CN106525044B - The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing - Google Patents
The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing Download PDFInfo
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- CN106525044B CN106525044B CN201610907781.1A CN201610907781A CN106525044B CN 106525044 B CN106525044 B CN 106525044B CN 201610907781 A CN201610907781 A CN 201610907781A CN 106525044 B CN106525044 B CN 106525044B
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The personnel positioning navigation system of the invention discloses a kind of large-scale naval vessels based on Ship Structure Graphing, including master control system and the portable terminal of staff, wherein, terminal includes at least central processing module, motion sensor module, positions calibration module and interactively communicate module, after terminal realizes determination and the position correction of initial position by positioning calibration module, carry out calculating the accurate location for obtaining staff by the data obtained from motion sensor；Module is interactively communicated for realizing data exchange and human-computer interaction；Ship Structure Graphing is installed in master control system, after data are uploaded to master control system by interactively communicating module by each terminal, master control system includes the location information for being responsible for obtaining each staff by communication network, and realizes graphic software platform on the screen of control room in conjunction with Ship Structure Graphing.The method of the present invention does not depend on electromagnetic signal, will not be limited as the localization method based on modes such as WLANs by electromagnetic signal stability and interference.
Description
Technical field
The present invention relates to a kind of Position Fixing Navigation System more particularly to a kind of personnel of the large-scale naval vessels based on Ship Structure Graphing
Position Fixing Navigation System.
Background technique
Marine large size naval vessels are Development control area and the important tool using ocean.However, marine large size naval ship structure is complicated,
Narrow space, it is easily lost in the personnel of wherein work and life, and be difficult effectively to be escaped when an emergency happens
Raw and rescue.Therefore, it is necessary to developer's positioning system, moment monitoring personnel positions.Since large-scale naval vessels are mostly stacked knot
The global position systems such as structure, GPS or Beidou are often difficult to realize preferable locating effect to staff.
At present can using with the positioning navigation methods of large-scale naval vessels there are several types of:
The first kind is the algorithm based on RFID (radio frequency identification, Radio Frequency Identification) label.
Such as a kind of passive RFID indoor orientation method [1] based on space segmentation that Gao Rui et al. is proposed.This method is to utilize neighbour
Label, the i.e. reference label closely located with target labels are occupied, to be positioned.Using reader read each reference label and
It is tracked the power grade of label transmitting, the relative position of tracking tags is then judged by comparing calculation.Then according to label
Signal strength sets a weight, and carries out refinement positioning using the method divided three times.This method is utilized compared to simultaneously
LANDMARC (the LocAtioN iDentification based on dynaMic Active Rfid of RFID label tag
Calibration, the fixation and recognition based on the measurement of dynamic active radio frequency identification) system, positioning accuracy increases, but this
It is a kind of positioning method based on electromagnetic signal, electromagnetic interference is highly susceptible in the naval vessel based on iron structure, and
The present invention then by the way of based on calculating, is more suitable for the environment of naval vessels.
There are also one is the personnel location systems [2] based on ZigBee.ZigBee is based on IEEE802.15.4 standard
Low-power consumption LAN protocol.It is provided according to international standard, ZigBee technology is the wireless communication skill of a kind of short distance, low-power consumption
Art.After module unlatching, the terminal node module that staff carries can be issued a kind of friendly handshaking information report by preset program,
The packet is received by nearest routing node.Then the network address of oneself and node module physical address information are uploaded to
Ground control centre completes to position using database.
[bibliography]
[1] a kind of passive RFID indoor orientation method [J] computer based on space segmentation of Gao Rui, Cheng Lianglun, Hu Xin
Application study, 2012,29 (1)
[2] design [C] // coal mine of Mine Personnel Positioning System of Yu Yang, Zhang Dongwei, the Cui Jianjun based on ZigBee technology
Safe and efficient, clear mining --- New Mechatronics Technology academic conference .2009:19-21.
