CN107367279B - High-precision navigation and berthing method for large ship - Google Patents

High-precision navigation and berthing method for large ship Download PDF

Info

Publication number
CN107367279B
CN107367279B CN201710475985.7A CN201710475985A CN107367279B CN 107367279 B CN107367279 B CN 107367279B CN 201710475985 A CN201710475985 A CN 201710475985A CN 107367279 B CN107367279 B CN 107367279B
Authority
CN
China
Prior art keywords
ship
point
distance
wharf
degrees
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710475985.7A
Other languages
Chinese (zh)
Other versions
CN107367279A (en
Inventor
黄鹏飞
陈麒龙
陈金海
黄亨明
刘洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jimei University
Original Assignee
Jimei University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jimei University filed Critical Jimei University
Priority to CN201710475985.7A priority Critical patent/CN107367279B/en
Publication of CN107367279A publication Critical patent/CN107367279A/en
Application granted granted Critical
Publication of CN107367279B publication Critical patent/CN107367279B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a large ship high-precision navigation and berthing method, which comprises the following steps: firstly, establishing a coordinate system; secondly, respectively calculating coordinates of four vertexes of a rectangle where the ship is located according to coordinate data of a port point A, a starboard point B and a ship head point B1 and a polar coordinate origin O; thirdly, calculating the distance from the bow and the stern to the wharf and the traversing speed; and fourthly, calculating the ship fore direction. The invention realizes the accurate control of the position parameters and the movement parameters when the ship is berthed, and the driving direction and the speed when the ship is berthed can be accurately controlled according to all data obtained by the method, so as to avoid the occurrence of safety accidents.

