CN108235277B - Mail steamer remote rescue system and method thereof - Google Patents

Mail steamer remote rescue system and method thereof Download PDF

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Publication number
CN108235277B
CN108235277B CN201810066136.0A CN201810066136A CN108235277B CN 108235277 B CN108235277 B CN 108235277B CN 201810066136 A CN201810066136 A CN 201810066136A CN 108235277 B CN108235277 B CN 108235277B
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transceiver
monitoring platform
ship
data acquisition
positioning
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CN108235277A (en
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闫国东
闫国威
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Shanghai University of Engineering Science
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q2209/00—Arrangements in telecontrol or telemetry systems
    • H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
    • H04Q2209/82—Arrangements in the sub-station, i.e. sensing device where the sensing device takes the initiative of sending data
    • H04Q2209/823—Arrangements in the sub-station, i.e. sensing device where the sensing device takes the initiative of sending data where the data is sent when the measured values exceed a threshold, e.g. sending an alarm

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

A remote rescue system of a mail steamer and a method thereof comprise a monitoring platform, a positioning system, a plurality of user terminals, a plurality of data acquisition terminals and a remote monitoring platform, wherein the monitoring platform is arranged on the mail steamer; the monitoring platform is connected with the remote monitoring platform through a wireless network, so that personnel in a mail steamer cabin can be positioned in real time, the environment in the mail steamer cabin can be monitored in real time, the acquisition period and the control mode are optimized, resources are saved, the cost is reduced, an optimal escape route is provided for the personnel on the ship, the position can be accurately sent to a rescue ship, the rescue time is saved, and the applicability is high.

Description

Mail steamer remote rescue system and method thereof
Technical Field
The invention relates to the field of measurement, in particular to a mail steamer remote rescue system and a mail steamer remote rescue method.
Background
At present, with the vigorous development of marine and marine travel services, attention needs to be paid to the coordinated development of other transportation modes such as mail ship transportation, land transportation, air transportation and the like, and the technological content and the innovation of ports and ships are continuously improved. By the end of 2020, the tourists in the world cruise ship are expected to break through 3000 thousands of people, with the increase of the demand, the investment of each country on the cruise ship industry is also increased continuously, and the total supply level of the cruise ship industry measured by carrying capacity is also increased continuously.
The facilities for the cruise ship are huge comprehensive facilities which comprise facilities and services for the cruise ship distribution and transportation hub center, facilities and services for the cruise ship government affairs and business information platform, facilities for the cruise ship and the information platform thereof and the like, and a huge structural framework of the facilities is completed by the cooperation of diversified systems.
With the rapid development of the cruise ship industry, the passenger capacity of the cruise ship is greatly improved, and the potential safety hazards of the cruise ship become more and more along with huge supporting facilities. However, in the prior art, an indoor positioning mode is mostly adopted, personnel on a ship can select an escape route by self, and once a selection error occurs, a crisis can occur. Even if the environmental condition of a partial area can be monitored, a lot of time is wasted, and the escape opportunity is missed.
After the escape to a safe place on the cruise ship, the danger can be thoroughly eliminated by the aid of other ships, and the existing cruise ship is uncertain in positioning and long in rescue time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a mail steamer remote rescue system and a mail steamer remote rescue method, which can realize the real-time positioning of personnel in a mail steamer cabin, monitor the environment in the mail steamer cabin in real time, optimize the designed acquisition period and control mode, save resources, reduce cost, provide an optimal escape route for personnel on a ship, accurately send the position to a rescue ship, save rescue time and have strong applicability.
