differences of latitude of O:
ReFor earth radius；
O point latitude:
Due under different latitude, the rate of change of longitude is different, it is assumed that boats and ships with ship's speed v along OP2Direction is navigated by water, hours underway
For Δ t,For the latitude value of boats and ships current location, so the longitude changing value in this period is:
Degree of learning from else's experience time differential:
Without time variable t on the right side of above formula, it is impossible to d λ is quadratured, therefore it is transformed on the left of above formula:
Taking the changing value of latitude in the Δ t time is:
Take latitude time differential:
Above formula is substituted intoAfter obtain:
D λ in above formula is quadratured:
O point longitude: λO=λ2+Δλ；
5) obtaining the longitude and latitude of boats and ships current location, Ship ' is to distance L of turning circular arc center of circle O；
Obtain boats and ships longitude and latitudeShip ' is to center of circle distance L；
6) course-line deviation during Ship ' navigation is turned, and return to step 5；
Boats and ships and distance L of turning circular arc center of circle O, the difference calculating L and radius of turn R is current course-line deviation d, difference
Symbol can be reflected as the deviation position of current boats and ships in the inner side of turning circular arc or outside, the computational methods of course-line deviation
For:
D=L-R.
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Cited By (3)
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| CN106950959A (en) * | 2017-04-01 | 2017-07-14 | 武汉理工大学 | New ship sighting distance method of guidance |
| CN108445894A (en) * | 2018-06-15 | 2018-08-24 | 哈尔滨工程大学 | A kind of secondary paths planning method considering unmanned boat movenent performance |
| CN110809118A (en) * | 2019-11-12 | 2020-02-18 | 成都新舟锐视科技有限公司 | Rapid focusing method for gun and ball linkage |
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| JP4269170B2 (en) * | 2004-09-27 | 2009-05-27 | 株式会社Ｉｈｉ | Trajectory tracking control method and apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950959A (en) * | 2017-04-01 | 2017-07-14 | 武汉理工大学 | New ship sighting distance method of guidance |
| CN108445894A (en) * | 2018-06-15 | 2018-08-24 | 哈尔滨工程大学 | A kind of secondary paths planning method considering unmanned boat movenent performance |
| CN110809118A (en) * | 2019-11-12 | 2020-02-18 | 成都新舟锐视科技有限公司 | Rapid focusing method for gun and ball linkage |
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