Description

High-precision navigation and berthing method for large ship
Technical Field
The invention relates to the technical field of ship navigation, in particular to a high-precision navigation and berthing method for a large ship.
Background
After the intelligent ship concept is provided, shipborne equipment is continuously updated, novel large ships are equipped with walking aid equipment, the equipment can provide certain information support for drivers, but old ships, shipborne equipment is slowly updated, and the walking aid equipment is insufficient in information assistance, so that portable navigation equipment carried by pilots appears in the field of vision of people, the piloting person is enabled to drive, the navigation is not only dependent on the ship self equipment for navigation, and more effective information support for ships can be realized by means of modern portable equipment.
The shipborne portable navigation aid equipment is divided into two categories, one is a shore-based navigation aid instrument arranged beside a wharf, such as an auxiliary berthing device [2] utilizing infrared rays, sonar and radar [1] or a laser technology, and the other is a ship-based navigation aid instrument carried by a pilot on a ship, such as an auxiliary berthing device facilitating differential positioning. The shore-based berthing auxiliary equipment is short in action distance and difficult to meet information support in the whole berthing process of a large ship.
The factors for determining whether the large ship can realize safe berthing in the berthing process are the transverse speed of the ship, the steering rate of the ship, the distance between the bow and the stern from the quay line and the transverse moving speed of the ship according to the analysis of the berthing process of the large ship, so that the berthing of the large ship is mainly controlled by the parameters, namely the motion state of the large ship in the horizontal plane during berthing. Therefore, the invention provides a method for carrying out high-precision navigation and berthing on a large ship by establishing a plane motion mathematical model in a two-dimensional space when the large ship is berthed, starting from a large ship motion model.
Disclosure of Invention
The invention aims to provide a high-precision navigation and berthing method for a large ship, which can accurately control the transverse speed, the steering rate, the head-tail distance and the distance between the ship and a shoreline of the large ship and guide the large ship to safely berth.
To achieve the above technical object, the technical method of the present invention is as follows:
the high-precision navigation and berthing method for the large ship comprises the following steps:
step one, establishing a coordinate system
Establishing a polar coordinate system by using a rectangle in which a ship is positioned, wherein the rectangle can just sleeve the ship, a ship port point A, a ship starboard point B and a ship head point B1 are positioning terminal placing points, and measuring the coordinates of the ship port point A and the ship starboard point B in real time through the positioning terminals;
secondly, respectively calculating coordinates of four vertexes of a rectangle where the ship is located according to coordinate data of a port point A, a starboard point B and a ship head point B1 and a polar coordinate origin O;
step three, calculating the distance between the bow and the stern to the wharf and the traversing speed
Obtaining a linear equation of the wharf by measuring two coordinate points of the wharf;
respectively calculating the distance between the ship and the wharf and the distance between the stern and the wharf at two adjacent moments in the running process of the ship according to the coordinates of the four vertexes of the rectangle and a linear equation where the wharf is located, and calculating the transverse moving speed of the bow and the transverse moving speed of the stern according to the distance between the two moments and the time difference;
step four: heading calculation
Selecting two rectangular vertexes M (M) on one side of the berthX，MY)、N(NX，NY) Obtaining a straight line MN passing through two vertexes according to the vertex coordinates of the straight line MN, wherein the vector of the straight line MN is