The invention provides a mail steamer remote rescue system, which comprises a monitoring platform, a positioning system, a plurality of user terminals, a plurality of data acquisition terminals and a remote monitoring platform, wherein the monitoring platform is arranged on a mail steamer; the monitoring platform, the positioning system, the data acquisition terminals and the user terminals are in bidirectional communication connection, and the monitoring platform is connected with the remote monitoring platform through a wireless network;
the monitoring platform comprises a command center, a monitoring machine room, a server and communication equipment;
each intersection in the cabin is provided with 4 data acquisition terminals, and the 4 data acquisition terminals form a rectangle;
the data acquisition terminal comprises a shell, an MCU, an indicator light, a wireless transceiver, a shooting device, a light supplement lamp corresponding to the shooting device, and an environmental data acquisition device, wherein the indicator light, the wireless transceiver, the shooting device and the light supplement lamp corresponding to the shooting device are respectively connected with the MCU; the position of the data acquisition terminal in the cabin is known;
the positioning system comprises a control processor, and a GPS device, an inertial navigation device, a first transceiver and a second transceiver which are respectively connected with the control processor, wherein the relative position information of the first transceiver and the GPS device is known, the first transceiver, the second transceiver and the GPS device are positioned on the same straight line on a projection plane, and the GPS device comprises a transmitter.
Further, the shell is made of fireproof materials.
Further, the environmental data acquisition device comprises a gas sensor, a dust sensor and/or a radiation sensor.
Further, the remote monitoring platform comprises a wireless transceiver, and a server and a monitoring terminal which are respectively connected with the wireless transceiver.
Further, the relative position information between the first transceiver and the GPS device and the second transceiver and the GPS device is a linear distance, a vertical distance, and a height difference between the first transceiver and the GPS device and the second transceiver and the GPS device.
Further, the wireless network is a GPRS, 3G, 4G and/or WIFI network.
Further, the wireless transmission device and the wire transceiver are connected through a wireless network, specifically, through satellite forwarding communication.
The invention also provides a mail steamer remote rescue method, which sequentially comprises the following steps:
(1) under the condition that the cruise ship is static, initially calibrating a cruise ship positioning system;
(2) shooting an environment image and corresponding environment data, sending alarm information and the collected environment data to a monitoring platform and sending an alarm when the collected environment data is not in a normal threshold range;
(3) the monitoring platform controls the positioning system to start positioning:
(4) the personnel on the ship are provided with user terminals with corresponding IDs, and send navigation requests to the monitoring platform through the user terminals;
(5) after receiving a navigation request sent by a user terminal, a monitoring platform immediately starts shooting devices of all data acquisition terminals to shoot corresponding environment images in real time and displays the environment images on the monitoring terminal in real time;
(6) the user terminal sends positioning signals to a plurality of data acquisition terminals, and position information of the user terminal is obtained through an indoor positioning method; simultaneously sending the position information to the user terminal and the monitoring platform, planning an optimal escape path by the monitoring platform according to the position information of the user terminal and the environmental condition in the mail ship cabin, and sending the optimal escape path to the user terminal; meanwhile, judging whether remote rescue is needed, if so, sending position information to a remote monitoring terminal, and entering the step (7), otherwise, entering the step (8);
(7) the remote monitoring terminal carries out rescue after receiving the position information of the cruise ship;
(8) and the personnel on the ship escape according to the optimal escape path indicated by the user terminal.
Further, the step (3) is specifically:
(3.1) the GPS device receives satellite data from a satellite, and the satellite data is resolved by a control processor to obtain own coordinates G (x, y, z);
(3.2) based on the coordinates G (x, y, z) of the GPS device, respectively obtaining the position coordinates of the first transceiver device and the second transceiver device by utilizing the relative position information of the first transceiver device and the second transceiver device and the GPS device;
(3.3) acquiring the navigation speed v of the mail ship, acquiring inertial navigation data of the mail ship by using an inertial navigation device, comparing the acquired navigation speed v with the acquired inertial navigation data, if a threshold condition is met, performing compensation correction on the inertial navigation device, and entering the next step; if not, performing compensation correction on the inertial navigation device;
(3.4) acquiring inertial navigation data in real time based on the inertial navigation device, and when the GPS positioning condition is met, using the positioning information acquired by the GPS device as the position information of the mail steamer; and when the GPS positioning condition is not met, calculating to acquire the position information of the cruise ship by using inertial navigation data as auxiliary positioning information and combining historical positioning information acquired by a GPS device.