Summary of the invention
The present invention is directed to complete a set of personnel location system that can be applied to large-scale naval vessels.Since large-scale naval vessels are often tied
Structure is complicated and satellite positioning signal is difficult to cover, and personnel are easy to get lost, and channel is often narrow, occurs to hold very much when accident
Easily cause confusion.This system is using from by the way of host computer positioning, and the data sources such as positioning datum are in each large-scale naval construction
The Ship Structure Graphing of Shi Bibei.For marine weather part by the way of satellite GPS positioning, in cabin without GPS signal
When, this system imitates the addressing system of human brain, when calculating by motion sensor means (such as accelerometer, speedometer, gyroscope with
And other novel sports sensors etc.) acquisition data and initial position by acquisitions such as GPS, according to Ship Structure Graphing, warp
Corresponding location algorithm is crossed to realize the real-time positioning of personnel on large-scale naval vessels, and calibrate to positioning in specific position.
For the multilayered structure of large-scale naval vessels, the number of plies where determining user is assisted using altimeter.Location data is passed in real time simultaneously
Master control room is returned, to realize to the real time monitorings of personnel positions and state on large-scale naval vessels, ancillary staff is structure is complicated
Naval vessels in determine oneself position, the functions such as fast-escape and determination rescue method when accident occur.
In order to solve the above-mentioned technical problem, a kind of personnel of large-scale naval vessels based on Ship Structure Graphing proposed by the present invention are fixed
Position navigation system, including master control system and the portable terminal of staff, wherein the terminal includes at least central processing
Module, motion sensor module position calibration module and interactively communicate module, and the terminal is realized just by positioning calibration module
After the determination of beginning position and position correction, calculating is carried out by the data obtained from the motion sensor and obtains staff's
Accurate location；The module that interactively communicates is for realizing data exchange and human-computer interaction；Hull is installed in the master control system
Structure chart, after each terminal interactively communicates module described in, and data are uploaded to master control system, the master control system includes
It is responsible for obtaining the location information of each staff by communication network, and combines Ship Structure Graphing real on the screen of control room
Existing graphic software platform.
Wherein, the motion sensor module includes one of accelerometer, speedometer and gyroscope or a variety of.It is described
Positioning calibration module includes one or both of GPS and RFID.
The method for realizing navigation using the personnel positioning navigation system of the above-mentioned large-scale naval vessels based on Ship Structure Graphing, including
The following contents:
One, obtain Ship Structure Graphing information: the Ship Structure Graphing information passes through number by design drawing of the naval vessels when building
It is obtained after wordization processing, wherein being also marked with, barrier, marker, movement limits and the information of calibration point；It is opened in navigation system
Before beginning work, by Ship Structure Graphing information import terminal storage medium in and the corresponding coordinate system of correspondence establishment；
Two, the current position coordinates and target location coordinate of tested personnel: 2-1, tested personnel's current position coordinates are determined
Determination: including changing it for the positioning and large-scale naval vessels floor that are located above and below staff in sea on large-scale naval vessels
Between staff positioning, wherein the above staff in sea positioning use GPS difference marine positioning method, sea with
The positioning of lower staff is using the undersea localization method calculated based on Ship Structure Graphing, by the data and hull of motion sensor
Structure chart information combines the accurate location for obtaining staff；The positioning of staff uses altimeter and ship between floor variation
The positioning method that body structure chart combines；Wherein: the marine positioning based on GPS difference is the outdoor position setting on the sea of hull
The benchmark of one reception GPS signal utilizes the GPS positioning coordinate and origin reference location seat in the portable terminal of staff
Target relativeness determines the tested relative position of staff aboard ship；Undersea positioning is the tested person traced into according to GPS
The tested personnel that member's situation about entering in cabin from open-air area or RFID label tag obtain belowdecks the case where determine tested person
After the initial position of member, measurement data is obtained using the motion sensor means real-time perception, according to obtained measurement data ratio
To in Ship Structure Graphing information and RFID emitter positioned in real time and dynamic calibration；Floor variation between positioning be
Utilize the variation of altimeter detection tested personnel between floors；2-2, tested personnel's target location coordinate are given by terminal user
It is fixed；
Three, it path planning: after the current position coordinates and the target location coordinate that obtain tested personnel, is calculated using two-way A*
Method, genetic algorithm and neural network carry out route planning, obtain optimal path；
Four, the output of navigation information: the design of navigation interface is set using the interface that automobile GPS navigation or cell phone map navigate
Meter, while using voice and screen message dual output；
Five, the upload and processing of data: master control system is after obtaining the location data that each terminal is passed back, in control room
It shows the position of all personnel in each region of naval vessels on screen, realizes to tested personnel's position distribution situation and working condition
Real time monitoring.