Figure BDA0001328265990000031
Let the vector of true north be the unit vector
Figure BDA0001328265990000032
The fore direction of the ship is
Figure BDA0001328265990000033
Rotate counterclockwise to
Figure BDA0001328265990000034
Angle θ of (d);
computing
Figure BDA0001328265990000035
And
Figure BDA0001328265990000036
cosine value of included angle:
Figure BDA0001328265990000037
according to
Figure BDA0001328265990000038
Ride across
Figure BDA0001328265990000039
Judgment of the result of (1)
Figure BDA00013282659900000310
And
Figure BDA00013282659900000311
the positional relationship of (a);
if it is
Figure BDA00013282659900000312
Ride across
Figure BDA00013282659900000313
Less than 0, then
Figure BDA00013282659900000314
To
Figure BDA00013282659900000315
Is clockwise, there are
Figure BDA00013282659900000316
If it is
Figure BDA00013282659900000317
Ride across
Figure BDA00013282659900000318
Greater than 0, then
Figure BDA00013282659900000319
To
Figure BDA00013282659900000320
Is in a counterclockwise direction if
Figure BDA00013282659900000321
Is provided with
Figure BDA00013282659900000322
Step five: ship steering ratio calculation
Calculating two adjacent moments T according to the step four1And T2And (3) calculating the steering rate of the ship according to the following formula:
Figure BDA00013282659900000323
wherein theta is2And theta1Divided into adjacent times T2And T1The measured heading angle at that moment.
The second step specifically comprises: for any vertex X (P, θ), the coordinate calculation formula is as follows:
p2＝L2+p1 2-2Lp1cos(∠XAO) (1)
wherein, P is the length of XO; l is the AX length, a known amount; p is a radical of1Is the AO length, also a known amount;
according to equation (1), to find P, ∠ XAO, i.e. θ, is first found, and the vertex X coordinate has the following solving cases:
case 1 when
Figure BDA0001328265990000041
When the included angle with the positive direction of the X axis is 0 degrees or 360 degrees, the coordinate of the X point is (X1,
Figure BDA0001328265990000042
) Wherein X is the abscissa of point A is the point directly obtained by measurement,
Figure BDA0001328265990000043
the distance from the cab to the bow or stern is a known quantity;
case 2 when
Figure BDA0001328265990000044
When the included angle between the X-axis positive direction and the X-axis positive direction is (0 degree and 90 degrees), the inclination angle of the straight line where AB is located is theta AB, then
Figure BDA0001328265990000045
Wherein (x)1,y1)(x2,y2) The coordinates of the rectangular coordinate system where the point A and the point B are respectively located can be converted from polar coordinates;
case 3 when
Figure BDA0001328265990000046
When the included angle between the X axis and the positive direction is 90 degrees, the coordinate of the X point is (X1, AX + y 1);
case 4 when
Figure BDA0001328265990000047
When the included angle with the positive direction of the X axis is (90 degrees and 180 degrees):
Figure BDA0001328265990000048
case 5 when
Figure BDA0001328265990000049
The coordinate of the X point is (X) when the included angle with the positive direction of the X axis is 180 degrees1,Y1-L)；
Case 6 when
Figure BDA00013282659900000410
When the angle is (180 DEG, 270 DEG) with the positive direction of the X axis, ∠ XAO is theta1-90°-θAB；
Case 7 when
Figure BDA00013282659900000411
The coordinate of the X point is (X) when the positive included angle with the X axis is 270 degrees1-L,Y1)；
Case 8 when
Figure BDA00013282659900000412
When the angle is (270 degrees, 360 degrees) with the positive direction of the X axis, ∠ XAO is equal to theta1+θAB-90°。
The third step specifically comprises:
1) let two rectangular vertexes near the side of the berth be M (M)X，MY)、N(NX，NY) The equation of the straight line where the wharf is located is L: ax + by + c is 0;
2) the distance between the bow and the wharf and the traversing speed calculation process are as follows:
the distance from M to L at time T is
Figure BDA0001328265990000051
Let T1Time and T2The distances from the time M to the time L are respectively S1、S2；
Transverse displacement speed of bow is
Figure BDA0001328265990000052
Wherein VbRepresenting the bow speed;