Drawings
Fig. 1 is a schematic diagram of the structure in a passenger compartment of a passenger ship.
Fig. 2 is a schematic structural diagram of the data acquisition terminal.
Fig. 3 is a schematic diagram of a circuit structure of the data acquisition terminal.
Fig. 4 is a schematic structural diagram of a security early warning and escaping system of a mail steamer.
Fig. 5 is a schematic diagram of positioning system calibration update.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, the following examples of which are intended to be illustrative only and are not to be construed as limiting the scope of the invention.
The invention provides a mail steamer remote rescue system and a method thereof, and as shown in attached figures 1-4, the mail steamer remote rescue system comprises a monitoring platform, a plurality of data acquisition terminals, a plurality of user terminals, a positioning system and a remote monitoring platform.
The monitoring platform comprises a command center, a monitoring machine room, a server and a communication device, and the monitoring platform, the data acquisition terminals and the user terminals are in bidirectional communication connection. The command center is used for centralized scheduling; the monitoring machine room is used for monitoring the conditions in the mail ship cabin in real time, planning an optimal route according to abnormal conditions (fire, harmful gas leakage and the like) in the mail ship cabin, sending the optimal route to a corresponding user terminal and guiding a user to escape; the server is used for storing various monitoring information; the communication equipment is used for transmitting data between the monitoring platform and the plurality of data acquisition terminals and the plurality of user terminals.
The remote monitoring platform comprises a server, a monitoring terminal and a wireless transceiver. When the monitoring platform on the cruise ship sends a help to the remote monitoring platform, the position of the cruise ship can be sent to the remote monitoring platform through a wireless network, and therefore the remote monitoring platform can rapidly implement rescue at the position of the cruise ship. The mode of communication transmission between the monitoring platform on the mail steamer and the remote monitoring platform through the wireless network is not limited, and the mode can be realized according to communication networks such as GPRS, 3G, 4G and the like, and can also be realized through wireless transmission modes such as WIFI and the like. Under certain conditions, the method can be realized by a satellite forwarding mode.
The accurate position of the mail steamer can enable the rescued ship to arrive quickly, and the rescue time is saved. When the position of the mail steamer is determined, the position can be determined through a positioning system, the specific positioning system comprises a GPS device (marked as a G point) arranged at the top end of the mail steamer, when the GPS positioning condition is met, namely the number of satellites is at least 4, the GPS device receives satellite data from the satellites, and the GPS device obtains own coordinates G (x, y, z) after resolving through a control processor. The positioning system further comprises a first transceiver arranged at the stern of the mail steamer and a second transceiver arranged at the bow of the mail steamer, wherein the first transceiver, the second transceiver and the GPS device are positioned on the same straight line on the projection plane. The location information of the first and second transceivers relative to the GPS device is known.
The GPS device includes a transmitter that simultaneously transmits signals to the first and second transceivers at time ts, times t1 and t2 for the first and second transceivers to receive the signals, respectively. In the situation of the cruise ship being stationary, as shown in fig. 5, after the GPS device transmits a signal at the point G, the first transceiver or the second transceiver should receive the signal at the point P, and the distances between the GPS device and the first transceiver and the second transceiver are r1 and r2, respectively.
However, since the cruise ship has a certain speed v during the cruise, the position where the signal is actually received will have a certain deviation, for example, at point P'. The point P and the point P' have a certain displacement d, so the navigation speed v of the cruise ship can be obtained through calculation, and meanwhile, the position coordinates of the cruise ship can be compensated and calibrated according to the navigation speed, when the GPS signal is lost, the data of the compensation and calibration are used for auxiliary positioning, and the inertial navigation equipment, the first transceiver device, the second transceiver device and the like can also be compensated and calibrated, specifically:
R＝(t-ts)·c；
v＝d/c；
wherein c is the speed of light, b is the vertical distance between the GPS device and the first transceiver device and the second transceiver device, and a is the vertical distance between the first transceiver device or the second transceiver device and the GPS device. Thus, the cruise speed v of the cruise ship can be obtained through calculation.
