CN106066469B - A kind of ship self-organizing cooperative localization method of two AIS reference points - Google Patents
A kind of ship self-organizing cooperative localization method of two AIS reference points Download PDFInfo
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- CN106066469B CN106066469B CN201610348379.4A CN201610348379A CN106066469B CN 106066469 B CN106066469 B CN 106066469B CN 201610348379 A CN201610348379 A CN 201610348379A CN 106066469 B CN106066469 B CN 106066469B
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Abstract
The present invention relates to a kind of ship self-organizing cooperative localization methods of two AIS reference points, belong to ship positioning navigation field.Resolved by station-keeping mode differentiation, information data preparation, self-organizing cooperative, positioning equation, location information it is shared and etc. and repeat the above process, constantly update ship-to-shore, ship ship cooperative information, realize the dynamic positioning at all cooperation ship stations in cooperation ship station group.The present invention can realize that the ranging information between ship-to-shore, ship ship is shared in the case where being only unable to satisfy conventional measurement away from positioning requirements as location reference point there are two AIS bank station, using the self-organizing cooperative between ship station, realize the self-organizing positioning at cooperation ship station.It does not need additionally to dispose AIS bank station, the self-organizing cooperative positioning of coastal vessel can be realized, greatly improve the scope of application of AIS range positioning system.
Description
Technical field
The present invention relates to a kind of ship self-organizing cooperative localization methods of two AIS reference points, are that one kind exists exactly
Two ship automatic identification system (Automatic Identification System-AIS) bank stations are as location reference point
Under the conditions of, the method for ship self-organizing cooperative positioning belongs to ship positioning navigation field.
Background technique
AIS is the communication navigation set for forcing ship to be equipped with according to International Convention for the Safety of Life at Sea, is installed on along harbour
The AIS equipment of mouth harbour is known as AIS bank station, and the AIS equipment being installed on ship is known as AIS ship station.But in existing AIS system
Locating navigation information place one's entire reliance upon Global Navigation Satellite System (GNSS) receiver offer position.In order to guarantee navigation peace
Entirely, International Maritime Organization (IMO) advocates the Position Fixing Navigation System that the following ship answers mandatory carriage space base and continental rise double copies.Cause
This, AIS ranging localization (AIS-R Mode) system is written with the world by IMO
Radionavigation plan.The system is to realize that ship is fixed by increasing distance measurement function on the basis of existing AIS communication system
Position, enables AIS to get rid of the dependence to GNSS, becomes the synthesis nothing peculiar to vessel that circulation letter, navigation are integrated under e- navigation strategy
Line electric system.
In AIS range positioning system, according to conventional measurement away from location technology, need to refer to AIS bank station as positioning
Point, ship station are just able to achieve positioning by measuring its distance to three and between the above bank station reference point.But existing AIS is as communication
System, the laying of bank station do not account for the demand of positioning.Therefore in certain sea areas, ship station is only capable of receiving two AIS bank station references
The signal of point can not complete positioning using traditional telemetry.If ship itself is equipped with other external sensors, such as sieve
Through, tachometer etc., then the autonomous positioning of ship can be realized by the processing of patent of invention CN 201310367727.9.If ship
It is not equipped with the external sensor that can provide auxiliary positioning information, but the location information of other ships of surrounding can be received, then
It can be handled by patent of invention CN 201410234851.2, it is auxiliary as moving reference point progress ship that ship will have been positioned
Help positioning.But it is limited to the laying of AIS bank station reference point in many cases, there is no can be used as mobile reference around ship
The station of station keeping ship of point, as the AIS ship station in same sea area is only capable of receiving the letter from identical two AIS bank station reference point
Number, therefore, patent of invention CN 201410234851.2 can not also handle this problem.
Summary of the invention
It is a kind of when all ship stations are all only capable of receiving the signal of two AIS bank stations the invention aims to design, it is based on
Self-organizing cooperative between ship station realizes that ship is stood firm the method for position.Location reference point, nothing only can be used as there are two AIS bank station
In the case that method meets conventional measurement away from location condition, by the self-organizing cooperative between ship station, the ranging letter of ship-to-shore, ship ship is shared
Breath realizes the positioning at all cooperation ship stations.