Compared with prior art, the beneficial effects of the present invention are:
First, the present invention can adapt to marine and undersea location navigation application simultaneously.The present invention is to marine and undersea warship
Different methods is taken in personnel positioning operation in ship, can adapt to two kinds of situations simultaneously, and can be in satellite positioning and autonomous
It calculates and realizes seamless switching between positioning.
Second, the present invention is a kind of positioning based on calculating.For the location navigation in cabin, present invention employs be based on
The method that Ship Structure Graphing calculates.This method utilizes dynamic calibration data, in conjunction with historical path, Ship Structure Graphing and movement
The data information of sensor (accelerometer, speedometer, gyroscope etc.) acquisition, by location algorithm by tested person is calculated
The position of member.This method does not depend on electromagnetic signal, will not be as the localization method based on modes such as WLANs is by electromagnetism
The limitation of signal stabilization and interference.
Detailed description of the invention
The personnel positioning navigation system block diagram of large-scale naval vessels of the Fig. 1 based on Ship Structure Graphing.
Specific embodiment
Technical solution of the present invention is described in further detail in the following with reference to the drawings and specific embodiments, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
Mentality of designing the present invention is based on the personnel positioning navigation system of the large-scale naval vessels of Ship Structure Graphing is: such as Fig. 1 institute
Show, system is before use, the Ship Structure Graphing of large size naval vessels where personnel to be measured should be obtained first, and Ship Structure Graphing is imported and is determined
In the memory of position system, and three-dimensional system of coordinate is established on this basis.Then for the corresponding sensor of system configuration and
RFID read-write module, GPS module etc., the sensor that may be used have the motion sensors such as accelerometer, speedometer, gyroscope,
And configuration interactive communication module as needed.After completing hardware configuration, corresponding location algorithm and program are written in the processor.
For there is the sea weather part of GPS signal, location navigation is completed using GPS and is worked.In satellite positionings such as no GPS
It, can be by initial position data after obtaining initial position message by modes such as GPS or RFID inside the cabin of signal covering
Algorithm is transferred to the data of sensor acquisition to calculate the real time position of staff, carries out dynamic calibration using calibration point, and
Corresponding information is shown on the output module of terminal, while being passed data back master control system in real time and being handled.
At the same time, master control system shows institute after obtaining the location data that each terminal is passed back on master control room screen
There is the position of the personnel in working region, and staff is issued as desired by communication system and is instructed, realizes to work
The real time monitoring of personnel positions distribution situation and working condition.
A kind of personnel positioning navigation system of the large-scale naval vessels based on Ship Structure Graphing of the present invention, including master control system and work
Make the portable terminal of personnel, wherein the terminal includes at least central processing module, motion sensor module, positioning school
Quasi-mode block is used for real with module, CPU module, motion sensor module and positioning calibration module therein is interactively communicated
Now basic real-time navigation capability interactively communicates module and other additional modules as needed for realizing advanced data
Exchange and human-computer interaction function.The motion sensor module includes one of accelerometer, speedometer and gyroscope or more
Kind.The positioning calibration module includes one or both of GPS and RFID.The terminal is the main portion that positioning function is realized
After determination and the position correction of point realizing initial position with the technologies such as GPS, RFID by positioning calibration module, by from described
The data that motion sensor obtains carry out calculating the accurate location for obtaining staff.The master control system is in large-scale warship
The process that ship master control room monitors the personnel for holding positioning terminal equipment in real time.Hull knot is installed in the master control system
Composition, after each terminal interactively communicates module described in, and data are uploaded to master control system, the master control system includes negative
Duty obtains the location information of each staff by communication network, and realizes on the screen of control room in conjunction with Ship Structure Graphing
Graphic software platform.The personnel of control room in this way monitor the number of the staff in working region and specific in which can be convenient
Position facilitates it to deploy and command.
Using the present invention is based on the method packets that the personnel positioning navigation system of the large-scale naval vessels of Ship Structure Graphing realizes navigation
Include the following contents:
One, Ship Structure Graphing information is obtained.
The Ship Structure Graphing information is obtained after digitized processing by design drawing of the naval vessels when building, can basis
Need corresponding position mark have barrier, marker, movement limitation and calibration point information, so as to system is more intelligent,
It is accurately finished location navigation work.Before navigation system start-up operation, the storage that Ship Structure Graphing information imports terminal is situated between
In matter and the corresponding coordinate system of correspondence establishment, reads and utilize when to run.