The calculation process based on the first transceiver and the second transceiver is similar, and the principle is as shown in fig. 5. In an actual positioning process, when the cruise ship is at a standstill, distances from the GPS device to the first transceiver 2 and the second transceiver are R1 and R2, a vertical distance from the GPS device to the first transceiver and the second transceiver is b, vertical distances from the first transceiver and the second transceiver to the GPS device are a1 and a2, respectively, distances measured by the GPS device to the first transceiver and the second transceiver are R1 and R2, respectively, and d1 and d2 are displacements calculated based on the first transceiver and the second transceiver, respectively, so that for the first transceiver:
R1＝(t1-ts)·c，R2＝(t2-ts)·c；
Figure BDA0001556663940000052
normally, the calculated values of d1 and d2 should be the same, but the two values will deviate due to the error, and for more objectivity, part of the error is eliminated by making d equal to (d)1+d2) And 2, the sailing speed v of the cruise ship is d/c.
Therefore, the navigation speed of the mail ship, the position information of the mail ship, the compensation correction of the position information of the mail ship by using the navigation speed information of the mail ship, the auxiliary positioning realized by using the navigation speed of the mail ship when a GPS signal is unavailable, the calibration of the inertial navigation equipment, the auxiliary positioning matched with the inertial navigation equipment and the like can be finally obtained.
As shown in fig. 2, which is a schematic structural diagram of the data acquisition terminal 1, the data acquisition terminal 1 includes a housing, and the housing is made of a fireproof material; the intelligent shooting device is characterized by further comprising an MCU (microprogrammed control unit), an indicator lamp 2, a wireless receiving and transmitting device 3, a shooting device 4, a light supplement lamp 5 corresponding to the shooting device and an environmental data acquisition device 6. Fig. 3 shows a schematic diagram of a circuit structure of a data acquisition terminal, in which an indicator light 2, a wireless transceiver 3, a camera 4 and a light supplement light 5 corresponding thereto are provided, and an environmental data acquisition device 6 is connected to an MCU respectively. The position of the data acquisition terminal 1 within the cabin is known.
The indicator lamp 2 is used for indicating the working state of the data acquisition terminal 1; the wireless transceiver 3 is used for transmitting and receiving wireless positioning signals from the user terminal, transmitting the wireless positioning signals to the MCU for processing to obtain the position information of the user terminal, and transmitting the position information of the user terminal to the monitoring platform; the shooting device 4 is used for shooting environmental image information and transmitting the environmental image information to the monitoring platform in real time; the environmental data acquisition device 6 acquires data of the current environment in real time, and when the acquired environmental data is not within the normal threshold range, an environmental abnormal signal is sent to the monitoring platform, and an alarm sound is sent out at the same time.
As shown in fig. 1, a plurality of data acquisition terminals 1 are arranged in a cabin, and 4 data acquisition terminals 1 are arranged at each intersection in the cabin, and the 4 data acquisition terminals 1 form a rectangle,
when no dangerous condition occurs, if all the equipment is opened, resources are wasted, one of 4 data acquisition terminals arranged at each intersection in the cabin is opened, the other 3 data acquisition terminals are closed, corresponding environment monitoring can be achieved by using one of the 4 data acquisition terminals, a shooting device is used for acquiring corresponding environment images in a first period, an environment data acquisition device is used for acquiring corresponding environment data in a second period, the first period is smaller than the second period, and a wireless transceiver is closed, so that more important degrees are acquired in different periods, and resources can be saved. In addition, when the acquired environmental data is not in the normal threshold range, one of 3 closed data acquisition terminals arranged at the corresponding intersection in the cabin is opened, the corresponding environmental data is acquired in a third period, whether the acquired environmental data is in the normal threshold range or not is judged, if yes, the step is returned, if not, the next step is carried out, wherein the third period is greater than the second period, so that the existence of danger is determined, alarm information and the acquired environmental data are sent to a monitoring platform, and an alarm is given out to remind personnel and the monitoring platform on the ship.