Cooperation ship station of the invention not only measures the distance of AIS bank station reference point, at the same measure cooperation ship station between away from
From, and pass through shared, the self-organizing at all ship stations in realization cooperation ship station group of ship-to-shore, ship ship ranging information between cooperation ship station
Positioning.All ship stations for participating in co-positioned constitute cooperation ship station group, and each ship station therein is known as the ship station that cooperates；Initiate cooperation
The ship station of request is known as main cooperation ship station；The ship station of shared ship-to-shore information is known as quasi- cooperation ship station, shares ship-to-shore, ship ship information
Ship station is known as from cooperation ship station.
The technical solution adopted by the present invention are as follows: a kind of ship self-organizing cooperative localization method of two AIS reference points is realized
The step of this method, is:
1) station-keeping mode differentiates
AIS bank station signal is monitored at ship station, if only detecting two AIS bank station signals, and there is no other auxiliary positionings
Information then enters self-organizing cooperative station-keeping mode.
2) information data prepares
Ship station receives the location information of AIS bank station and carries out ranging, stores identification information, location information and the ship-to-shore of bank station
Between ranging information.At the same time, ship station receives the information at surrounding ship station, online ship station around identification.
3) self-organizing cooperative
Self-organizing cooperative includes cooperation starting, the request of ship-to-shore Information Cooperation, the confirmation of ship-to-shore Information Cooperation, ship ship Information Cooperation
Request, the confirmation of ship ship Information Cooperation, cooperative information store six steps:
1. cooperation starting: if online ship station quantity is more than or equal to 2 around the identification of ship station, by itself ship station status indication
Based on cooperate ship station, start cooperation state.If the online ships quantity of surrounding returns to the pattern discrimination stage less than 2.
2. ship-to-shore Information Cooperation is requested: ship-to-shore Information Cooperation request command is initiated to online ship station around in main cooperation ship station,
Ranging information between bank station identification information, location information and the ship-to-shore of requesting other ship stations to transmit and receive.
3. ship-to-shore Information Cooperation confirms: receiving the ship station of main cooperation ship station ship-to-shore Information Cooperation request, judge that itself is identified
AIS bank station reference point quantity, if 2, by identification information, location information and the ship-to-shore of receive two AIS bank station reference points
Between ranging information broadcast to main cooperation ship station.If bank station reference point quantity less than 2, sends the answer signal that can not cooperate.
4. ship ship Information Cooperation is requested: main cooperation ship station according to the cooperation confirmation signal at ship station online around receiving,
Quasi- cooperation ship station is carried out to differentiate.If quasi- cooperation ship station quantity cancels main cooperation ship station identifications, returns to pattern discrimination rank less than 2
Section；If it is greater than or equal to 2, then the ship-to-shore cooperative information that quasi- cooperation ship station provides is stored, main cooperation ship station and the quasi- ship station that cooperates are measured
Between distance, and to quasi- cooperation ship station send ship ship Information Cooperation request.
5. ship ship Information Cooperation confirms: other quasi- cooperation ship stations that the main cooperation ship station received is sent at quasi- cooperation ship station
Identification information finds out wherein common quasi- cooperation ship station, and will be corresponding compared with online ship station identification information around itself
Ranging information between the quasi- cooperation identification information at ship station, ship ship issues main cooperation ship station.Common quasi- cooperation ship station if it does not exist,
Then send the answer signal that can not cooperate.
6. cooperative information storage state: it is main cooperation ship station according to receive ship ship Information Cooperation confirmation, to from cooperate ship
Station is differentiated.If it exists from cooperation ship station, then ship-to-shore, ship ship cooperative information are stored, to construct self-organizing cooperative positioning equation
Prepare data.If it does not exist from cooperation ship station, then cancel main cooperation ship station identifications, returns to the pattern discrimination stage.
4) positioning equation resolves
It is assisted using the mathematical model of self-organizing cooperative positioning calculation as foundation according to the ship-to-shore of storage, ship ship at main cooperation ship station
Make information, construct self-organizing cooperative positional matrix equation, resolves the position at all cooperation ship stations in cooperation ship station group.
5) location information is shared
Main cooperation ship station the position information share for resolving obtained cooperation ship station to from cooperation ship station, is completed into cooperation ship station
The positioning at all cooperation ship stations in group.
It repeats the above process, constantly updates ship-to-shore, ship ship cooperative information, realize all cooperation ship stations in cooperation ship station group
Dynamic positioning.
