CN107554721A - A kind of dynamic localization method for ship - Google Patents
A kind of dynamic localization method for ship Download PDFInfo
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- CN107554721A CN107554721A CN201710829747.1A CN201710829747A CN107554721A CN 107554721 A CN107554721 A CN 107554721A CN 201710829747 A CN201710829747 A CN 201710829747A CN 107554721 A CN107554721 A CN 107554721A
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- ship
- positioning
- control system
- thruster
- dynamic
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Abstract
The present invention relates to ship's fix technology, and to solve the special orientation problem of ship, the invention discloses a kind of dynamic localization method for ship.This method selects power control system to required pattern, actuating mechanism controls are placed in " Dynamic Positioning Control System " pattern, ship and environmental information are gathered using measuring apparatus, instruction is sent by power-positioning control system, the dynamic positioning of ship is realized by each executing agency.The inventive method, ship can be made to realize that fixed point control position, automatic bow to, automatic tracking navigation, automatic Underwater Target Tracking etc., can be widely used in the army and the people's special boat for there are special positioning requirements.
Description
Technical field
The present invention relates to ship's fix technology, the method for being particularly used for vessel position control.
Background technology
Some military-civil special boats such as oceanographic vessel, fire boat, seaborne supply warship etc., usually vessel position is controlled
There is particular/special requirement：Or fixed point control position is required, or Track control is required, or require that ship keeps relative position not with other targets
Become, or require to carry out from motion tracking etc. submarine target.And so far, the country there is no method to realize above-mentioned special vessel position
Control requires.Also more and more to the particular/special requirement of vessel position control with the development of seafaring, this just causes relevant
The highest attention of aspect, fill up domestic dynamic positioning of vessels this blank, the problem for trying to capture into relevant scientific research personnel.
The content of the invention
In view of the deficienciess of the prior art, solving the special orientation problem of ship, the present invention provides a kind of ship power
Localization method, it can effectively meet the special positioning requirements of ship.
A kind of dynamic localization method for ship, this method comprise the following steps that：
1) power-positioning control system is selected to required pattern；
2) control of executing agency is placed in " Dynamic Positioning Control System " pattern；
Executing agency includes main thrust device, steering wheel, auxiliary thruster,
3) position measurement apparatus is utilized, measures the change of ship position itself；
According to different positioning requirements and ship navigating area, one or more of position measurement apparatus, the position measurement can be selected
Equipment can be GPS, radio positioning system, acoustic positioning system, rope system or laser positioning system
System,
4) utilize sensor, measure ship bow to, shake in length and breadth and wind direction；
According to different positioning requirements, one or more of sensors can be selected, the sensor can be electric Luo Jing, motion ginseng
Unit, vertical reference unit, laser-inertial navigation system, anemoclinograph or Doppler log are examined,
5) power-positioning control system is utilized, the thrust and torque of each executing agency are allocated；
The hardware of power-positioning control system includes console, switch board, portable hand and grasps terminal, uninterrupted power source, beats
Print machine,
6) instruction that each executing agency sends according to control system, the thrust and torque of requirement are produced, with balanced action in
The perturbed force and disturbing moment of ship, realize dynamic positioning of vessels；
According to different positioning requirements, from the auxiliary thruster of one or more of executing agencies, auxiliary thruster can be side
To thruster, full circle swinging thruster or jet thruster.
The beneficial effects of the invention are as follows：Using this dynamic localization method, can make ship realize fixed point control position, automatic bow to,
The functions such as automatic tracking navigation, automatic Underwater Target Tracking.The military-civil specialized ship for there are special positioning requirements can be widely used in
Oceangoing ship, as deep-sea multi-beam echo sounding, seabed subbottom profile probing, seabottom geology investigation, submarine oil detection, boating type need to be undertaken
Acoustic Doppler phased array flow measurement (ADCP) etc. investigates oceanographic vessel, the underway replenishment ship higher to positioning requirements of operation
Deng.
Embodiment
The present invention is used as embodiment using " ocean No.1 " ocean scientific surveying ship.
A kind of dynamic localization method for ship, this method comprise the following steps that：
1) power-positioning control system is selected to required pattern, and such as automatic bow is to pattern, automated location pattern, automatic flight path
Pattern, self-navigation pattern, target following pattern etc.；
2) control of main thrust device, steering wheel, caudal pushing device and full-rotating rudder screw is placed in " Dynamic Positioning Control System "
Pattern；
3) position measurement apparatus is utilized, measures the change of ship position itself；
A. the type GPS wide area differential GPS GPS receivers of FUGRO 3100 are selected, by OMNISTAR satellites and
INMARSAT satellites forwarding ground differential signal, realizes the Differential positioning of ship in the world, has determining for 1-3 rice and sub-meter grade
Position precision,
B. Underwater Navigation, the system energy are carried out (containing transmitter and receiver) from the type ultra-short baselines of POSIDONIA 6000
In the latent device ROV of depth of water 3000m marine tracking underwater remote-control, maximum working depth reaches 6000m,
4) utilize sensor, measure ship bow to, shake in length and breadth and wind direction；
A. from laser-inertial navigation system " PHINS " and " South Pole star OCTANS " measuring units, measure ship bow to and
Information is shaken in length and breadth,
B. reach ± 0.3m/s from OMC160 types anerovane measurement wind speed and direction, wind speed precision, measure thresholding
It is 1 ° to be worth for 1m/s, wind direction resolution ratio, and precision reaches ± 3 °,
5) power-positioning control system is utilized, the thrust and torque of each executing agency are allocated；
This ship control system selects KONGSBERG SIMRAD companies of Norway GreenDP11 systems, and the system gathers above-mentioned
Vessel position, bow to, shake in length and breadth and the information such as wind direction, required according to Dynamic Positioning Control System, by computer to each execution
Mechanism sends the instruction of required thrust and torque,
The system includes master station, switch board, supplementary control unit, control change-over switch, printer, and behaviour is disposed with master station
Vertical handle, various control buttons, required to carry out corresponding operating according to control,
6) each executing agency sends instruction according to control system, produces the thrust and torque of requirement, with balanced action in
The perturbed force and disturbing moment of ship, realize dynamic positioning of vessels；