Two, the current position coordinates and target location coordinate of tested personnel are determined.
Tested personnel's current position coordinates and coordinates of targets are the necessary informations for path planning and navigation.In the present invention
Tested personnel's target location coordinate is given by terminal user, and the localization method of tested personnel current location is fixed to marine part
Targetedly distinct methods are taken positioned at the positioning of undersea (i.e. inside cabin) part.Marine part uses the side of GPS Differential positioning
Method, with the precision for adapting to the naval vessels constantly moved and improving positioning.And the positioning inside cabin is then using based on Ship Structure Graphing
The localization method of calculating extrapolates the accurate location of personnel using the data combination Ship Structure Graphing information of motion sensor.
The determination of 2-1, tested personnel's current position coordinates: it is located at sea above and below work including being directed on large-scale naval vessels
Make the positioning of staff between the positioning and large-scale naval vessels floor variation of personnel, wherein the positioning of the above staff in sea
Using the marine positioning method of GPS difference, the positioning of staff below sea is using the undersea calculated based on Ship Structure Graphing
The data of motion sensor are obtained the accurate location of staff by localization method in conjunction with Ship Structure Graphing information；Floor becomes
The positioning of staff uses positioning method of the altimeter in conjunction with Ship Structure Graphing between change；Wherein:
(1) the outdoor position on the sea of hull, due to there is the covering of the satellite positioning signals such as good GPS, so can
To realize the positioning of personnel using GPS positioning.But because naval vessels are usually movement, directly simultaneously using GPS signal
It not can determine that the position of personnel aboard ship, so aboard ship fixed bit installs fixed one benchmark for receiving GPS signal to needs, utilize
The relativeness of personnel's GPS positioning coordinate and the base station location coordinate, to determine the relative position of tested personnel aboard ship.And
Method due to using difference, can correct certain positioning drift, measurement accuracy than directly only with GPS positioning more
It is high.Marine positioning based on GPS difference in the present invention is that outdoor position sets a reception GPS signal on the sea of hull
Benchmark determines quilt using the relativeness of GPS positioning coordinate and origin reference location coordinate in the portable terminal of staff
Survey the relative position of staff aboard ship.
(2) inside for the cabin of the satellite positioning signals such as no GPS covering, then using the side calculated based on Ship Structure Graphing
Formula is completed.It is determined just by GPS (entering the situation in cabin from open-air area) or RFID label tag (belowdecks the case where)
Behind beginning position, obtained using motion sensor means (such as speedometer, accelerometer, gyroscope and various novel sports sensors etc.)
Real-time perception, the measurement data arrived.And according to the RFID of information and rule distribution in obtained comparing Ship Structure Graphing
Emitter is positioned in real time and dynamic calibration.Undersea positioning is the tested personnel that is traced into according to GPS from dew in the present invention
The tested personnel that the situation or RFID label tag that its region enters in cabin obtain belowdecks the case where determine tested personnel just
Behind beginning position, measurement data is obtained using the motion sensor means real-time perception, hull is compared according to obtained measurement data
Information and RFID emitter on structure chart are positioned in real time and dynamic calibration；
(3) since large-scale naval vessels are usually multilayered structure, and structure is roughly the same between each layer, so above-mentioned in progress
When being calculated based on Ship Structure Graphing, determine that floor where personnel just becomes important.Floor determines using high in the present invention
Spend the mode of instrument (accelerometer) in conjunction with Ship Structure Graphing.The effect of altimeter is the height change of detection tested personnel, but
Be variation of the altimeter to height specific value be it is not accurate enough, this is just to need to use Ship Structure Graphing information.Due to
The place that floor variation may occur for personnel is only possible to be near stair, and the distribution of floor is discrete, therefore in stair
Deng near, when the height change of altimeter data changes a certain range upward or downward, so that it may increase floor data
Or reduce one layer.
Three, path planning.
After the current position coordinates and the target location coordinate that obtain tested personnel, so that it may give existing path planning algorithm
(such as two-way A* algorithm, genetic algorithm, neural network) plans optimal path.The planning in path can be complete in terminal local
At master control system can also being transferred to complete.It is local to complete the advantages of having speed fast, not depending on communication, it is suitble to without signal of communication
When use.And the path planning algorithm of master control system then not only allows for the demand arrived at the destination, can also utilize other
The position data of terminal sufficiently combines the actual conditions such as entire ship rocking distribution.