The mathematical model of the ship self-organizing cooperative positioning calculation is as follows:
The positioning equation to cooperate between ship station and bank station are as follows:
Wherein, (Xk,Yk) be bank station k coordinate, (xi,yi) be cooperation ship station i coordinate, Δ TiFor due to the ship station i that cooperates
Clock deviation introduce range deviation.Linearization process is carried out to above-mentioned equation, using Taylor series expansion, retains single order item, obtains
Wherein,For cooperate ship station i estimated coordinates,Distance for the estimation of cooperation ship station i clock deviation introducing is inclined
Difference, δ xi,δyi,δTiFor the reduction of corresponding estimated value, Fk(xi,yi) it is bank station k at a distance from cooperation ship station i, it indicates are as follows:
Co-positioned equation between cooperation ship station are as follows:
Wherein, i ≠ j.Linearization process is also carried out to co-positioned equation, is obtained
Wherein, the distance between cooperation ship station is expressed as
The above-mentioned positioning equation of simultaneous, and it is expressed as the form of matrix, the self-organizing cooperative positioning of cooperation ship station group can be obtained
Matrix equation
Above-mentioned self-organizing cooperative positional matrix equation is solved, all cooperation ship stations in cooperation ship station group can be obtained
Position coordinates (xi,yi)。
The beneficial effects of the present invention are: only location reference point can be used as there are two AIS bank station using the invention,
In the case where conventional measurement is unable to satisfy away from positioning requirements, using the self-organizing cooperative between ship station, the ranging between ship-to-shore, ship ship is realized
The self-organizing positioning at cooperation ship station is realized in information sharing.It does not need additionally to dispose AIS bank station, oneself of coastal vessel can be realized
Organizing cooperating's positioning, greatly improves the scope of application of AIS range positioning system.
Detailed description of the invention
Fig. 1 is localization method flow chart of the invention；
Fig. 2 is a specific embodiment schematic diagram of the invention；
Fig. 3 is that station-keeping mode of the invention differentiates flow chart；
Fig. 4 a is the main received bank station information in cooperation ship station in embodiment；
Fig. 4 b is the 1st quasi- cooperation received bank station information in ship station in embodiment；
Fig. 4 c is the 2nd quasi- cooperation received bank station information in ship station in embodiment；
Fig. 5 a is main cooperation ship station ship station information around data preparation stage in embodiment；
Fig. 5 b is that main cooperation ship station receives around after ship-to-shore Information Cooperation confirms in the self-organizing cooperative stage in embodiment
Ship station information；
Fig. 5 c is that main cooperation ship station receives around after ship ship Information Cooperation confirms in the self-organizing cooperative stage in embodiment
Ship station information；
Fig. 6 a is cooperation of the main cooperation ship station after the self-organizing cooperative stage receives the confirmation of ship-to-shore Information Cooperation in embodiment
Location information；
Fig. 6 b is cooperation of the main cooperation ship station after the self-organizing cooperative stage receives the confirmation of ship ship Information Cooperation in embodiment
Location information.
Specific embodiment
The present invention will be further described with embodiment with reference to the accompanying drawing.
Fig. 2 illustrates one embodiment of the present of invention scene.
201,202 be two AIS bank stations, and 213,214,215 be three AIS ship stations.According to the propagation distance of ais signal,
Ship station 213,314,315 can only receive the signal from 201 and 202 two AIS bank station reference points.213, it 214,215 constitutes
Cooperate ship station group, and cooperate ship station based on 213, and 214,215 be from cooperation ship station.From cooperation ship station 214,215 at main cooperation ship station
Under 213 ship-to-shore Information Cooperation request requires, the ranging information 2241,2242,2251 and 2252 between ship-to-shore is shared.From cooperation ship
Stand 214 it is main cooperation ship station 213 ship ship Information Cooperation request require under, share with from the ship boat measurement between the ship station 215 that cooperates away from
Information 2245, main cooperation ship station 213 utilize above-mentioned shared information, in conjunction with the ranging information 2231 and 2232 between itself ship-to-shore, with
And the ranging information 2234 and 2235 between itself ship ship, self-organizing cooperative positional matrix equation is constructed, realizes that cooperation ship station group is fixed
Position, and position information share is given from cooperation ship station 214 and 215.Self-organizing cooperative localization process step is specific as follows:
1) station-keeping mode differentiates
Ship station 213 carries out station-keeping mode differentiation first, as shown in Figure 3.Ship station 213 receives the location information of AIS bank station simultaneously
Ranging is carried out, if three and the above AIS bank station reference point signal can be received, traditional distance-measuring and positioning method can be used and realize ship
Oceangoing ship positioning；In the present embodiment, ship station 213 is only capable of receiving the signal of 201 and 202 two AIS bank station reference points, then detects itself
Whether the external sensor informations such as compass, tachometer can be received, if there is external sensor information to carry out positioning auxiliary, benefit
It is positioned with patent of invention CN 201310367727.9；If nothing, the location information that whether can receive other ship stations is monitored,
If so, then being positioned using patent of invention CN 201410234851.2；If nothing, into self-organizing cooperative station-keeping mode.At this
In embodiment, without above-mentioned auxiliary information, therefore self-organizing cooperative positioning is carried out.