The personnel on the ship are positioned at the P point in the cabin and are provided with user terminals with corresponding IDs. When a dangerous condition occurs, personnel on the ship sends a navigation request to the monitoring platform through the user terminal, and after the monitoring platform receives the navigation request sent by the user terminal, the shooting devices 4 of all the data acquisition terminals 1 are immediately started, images of corresponding environments are shot in real time and are displayed on the monitoring terminal in real time; meanwhile, the user terminal sends positioning signals to the data acquisition terminals 1, the position information of the user terminal can be acquired in real time through the existing indoor positioning method, and the position information is sent to the user terminal and the monitoring platform at the same time. The monitoring platform plans an escape path according to the position information of the user terminal and the environmental condition in the mail ship cabin, and sends the escape path to the user terminal, and the user terminal escapes according to the escape path.
Specifically, the invention provides a mail steamer remote rescue method, which sequentially comprises the following steps:
under the condition that the cruise ship is static, the cruise ship positioning system is initially calibrated, and specifically:
(1.1) transmitting signals to a first transceiver and a second transceiver at the same time by using a transmitter, wherein the first transceiver and the second transceiver respectively receive the transmitted signals and respectively record the time of receiving the transmitted signals;
(1.2) respectively calculating time differences of signal transmitting time and signal receiving time relative to the first transceiver and the second transceiver, and respectively acquiring initial measurement distances between the first transceiver and the GPS device and between the second transceiver and the GPS device;
(1.3) comparing the difference between the known distance and the initial measured distance of the first transceiver and the second transceiver and the GPS device respectively: and (3) if the difference is zero, entering the next step, and if the difference is not zero, adjusting the positions of the first transceiver and the second transceiver relative to the GPS device based on the difference so that the distances between the first transceiver and the GPS device and the second transceiver are the same as the known distance, and returning to the step (1.1).
Acquiring corresponding environment images by using a shooting device in a first period, acquiring corresponding environment data by using an environment data acquisition device in a second period, wherein the first period is less than the second period, and closing the wireless transceiver;
when the collected environmental data is not in the normal threshold range, opening one of 3 closed data collection terminals arranged at the corresponding intersection in the cabin, collecting the corresponding environmental data in a third period, judging whether the collected environmental data is in the normal threshold range, if so, returning to the first step, and if not, entering the next step; wherein the third period is greater than the second period;
sending alarm information and collected environmental data to a monitoring platform, and sending an alarm;
the monitoring platform controls all the data acquisition terminals to be opened, and controls the positioning system to start positioning:
the GPS device receives satellite data from a satellite, and coordinates G (x, y, z) of the GPS device are acquired after the satellite data are resolved by the control processor;
based on the coordinates G (x, y, z) of the GPS device, respectively obtaining the position coordinates of the first transceiver and the second transceiver by utilizing the relative position information of the first transceiver and the second transceiver and the GPS device;
acquiring the navigation speed v of the mail ship, acquiring inertial navigation data of the mail ship by using an inertial navigation device, comparing the acquired navigation speed v with the acquired inertial navigation data, and if a threshold condition is met, performing compensation correction on the inertial navigation device and entering the next step; if not, performing compensation correction on the inertial navigation device;
wherein the navigation speed v of the cruise ship is obtained in a specific way
Let the vertical distance between the GPS device and the first transceiver device be b, the vertical distances between the first transceiver device and the second transceiver device and the GPS device be a1 and a2, respectively, the measurement distances between the GPS device and the first transceiver device and the second transceiver device be R1 and R2, respectively, and d1 and d2 are displacements calculated based on the first transceiver device and the second transceiver device, respectively, and the calculation method is as follows:
R1＝(t1-ts)·c，R2＝(t2-ts)·c；
Figure BDA0001556663940000081
let d be (d)1+d2) And 2, the sailing speed v of the cruise ship is d/c;
acquiring inertial navigation data in real time based on an inertial navigation device, and when a GPS positioning condition is met, using positioning information acquired by the GPS device as position information of a mail steamer; when the GPS positioning condition is not met, inertial navigation data is used as auxiliary positioning information, and the historical positioning information acquired by a GPS device is combined to calculate and acquire the position information of the cruise ship;
the personnel on the ship are provided with user terminals with corresponding IDs, and send navigation requests to the monitoring platform through the user terminals;
after receiving a navigation request sent by a user terminal, a monitoring platform immediately starts shooting devices of all data acquisition terminals, shoots corresponding environment images in real time in an acquisition period higher than a first period, and displays the environment images on the monitoring terminal in real time;
the user terminal sends positioning signals to a plurality of data acquisition terminals, and position information of the user terminal is obtained through an indoor positioning method;
simultaneously sending the position information to the user terminal and the monitoring platform, planning an optimal escape path by the monitoring platform according to the position information of the user terminal and the environmental condition in the mail ship cabin, and sending the optimal escape path to the user terminal; meanwhile, whether remote rescue is needed or not is judged, if yes, the position information obtained in the step is sent to a remote monitoring terminal, the next step is carried out, and if not, the last step is carried out;
the remote monitoring terminal carries out rescue after receiving the position information of the cruise ship;
and the personnel on the ship escape according to the optimal escape path indicated by the user terminal.
Although exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions, substitutions and the like can be made in form and detail without departing from the scope and spirit of the invention as disclosed in the accompanying claims, all of which are intended to fall within the scope of the claims, and that various steps in the various sections and methods of the claimed product can be combined together in any combination. Therefore, the description of the embodiments disclosed in the present invention is not intended to limit the scope of the present invention, but to describe the present invention. Accordingly, the scope of the present invention is not limited by the above embodiments, but is defined by the claims or their equivalents.

Claims (1)

1. A mail steamer remote rescue method is realized by using a mail steamer remote rescue system, and is characterized in that the mail steamer remote rescue system comprises a monitoring platform, a positioning system, a plurality of user terminals, a plurality of data acquisition terminals arranged in a cabin and a remote monitoring platform arranged at the far end, wherein the monitoring platform is arranged on a mail steamer; two-way communication is connected between monitor platform, positioning system, a plurality of data acquisition terminal and a plurality of user terminal, and monitor platform passes through wireless network connection with remote monitoring platform:
the monitoring platform comprises a command center, a monitoring machine room, a server and communication equipment;
each intersection in the cabin is provided with 4 data acquisition terminals, and the 4 data acquisition terminals form a rectangle;
the data acquisition terminal comprises a shell, an MCU, an indicator light, a wireless transceiver, a shooting device, a light supplement lamp corresponding to the shooting device, and an environmental data acquisition device, wherein the indicator light, the wireless transceiver, the shooting device and the light supplement lamp corresponding to the shooting device are respectively connected with the MCU; the position of the data acquisition terminal in the cabin is known;
the positioning system comprises a control processor, and a GPS device, an inertial navigation device, a first transceiver device and a second transceiver device which are respectively connected with the control processor, wherein the relative position information of the first transceiver device and the GPS device is known, the first transceiver device, the second transceiver device and the GPS device are positioned on the same straight line on a projection plane, and the GPS device comprises a transmitter;
the mail steamer remote rescue method sequentially comprises the following steps:
(1) under the condition that the cruise ship is static, initially calibrating a cruise ship positioning system;