3) the distance between the stern and the wharf and the traversing speed calculation process are as follows:
the distance from M to L at time T is
Figure BDA0001328265990000053
Let T1Time and T2The distances from the time M to the time L are S ″, respectively1、S`2；
Then
Figure BDA0001328265990000054
Wherein VsRepresenting the speed of stern transverse movement, S2Represents T2Distance from point N to L, S ″, time1Represents T1The distance from point N to L.
After the method is adopted, the invention has the positive effects that: according to the invention, a polar coordinate system is established by a rectangle in which a ship is positioned, four vertex coordinates of the rectangle are calculated by utilizing the ship length, the ship width (known quantity) and the positioning coordinates (obtained by a positioning terminal) of a port point A and a starboard point B of the ship on the basis of the polar coordinate system, dynamic data during berthing of the ship, including the transverse moving speed from the ship head and the ship tail to the wharf and the ship steering rate, are obtained according to the relative position change of the four vertex coordinates and the ship and the change of the ship fore direction, so that the position parameters and the moving parameters during berthing of the ship can be accurately controlled, and the running direction and the running speed during berthing of the ship can be accurately controlled according to each item of data obtained by the method, so that safety accidents are avoided.
Drawings
FIG. 1 is a schematic diagram of an algorithm simulation coordinate system of the berthing instrument of the present invention.
Detailed Description
As shown in fig. 1, the high-precision navigation and berthing method for large ships of the invention comprises the following steps:
firstly, establishing a coordinate system
As shown in fig. 1, a polar coordinate system is established by a rectangle in which a ship is located, the rectangle can just sleeve the ship, a ship port point a, a ship starboard point B and a ship head point B1 are positioning terminal placing points, and coordinates of the ship port point a and the ship starboard point B are measured in real time through the positioning terminals;
secondly, respectively calculating coordinates of four vertexes of a rectangle where the ship is located according to coordinate data of a port point A, a starboard point B and a ship head point B1 and a polar coordinate origin O; the second step specifically comprises: x (P, θ) in intention, the vertex coordinates are calculated as follows:
p2＝L2+p1 2-2Lp1cos(∠XAO) (1)
wherein, P is the length of XO; l is the AX length, a known amount; p is a radical of1Is the AO length, also a known amount;
according to equation (1), to find P, ∠ XAO, i.e. θ, is first found, and the vertex X coordinate has the following solving cases:
case 1 when
Figure BDA0001328265990000061
The X point coordinates when the positive angle with the X axis is 0 or 360 deg. (X1,
Figure BDA0001328265990000062
) Wherein X is the abscissa of point A is the point directly obtained by measurement,
Figure BDA0001328265990000063
the distance from the cab to the bow is a known quantity;
case 2 when
Figure BDA0001328265990000064
When the positive included angle with the X axis is 0-90 degrees (anticlockwise rotation), the inclination angle of the straight line where AB is located is theta AB, then
Figure BDA0001328265990000071
Wherein (x)1,y1)(x2,y2) Respectively are rectangular coordinates of the point A and the point BCoordinates of the system can be converted from polar coordinates;
case 3 when
Figure BDA0001328265990000072
When the included angle with the positive direction of the X axis is 90 degrees, the coordinates of the X point are (X1,
Figure BDA0001328265990000073
)；
case 4 when
Figure BDA0001328265990000074
When the included angle with the positive direction of the X axis is (90 degrees and 180 degrees):
Figure BDA0001328265990000075
case 5 when
Figure BDA0001328265990000076
When the positive included angle with the X axis is 180 degrees, the coordinate of the X point is (X1, Y1-L);
case 6 when
Figure BDA0001328265990000077
When the angle is (180 DEG, 270 DEG) with the positive direction of the X axis, ∠ XAO is theta1-90°-θAB；
Case 7 when
Figure BDA0001328265990000078