2) information data prepares
Ship station 213 receives the location information of 201 and 202 two AIS bank station reference points and carries out ranging, establishes bank station information
Table, as shown in fig. 4 a.The identification information at surrounding ship station 214 and 215 is received, and carries out ranging, establishes the station list of surrounding ship, is such as schemed
Shown in 5a.
3) self-organizing cooperative
1. cooperation starting: ship station 213 judge the ship station quantity around it in online ship station list equal to 2, then by this itself
Cooperate ship station based on status indication, starts cooperation state.
2. ship-to-shore Information Cooperation is requested: initiating ship in ship station 214 and 215 of the main cooperation ship station 213 into the list of online ship station
Bank Information Cooperation request command, request ship station 214 and 215 send its received bank station information.
3. ship-to-shore Information Cooperation confirms: ship station 214 and 215 receives ship-to-shore Information Cooperation request command, judges bank station information
Table data bulk is 2, then bank station information as shown in figures 4 b and 4 c is issued main cooperation ship station 213.
4. ship ship Information Cooperation is requested: main cooperation ship station 213 according to the information at the quasi- cooperation ship station 214 and 215 received,
Surrounding ship station information list is updated, as shown in Figure 5 b, and is measured at a distance between quasi- cooperation ship station 214 and 215, maintenance cooperation is fixed
Position information, as shown in Figure 6 a.Main cooperation ship station 213 judges that quasi- cooperation ship station number is 2, then to the quasi- cooperation transmission of ship station 214 ship
The request of ship Information Cooperation sends the identification information at quasi- cooperation ship station 215.
5. ship ship Information Cooperation confirms: quasi- cooperation ship station 214 sends the surrounding's ship station information of itself with the main ship station that cooperates
The identification information at quasi- cooperation ship station 215 be compared, quasi- cooperation ship station 215 is online ship station around quasi- cooperation ship station 214,
Therefore the ranging information between the quasi- ship station 214 and 215 that cooperates is sent to the main ship station 213 that cooperates.
6. cooperative information storage state: main cooperation ship station 213 updates surrounding ship station according to the ship ship cooperative information received
Information and co-positioned information, respectively as shown in Fig. 5 c and Fig. 6 b.
4) positioning equation resolves
Main cooperation ship station 213 is according to co-positioned information as shown in Figure 6 b, according to the number of self-organizing cooperative positioning calculation
Model foundation self-organizing cooperative positional matrix equation is learned, all cooperation ship stations 213,214 and can be calculated using least square method
215 position.
5) location information is shared
It is main cooperation ship station 213 by resolve obtain from cooperation ship station 214 and 215 position information share give from cooperation ship station
214 and 215.