Four, the output of navigation information.
After obtaining the path planned, it can start to navigate.The design of navigation interface is using popular at present
Automobile GPS navigation or the interface of cell phone map navigation, using voice and screen message dual output.In combination with building structure
Figure information, the route in front of advance notice user.In addition to this, continue the operation of dynamic calibration and positioning while navigation,
When the biggish deviation default route of the personnel that detect, provides and prompt and restart path planning process.
Five, the upload and processing of data: master control system is after obtaining the location data that each terminal is passed back, in control room
The position of all personnel in each region of naval vessels is shown on screen, and personnel are issued as desired by communication system and are instructed,
Realize the real time monitoring to tested personnel's position distribution situation and working condition.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations
Mode, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to of the invention
Within protection.
Claims (1)
1. a kind of large-scale ship rocking positioning navigation method based on Ship Structure Graphing, wherein utilized based on Ship Structure Graphing
The personnel positioning navigation system of large-scale naval vessels be: including master control system and the portable terminal of staff, the terminal
It including at least central processing module, motion sensor module, positions calibration module and interactively communicates module, it is fixed that the terminal passes through
Position calibration module realize initial position determination and position correction after, by from the data that the motion sensor module obtains into
Row calculates the accurate location for obtaining staff；The module that interactively communicates is for realizing data exchange and human-computer interaction；It is described
Ship Structure Graphing is installed in master control system, data are uploaded to master control system when each terminal interactively communicates module described in
Afterwards, the master control system is responsible for obtaining the location information of each staff by communication network, and exists in conjunction with Ship Structure Graphing
Graphic software platform is realized on the screen of control room；It is characterized by: the large-scale ship rocking location navigation based on Ship Structure Graphing
Method includes the following contents:
One, obtain Ship Structure Graphing information: the Ship Structure Graphing information passes through digitlization by design drawing of the naval vessels when building
It is obtained after processing, wherein being also marked with, barrier, marker, movement limits and the information of calibration point；Start work in navigation system
Before work, by Ship Structure Graphing information import terminal storage medium in and the corresponding coordinate system of correspondence establishment；
Two, the current position coordinates and target location coordinate of staff are determined:
The determination of 2-1, staff's current position coordinates: it is located at sea above and below work people including being directed on large-scale naval vessels
The positioning of staff between the positioning of member and large-scale naval vessels floor variation, wherein the positioning of the above staff in sea uses
The positioning of the marine positioning method of GPS difference, staff below sea is positioned using the undersea calculated based on Ship Structure Graphing
The data of motion sensor module are obtained the accurate location of staff by method in conjunction with Ship Structure Graphing information；Floor becomes
The positioning of staff uses positioning method of the altimeter in conjunction with Ship Structure Graphing between change；Wherein:
Marine positioning based on GPS difference is the benchmark that open-air area sets a reception GPS signal on the sea of hull, benefit
With the relativeness of the GPS positioning coordinate of GPS positioning coordinate and the benchmark in the portable terminal of staff, quilt is determined
Survey the relative position of staff aboard ship；
Undersea positioning is that the situation that the staff traced into according to GPS enters in cabin from open-air area or RFID label tag obtain
Staff belowdecks the case where determine the initial position of staff after, felt in real time using the motion sensor module
Know to obtain measurement data, Ship Structure Graphing information is compared according to obtained measurement data and position and move in real time with RFID label tag
State calibration；
The positioning of staff is that staff is detected using altimeter between the floor near stair between floor variation
Height change, i.e., according to Ship Structure Graphing information, when altimeter altitude information changes a certain range upward or downward, by floor
Data increase or decrease one layer；
2-2, staff's target location coordinate are given by terminal user；
Three, it path planning: after the current position coordinates and the target location coordinate that obtain staff, using two-way A* algorithm, loses
Propagation algorithm and neural network carry out route planning, obtain optimal path；
Four, the output of navigation information: the interface that the design of navigation interface is navigated using automobile GPS navigation or cell phone map,
Voice and screen message dual output are used simultaneously；
Five, the upload and processing of data: master control system is after obtaining the location data that each terminal is passed back, in the screen of control room
The position of all personnel in each region of naval vessels of upper display is realized to the real-time of location of personnel distribution situation and working condition
Monitoring.
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