When the positive included angle with the X axis is 270 degrees (anticlockwise), the coordinate of the X point is (X1-L, Y1);
case 8 when
Figure BDA0001328265990000079
When the angle is (270 °, 360 °) with respect to the X axis, ∠ XAO (counterclockwise) is θ1+θAB-90°。
Theta in all the above cases1∈[90,180]If the angle is a specific value such as 0 °, 90 ° or 180 °, the above can be converted to any one of the above cases, and if θ is1∈[0,90]Then it needs to be determined first and then classified asOne of the above cases. The other three vertex points of the rectangle can be obtained in the same way, and the straight line of the wharf front can be obtained by measuring two points of the wharf front.
Thirdly, calculating the distance between the bow and the stern to the wharf and the traversing speed
Obtaining a linear equation of the wharf by measuring two coordinate points of the wharf;
respectively calculating the distance between the ship and the wharf and the distance between the stern and the wharf at two adjacent moments in the running process of the ship according to the coordinates of the four vertexes of the rectangle and a linear equation where the wharf is located, and calculating the transverse moving speed of the bow and the transverse moving speed of the stern according to the distance between the two moments and the time difference; the third step specifically comprises:
1) let two rectangular vertexes near the side of the berth be M (M)X，MY)、N(NX，NY) The equation of the straight line where the wharf is located is L: ax + by + c is 0;
2) the distance between the bow and the wharf and the traversing speed calculation process are as follows:
the distance from M to L at time T is
Figure BDA0001328265990000081
Let T1Time and T2The distances from the time M to the time L are respectively S1、S2；
Transverse displacement speed of bow is
Figure BDA0001328265990000082
Wherein VbRepresenting the bow speed;
3) the distance between the stern and the wharf and the traversing speed calculation process are as follows:
the distance from M to L at time T is
Figure BDA0001328265990000083
Let T1Time and T2The distances from the time M to the time L are S ″, respectively1、S`2；
Then
Figure BDA0001328265990000089
Wherein VsRepresenting the speed of stern transverse movement, S2Represents T2Distance from point N to L, S ″, time1Represents T1The distance from point N to L.
Fourthly, the method comprises the following steps: heading calculation
Selecting two rectangular vertexes M (M) on one side of the berthX，MY)、N(NX，NY) Obtaining a straight line MN passing through two vertexes according to the vertex coordinates of the straight line MN, wherein the vector of the straight line MN is
Figure BDA0001328265990000085
Let the vector of true north be the unit vector
Figure BDA0001328265990000086
The fore direction of the ship is
Figure BDA0001328265990000087
Rotate counterclockwise to
Figure BDA0001328265990000088
Angle θ of (d);
computing
Figure BDA0001328265990000091
And
Figure BDA0001328265990000092
cosine value of included angle:
Figure BDA0001328265990000093
judgment of
Figure BDA0001328265990000094
And
Figure BDA0001328265990000095
the positional relationship of (a);
if it is
Figure BDA0001328265990000096
Ride across
Figure BDA0001328265990000097
Less than 0, then
Figure BDA0001328265990000098
To
Figure BDA0001328265990000099
Is clockwise, there are
Figure BDA00013282659900000910
If it is
Figure BDA00013282659900000911
Ride across
Figure BDA00013282659900000912
Greater than 0, then
Figure BDA00013282659900000913
To
Figure BDA00013282659900000914
Is in a counterclockwise direction if
Figure BDA00013282659900000915
Is provided with
Figure BDA00013282659900000916
Step five: ship steering ratio calculation
Calculating two adjacent moments T according to the step four1And T2And (3) calculating the steering rate of the ship according to the following formula:
Figure BDA00013282659900000917
wherein theta is2And theta1Divided into adjacent times T2And T1The measured heading angle at that moment.
Therefore, the transverse shifting speeds of the bow and the stern and the steering rate of the bow of the ship during berthing are obtained by the method, and the berthing speed of the ship is accurately controlled according to the parameters, so that safe berthing is realized.