Claims (1)
1. a kind of ship self-organizing cooperative localization method of two AIS reference points, which is characterized in that the self-organizing cooperative positioning side
Method the following steps are included:
1) station-keeping mode differentiates
AIS bank station signal is monitored at ship station, if only detecting two AIS bank station signals, and other auxiliary positioning information is not present,
Then enter self-organizing cooperative station-keeping mode；
2) information data prepares
Ship station receives the location information of AIS bank station and carries out ranging, between the identification information, location information and the ship-to-shore that store bank station
Ranging information, at the same time, ship station receive the information at surrounding ship station, online ship station around identification；
3) self-organizing cooperative
Self-organizing cooperative includes cooperation starting, the request of ship-to-shore Information Cooperation, ship-to-shore Information Cooperation confirms, ship ship Information Cooperation is asked
It asks, the confirmation of ship ship Information Cooperation, cooperative information six steps of storage, the specific steps are as follows:
1. cooperation starting: if online ship station quantity is more than or equal to 2 around the identification of ship station, based on itself ship station status indication
Cooperate ship station, starts cooperation state, if the online ships quantity of surrounding returns to the pattern discrimination stage less than 2；
2. ship-to-shore Information Cooperation is requested: initiating ship-to-shore Information Cooperation request command, request to online ship station around in main cooperation ship station
Ranging information between bank station identification information, location information and ship-to-shore that other ship stations transmit and receive；
3. ship-to-shore Information Cooperation confirms: receiving the ship station of main cooperation ship station ship-to-shore Information Cooperation request, judge the AIS of itself identification
Bank station reference point quantity, if 2, by the survey between the identification information of receive two AIS bank station reference points, location information and ship-to-shore
Main cooperation ship station is given away from information distributing, if bank station reference point quantity less than 2, sends the answer signal that can not cooperate；
4. ship ship Information Cooperation is requested: main cooperation ship station is carried out according to the cooperation confirmation signal at ship station online around receiving
Quasi- cooperation ship station differentiates, if quasi- cooperation ship station quantity cancels main cooperation ship station identifications, return to the pattern discrimination stage less than 2；If
More than or equal to 2, then store the ship-to-shore cooperative information that quasi- cooperation ship station provides, measure between main cooperation ship station and the quasi- ship station that cooperates away from
From, and the request of ship ship Information Cooperation is sent to quasi- cooperation ship station；
5. ship ship Information Cooperation confirms: the identification at other quasi- cooperation ship stations that the main cooperation ship station received is sent at quasi- cooperation ship station
Information finds out wherein common quasi- cooperation ship station, and will corresponding quasi- association compared with online ship station identification information around itself
The ranging information made between the identification information at ship station, ship ship issues main cooperation ship station, and common quasi- cooperation ship station, then send out if it does not exist
Send the answer signal that can not cooperate；
6. cooperative information storage state: it is main cooperation ship station according to receive ship ship Information Cooperation confirmation, to from cooperate ship station into
Row differentiates, if it exists from cooperation ship station, then stores ship-to-shore, ship ship cooperative information, prepares for building self-organizing cooperative positioning equation
Data then cancel main cooperation ship station identifications if it does not exist from cooperation ship station, return to the pattern discrimination stage；
4) positioning equation resolves
Main cooperation ship station is using the mathematical model of self-organizing cooperative positioning calculation as foundation, according to the ship-to-shore of storage, ship ship cooperation letter
Breath constructs self-organizing cooperative positional matrix equation, resolves the position at all cooperation ship stations in cooperation ship station group；
5) location information is shared
Main cooperation ship station to from cooperation ship station, is completed in cooperation ship station group by the position information share for resolving obtained cooperation ship station
The positioning at all cooperation ship stations；It repeats the above steps 3) to step 5), constantly updates ship-to-shore, ship ship cooperative information, realize cooperation
The dynamic positioning at all cooperation ship stations in the group of ship station.
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| CN108072398A (en) * | 2017-05-09 | 2018-05-25 | 大连海事大学 | The monitoring system and application method peculiar to vessel of river navigating ship based on GPS/ dipper systems |
| CN107315164B (en) * | 2017-06-01 | 2020-12-08 | 大连海事大学 | Ship autonomous positioning method with single AIS reference point |
| CN110164185A (en) * | 2019-06-05 | 2019-08-23 | 大连海事大学 | A kind of ship collision prevention system based on AIS |
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|---|---|---|---|---|
| CN103149550A (en) * | 2013-02-28 | 2013-06-12 | 大连海事大学 | Adaptive self-organizing and multi-mode positioning method |
| CN103529466A (en) * | 2013-08-22 | 2014-01-22 | 大连海事大学 | Ship self-positioning method for two AIS (automatic identification system) reference points |
| CN104049239A (en) * | 2014-05-30 | 2014-09-17 | 大连海事大学 | Self-organizing ship locating method based on moving reference point assistance |
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| US20150189464A1 (en) * | 2007-11-26 | 2015-07-02 | Google Inc. | Disambiguation of Wireless Data Clusters Using Preclassification |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149550A (en) * | 2013-02-28 | 2013-06-12 | 大连海事大学 | Adaptive self-organizing and multi-mode positioning method |
| CN103529466A (en) * | 2013-08-22 | 2014-01-22 | 大连海事大学 | Ship self-positioning method for two AIS (automatic identification system) reference points |
| CN104049239A (en) * | 2014-05-30 | 2014-09-17 | 大连海事大学 | Self-organizing ship locating method based on moving reference point assistance |
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