(2) shooting an environment image and corresponding environment data, sending alarm information and the collected environment data to a monitoring platform and sending an alarm when the collected environment data is not in a normal threshold range;
(3) the monitoring platform controls the positioning system to start positioning:
wherein the step (3) is specifically as follows:
(3.1) the GPS device receives satellite data from a satellite, and the satellite data is resolved by a control processor to obtain own coordinates G (x, y, z);
(3.2) based on the coordinates G (x, y, z) of the GPS device, respectively obtaining the position coordinates of the first transceiver device and the second transceiver device by utilizing the relative position information of the first transceiver device and the second transceiver device and the GPS device;
(3.3) acquiring the navigation speed v of the mail ship, acquiring inertial navigation data of the mail ship by using an inertial navigation device, comparing the acquired navigation speed v with the acquired inertial navigation data, if a threshold condition is met, performing compensation correction on the inertial navigation device, and entering the next step; if not, performing compensation correction on the inertial navigation device;
the mode of specifically acquiring the navigation speed v of the cruise ship is as follows:
let the vertical distance between the GPS device and the first transceiver be b, and the vertical distance between the first transceiver and the second transceiver and the GPS device be a1And a2The measuring distances between the GPS device and the first transceiver and the second transceiver are R respectively1And R2，d1And d2The calculated displacements are based on the first transceiver and the second transceiver, respectively, and the calculation method is as follows:
R1＝(t1-ts)·c，R2＝(t2-ts)·c；
Figure FDA0002276539340000021
let d be (d)1+d2) And 2, the sailing speed v of the cruise ship is d/t;
wherein the GPS device includes a transmitter at time tsSimultaneously transmitting signals to the first transceiver and the second transceiver, and recording the time when the first transceiver and the second transceiver receive the signals as t1And t2；
(3.4) acquiring inertial navigation data in real time based on the inertial navigation device, and when the GPS positioning condition is met, using the positioning information acquired by the GPS device as the position information of the mail steamer; when the GPS positioning condition is not met, inertial navigation data is used as auxiliary positioning information, and the historical positioning information acquired by a GPS device is combined to calculate and acquire the position information of the cruise ship;
(4) the personnel on the ship are provided with user terminals with corresponding IDs, and send navigation requests to the monitoring platform through the user terminals;
(5) after receiving a navigation request sent by a user terminal, a monitoring platform immediately starts shooting devices of all data acquisition terminals to shoot corresponding environment images in real time and displays the environment images on the monitoring terminal in real time;
(6) the user terminal sends positioning signals to a plurality of data acquisition terminals, and position information of the user terminal is obtained through an indoor positioning method; simultaneously sending the position information to the user terminal and the monitoring platform, planning an optimal escape path by the monitoring platform according to the position information of the user terminal and the environmental condition in the mail ship cabin, and sending the optimal escape path to the user terminal; meanwhile, judging whether remote rescue is needed, if so, sending position information to a remote monitoring terminal, and entering the step (7), otherwise, entering the step (8);
(7) the remote monitoring terminal carries out rescue after receiving the position information of the cruise ship;
(8) and the personnel on the ship escape according to the optimal escape path indicated by the user terminal.
CN201810066136.0A 2018-01-23 2018-01-23 Mail steamer remote rescue system and method thereof Expired - Fee Related CN108235277B (en)

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CN111161654A (en) * 2020-01-17 2020-05-15 广州海格星航信息科技有限公司 Intelligent tourism terminal
CN117115704B (en) * 2023-08-03 2024-04-02 武汉理工大学 Marine search and rescue system and method based on multi-sensor fusion

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CN102223597A (en) * 2010-04-15 2011-10-19 上海启电信息科技有限公司 Mobile positioning device
CN205748391U (en) * 2016-01-19 2016-11-30 张发平 Escape and rescue guides system

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CN101329394B (en) * 2008-08-01 2012-02-22 北京北斗星通导航技术股份有限公司 Shipborne terminal for implementing marine vehicle position supervision with low cost and method thereof
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