Claims (3)

1. The large-scale ship navigation and berthing method is characterized by comprising the following steps of:
step one, establishing a coordinate system
Establishing a polar coordinate system by using a rectangle in which a ship is positioned, wherein the rectangle can just sleeve the ship, a ship port point A, a ship starboard point B and a ship head point B1 are positioning terminal placing points, and measuring the coordinates of the ship port point A and the ship starboard point B in real time through the positioning terminals;
secondly, respectively calculating coordinates of four vertexes of a rectangle where the ship is located according to coordinate data of a port point A, a starboard point B and a ship head point B1 and a polar coordinate origin O;
step three, calculating the distance between the bow and the stern to the wharf and the traversing speed
Obtaining a linear equation of the wharf by measuring two coordinate points of the wharf;
respectively calculating the distance between the ship and the wharf and the distance between the stern and the wharf at two adjacent moments in the running process of the ship according to the coordinates of the four vertexes of the rectangle and a linear equation where the wharf is located, and calculating the transverse moving speed of the bow and the transverse moving speed of the stern according to the distance between the two moments and the time difference;
step four: heading calculation
Selecting two rectangular vertexes M (M) on one side of the berthX，MY)、N(NX，NY) Obtaining a straight line MN passing through two vertexes according to the vertex coordinates of the straight line MN, wherein the vector of the straight line MN is
Figure FDA0002404490580000011
Let the vector of true north be the unit vector
Figure FDA0002404490580000012
The fore direction of the ship is
Figure FDA0002404490580000013
Rotate counterclockwise to
Figure FDA0002404490580000014
Angle θ of (d);
computing
Figure FDA0002404490580000015
And
Figure FDA0002404490580000016
cosine value of included angle:
Figure FDA0002404490580000017
according to
Figure FDA0002404490580000018
Ride across
Figure FDA0002404490580000019
Number judgment of
Figure FDA00024044905800000110
And
Figure FDA00024044905800000111
the positional relationship of (a);
if it is
Figure FDA00024044905800000112
Ride across
Figure FDA00024044905800000113
Less than 0, then
Figure FDA00024044905800000114
To
Figure FDA00024044905800000115
Is in orderHour hand, is provided with
Figure FDA0002404490580000021
If it is
Figure FDA0002404490580000022
Ride across
Figure FDA0002404490580000023
Greater than 0, then
Figure FDA0002404490580000024
To
Figure FDA0002404490580000025
Is in a counterclockwise direction if
Figure FDA0002404490580000026
Is provided with
Figure FDA0002404490580000027
Step five: ship steering ratio calculation
Calculating two adjacent moments T according to the step four1And T2And (3) calculating the steering rate of the ship according to the following formula:
Figure FDA0002404490580000028
wherein theta is2And theta1Respectively at adjacent times T2And T1The measured heading angle at that moment.
2. The large vessel navigation and berthing method according to claim 1, wherein the second step specifically comprises: for any vertex X (p, θ), the coordinate calculation formula is as follows:
p2＝L2+p1 2-2Lp1cos(∠XAO) (1)
wherein p is the length of XO; l is the AX length, a known amount; p is a radical of1Is the AO length, also a known amount;
according to equation (1), to find p, ∠ XAO, i.e. θ, is first found, and the vertex X coordinate has the following solving cases:
case 1 when
Figure FDA0002404490580000029
When the included angle with the positive direction of the X axis is 0 degrees or 360 degrees, the coordinate of the X point is (X1,
Figure FDA00024044905800000210
) Wherein X is the abscissa of point A is the point directly obtained by measurement,
Figure FDA00024044905800000211
the distance from the cab to the bow or stern is a known quantity;
case 2 when
Figure FDA00024044905800000212
When the included angle between the positive direction of the X axis and the positive direction of the X axis is (0 degree, 90 degrees), the inclination angle of the line where the AB is positioned is thetaABThen, then
Figure FDA0002404490580000031
Wherein (x)1,y1)(x2,y2) The coordinates of the rectangular coordinate system where the point A and the point B are respectively located can be converted from polar coordinates;
case 3 when
Figure FDA0002404490580000032
When the included angle with the positive direction of the X axis is 90 degrees, the coordinates of the X point are (X1,
Figure FDA0002404490580000033
)；
case 4 when
Figure FDA0002404490580000034
When the included angle with the positive direction of the X axis is (90 degrees and 180 degrees):
Figure FDA0002404490580000035
case 5 when
Figure FDA0002404490580000036
The coordinate of the X point is (X) when the included angle with the positive direction of the X axis is 180 degrees1,Y1-L)；
Case 6 when
Figure FDA0002404490580000037
When the angle is (180 DEG, 270 DEG) with the positive direction of the X axis, ∠ XAO is theta1-90°-θAB；
Case 7 when
Figure FDA0002404490580000038
The coordinate of the X point is (X) when the positive included angle with the X axis is 270 degrees1-L,Y1)；
Case 8 when
Figure FDA0002404490580000039
When the angle is (270 degrees, 360 degrees) with the positive direction of the X axis, ∠ XAO is equal to theta1+θAB-90°。
3. The large vessel navigation and berthing method according to claim 1, wherein the third step specifically comprises:
1) let two rectangular vertexes near the side of the berth be M (M)X，MY)、N(NX，NY) The equation of the straight line where the wharf is located is l: ax + by + c is 0;
2) the distance between the bow and the wharf and the traversing speed calculation process are as follows:
at time T the distance from M to l is
Figure FDA00024044905800000310
Let T1Time and T2The distances from the time M to the time l are respectively S1、S2；
Transverse displacement speed of bow is
Figure FDA00024044905800000311
Wherein VbRepresenting the bow speed;
3) the distance between the stern and the wharf and the traversing speed calculation process are as follows:
at time T the distance from M to l is
Figure FDA0002404490580000041
Let T1Time and T2The distances from the time M to the time l are S ″, respectively1、S`2；
Then
Figure FDA0002404490580000042
Wherein VsRepresenting the speed of stern transverse movement, S2Represents T2Distance from point N to point l, S ″1Represents T1The distance from point l at time N.
CN201710475985.7A 2017-06-21 2017-06-21 High-precision navigation and berthing method for large ship Active CN107367279B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710475985.7A CN107367279B (en) 2017-06-21 2017-06-21 High-precision navigation and berthing method for large ship