A. HRP4001TT type caudal pushing devices are selected, its maximum thrust is 65kN,
B. HRP530-51 type telescopic full-rotating rudder propeller devices are selected, its maximum thrust is 125kN.
Dynamic localization method is implemented on " ocean No.1 " ship, and dynamic positioning is realized under 1kn ocean currents, moderate gale sea situation,
Specific requirement at present is dived for fixed point control position, underwater remote-control, and device ROV is tracked, flight path is kept, and fixed point control position precision is not less than 40m.
Claims (1)
1. a kind of dynamic localization method for ship, it is characterised in that this method comprises the following steps that：
1) power-positioning control system is selected to required pattern；
2) control of executing agency is placed in " Dynamic Positioning Control System " pattern；
Executing agency includes main thrust device, steering wheel, auxiliary thruster,
3) position measurement apparatus is utilized, measures the change of ship position itself；
According to different positioning requirements and ship navigating area, one or more of position measurement apparatus, the position measurement apparatus can be selected
Can be GPS, radio positioning system, acoustic positioning system, rope system or laser orientation system,
4) utilize sensor, measure ship bow to, shake in length and breadth and wind direction；
According to different positioning requirements, one or more of sensors can be selected, the sensor can be electric Luo Jing, motion reference list
Member, vertical reference unit, laser-inertial navigation system, anemoclinograph or Doppler log,
5) power-positioning control system is utilized, the thrust and torque of each executing agency are allocated；
The hardware of power-positioning control system includes console, switch board, portable hand behaviour terminal, uninterrupted power source, printer,
6) instruction that each executing agency sends according to control system, the thrust and torque of requirement are produced, with balanced action in ship
Perturbed force and disturbing moment, realize dynamic positioning of vessels；According to different positioning requirements, from one or more of executing agencies
Auxiliary thruster, auxiliary thruster can be side thruster, full circle swinging thruster or jet thruster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829747.1A CN107554721A (en) | 2017-09-15 | 2017-09-15 | A kind of dynamic localization method for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710829747.1A CN107554721A (en) | 2017-09-15 | 2017-09-15 | A kind of dynamic localization method for ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107554721A true CN107554721A (en) | 2018-01-09 |
Family
ID=60980929
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710829747.1A Withdrawn CN107554721A (en) | 2017-09-15 | 2017-09-15 | A kind of dynamic localization method for ship |
Country Status (1)
| Country | Link |
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| CN (1) | CN107554721A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109613578A (en) * | 2018-12-29 | 2019-04-12 | 上海大学 | It is a kind of for seeking the ship's fix method of submarine target |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN116627144A (en) * | 2023-07-21 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260989A (en) * | 2000-03-14 | 2001-09-26 | Ishikawajima Harima Heavy Ind Co Ltd | Offshore position holding device for ship and its method |
| KR100559932B1 (en) * | 2002-07-09 | 2006-03-13 | 구병철 | Dynamic position control system utilizing steam turbine and fixed pitch propeller |
| CN101033003A (en) * | 2006-03-10 | 2007-09-12 | 中国船舶重工集团公司第701研究所 | Dynamic localization method for ship |
| CN101920762A (en) * | 2009-06-09 | 2010-12-22 | 同济大学 | Ship dynamic positioning method based on real-time correction of noise matrix |
| CN103592849A (en) * | 2013-11-12 | 2014-02-19 | 中国交通建设股份有限公司 | Ship dynamic positioning control method |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
-
2017
- 2017-09-15 CN CN201710829747.1A patent/CN107554721A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260989A (en) * | 2000-03-14 | 2001-09-26 | Ishikawajima Harima Heavy Ind Co Ltd | Offshore position holding device for ship and its method |
| KR100559932B1 (en) * | 2002-07-09 | 2006-03-13 | 구병철 | Dynamic position control system utilizing steam turbine and fixed pitch propeller |
| CN101033003A (en) * | 2006-03-10 | 2007-09-12 | 中国船舶重工集团公司第701研究所 | Dynamic localization method for ship |
| CN101920762A (en) * | 2009-06-09 | 2010-12-22 | 同济大学 | Ship dynamic positioning method based on real-time correction of noise matrix |
| CN103592849A (en) * | 2013-11-12 | 2014-02-19 | 中国交通建设股份有限公司 | Ship dynamic positioning control method |
| CN106773741A (en) * | 2017-03-02 | 2017-05-31 | 华南理工大学 | A kind of unmanned boat dynamic positioning system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109613578A (en) * | 2018-12-29 | 2019-04-12 | 上海大学 | It is a kind of for seeking the ship's fix method of submarine target |
| CN110294080A (en) * | 2019-05-13 | 2019-10-01 | 自然资源部第一海洋研究所 | A method of underwater accurate operation is realized using ultra-short baseline |
| CN116627144A (en) * | 2023-07-21 | 2023-08-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
| CN116627144B (en) * | 2023-07-21 | 2023-09-22 | 中国船舶集团有限公司第七〇七研究所 | Low-speed broken line tracking guiding method for power positioning ship |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180109 |
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| WW01 | Invention patent application withdrawn after publication |