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710475985.7A CN107367279B (en) 2017-06-21 2017-06-21 High-precision navigation and berthing method for large ship

Publications (2)

Publication Number Publication Date
CN107367279A CN107367279A (en) 2017-11-21
CN107367279B true CN107367279B (en) 2020-05-22

Family

ID=60304872

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710475985.7A Active CN107367279B (en) 2017-06-21 2017-06-21 High-precision navigation and berthing method for large ship

Country Status (1)

Country Link
CN (1) CN107367279B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109827797B (en) * 2019-01-25 2021-03-26 安徽农业大学 Automatic identification device for sampling range of bulk grain vehicle and coordinate establishment method thereof
CN112213715B (en) * 2020-10-12 2022-07-08 中国船舶工业集团公司第七0八研究所 Distance measuring method suitable for narrow channel of ship lift

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203070552U (en) * 2012-12-18 2013-07-17 集美大学 Large ship berthing system
CN103956076A (en) * 2014-05-12 2014-07-30 中交机电工程局有限公司 Intelligent berthing auxiliary system
CN105841688A (en) * 2015-01-15 2016-08-10 江苏南大五维电子科技有限公司 Ship's auxiliary berthing method and system
CN106056621A (en) * 2016-06-15 2016-10-26 中国船舶工业系统工程研究院 Unberthing and berthing operational parameter calculation device based on machine vision
CN106097235A (en) * 2016-06-15 2016-11-09 中国船舶工业系统工程研究院 A kind of based on machine vision from alongside job parameter computational methods

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4301861B2 (en) * 2002-05-20 2009-07-22 川崎重工業株式会社 Method and apparatus for maneuvering moving body
US7389735B2 (en) * 2005-09-15 2008-06-24 Yamaha Hatsudoki Kubushiki Kaisha Docking supporting apparatus, and marine vessel including the apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203070552U (en) * 2012-12-18 2013-07-17 集美大学 Large ship berthing system
CN103956076A (en) * 2014-05-12 2014-07-30 中交机电工程局有限公司 Intelligent berthing auxiliary system
CN105841688A (en) * 2015-01-15 2016-08-10 江苏南大五维电子科技有限公司 Ship's auxiliary berthing method and system
CN106056621A (en) * 2016-06-15 2016-10-26 中国船舶工业系统工程研究院 Unberthing and berthing operational parameter calculation device based on machine vision
CN106097235A (en) * 2016-06-15 2016-11-09 中国船舶工业系统工程研究院 A kind of based on machine vision from alongside job parameter computational methods

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
狭窄水域移动矩形在大型散货船靠泊中的应用;苗慧峰;《航海技术》;20170525(第3期);正文第1-4节 *

Also Published As

Publication number Publication date
CN107367279A (en) 2017-11-21

Similar Documents

Publication Publication Date Title
EP3486742B1 (en) System and method for controlling a position of a marine vessel near an object
CN106950974B (en) Three-dimensional path understanding and tracking control method for under-actuated autonomous underwater vehicle
CN106403957A (en) Amphibious air cushion shipway point guidance control method
CN109753068A (en) A kind of more USV multi-agent synergy collision-avoidance planning methods considering signal intelligence
EP3486160A1 (en) System and method for controlling a position of a marine vessel near an object
CN111272171B (en) Ship track prediction method and device
CN115515851A (en) Ship automatic guiding method, ship automatic guiding program, ship automatic guiding system, and ship
CN107657144B (en) Near-shore flow field inversion method based on ship AIS and log data
CN109960262A (en) A kind of unmanned boat dynamic obstacle avoidance method and system based on geometric method
JP7417538B2 (en) Control target generation device and ship maneuvering control device
CN107367279B (en) High-precision navigation and berthing method for large ship
Bitar Towards the development of autonomous ferries
JP2013226905A (en) Ship course keeping control device and ship
Jiang et al. Study on the manoeuvre characteristics of a trimaran under different layouts by water-jet self-propulsion model test
CN114609905B (en) Ship formation event trigger control method
RU2501708C1 (en) Automatic piloting
Lu et al. Motion pose estimation of inshore ships based on point cloud
CN105825714B (en) The determination method and device of robust flight path guiding rule
Pipchenko et al. Features of an ultra-large container ship mathematical model adjustment based on the results of sea trials
RU2509030C1 (en) Method of control over ship afloat
RU2493048C1 (en) Method of defining ship mathematical model hydrodynamic parameters
Seo The use of pivot point in ship handling for safer and more accurate ship manoeuvring
CN115202366A (en) Unmanned ship autonomous berthing method and system based on environment perception
CN114089750A (en) Semi-physical unmanned ship berthing system based on artificial potential field method and evaluation method
JPH0578476B2 (en)

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant