CN108398706A - A kind of cruise dispatching management information system and its method - Google Patents
A kind of cruise dispatching management information system and its method Download PDFInfo
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- CN108398706A CN108398706A CN201810066118.2A CN201810066118A CN108398706A CN 108398706 A CN108398706 A CN 108398706A CN 201810066118 A CN201810066118 A CN 201810066118A CN 108398706 A CN108398706 A CN 108398706A
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- cruise
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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
- G01S19/48—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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of cruise dispatching management information system and its method,System includes GPS device,Calibrating installation,And the anchor point for the multiple reticular structures being arranged on cruise deck,And the anchor point that the vertical range of the anchor point of the corresponding multiple reticular structures being arranged on cruise deck is the multiple reticular structures at L and being set in the cabin of cruise,And it multiple is equipped in the labeling apparatus on the object S of dispatching and monitoring,And it is set to the first R-T unit of cruise stern and is set to the second R-T unit of cruise fore,And inertial nevigation apparatus,Display device and control processor,The real-time positioning of personnel in cruise and cruise cabin may be implemented,And calibration update can be carried out in real time,Positioning accuracy can be improved,And seamless positioning may be implemented,Strong applicability,Low energy consumption,Compensate for the big disadvantage of inertial nevigation apparatus compensation calibration error,And improve the monitoring of cruise.
Description
Technical field
The present invention relates to radio satellite positioning fields, and in particular to a kind of cruise dispatching management information system and its method.
Background technology
Currently, with ocean and maritime travel business is greatly developed, need to pay attention to pushing cruise transport and overland transport, boat
The coordinated development of other defeated equal means of transportation of air transport, is continuously improved the scientific and technological content and novelty at harbour and ship.To the year two thousand twenty
Bottom, global cruise tourist are expected to break through 30,000,000 person-times, and with the increase of demand, various countries also constantly increase the investment of cruise industry
Add, is also constantly promoted come the cruise industry totality supply level weighed with haulage capacity.
The auxiliary facility of cruise is a huge facility of forming a complete and comprehensive system for collecting real estate fees comprising cruise is collecting and distributing with transport hub center
Auxiliary facility and the mating of service, cruise government affairs and business information platform and service, cruise facility and its information platform etc., it is huge
Big structural framing needs the system of diversification to be completed to coordinate.From the point of view of the practical experience that cruise industry develops, cruise economic
Development need scale is realized by the aggregation of economic factor.Make the mating and clothes of cruise government affairs and business information platform
Business forms cruise city information platform characteristic, i.e. complete networking, resource consolidation, Collaboration, stimulating innovation become mainstream.
The positioning system system important as one, can be periphery other systems and cruise auxiliary facility and its
Staff, passenger etc. provide service in many ways.However, cruise mostly rides the sea for a long time, it is in the prior art mostly to adopt
The positioning of cruise is realized with GPS device or inertial nevigation apparatus.However GPS positioning needs meeting certain visual field and weather is wanted
It asks, often will appear can not search the problems such as star or position error are big, the time is long, can not simultaneously for the indoor environment in cabin
Positioning in real time.Inertial nevigation apparatus is required for being calibrated greatly, and positioning for a long time then will appear larger error.Also, GPS device or
Person's inertial nevigation apparatus needs constantly to carry out in real time, and energy consumption is big, and the time is long.
Also, the quantity of cruise staff either passenger is with the development rapid growth of cruise, the scheduling pipe of personnel
Reason also becomes increasingly complex, fast and accurately locating personnel, can effective management and control its behavior, however at present for the positioning of personnel
It is still not accurate enough, it can not effectively meet the requirement of accurate management and running.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of cruise dispatching management information system and its method,
The real-time positioning of personnel in cruise and cruise cabin may be implemented in it, and can carry out calibration update in real time, and it is fixed to improve
Position precision, and may be implemented seamless positioning, and strong applicability, low energy consumption, compensate for that inertial nevigation apparatus compensation calibration error is big to be lacked
Point, and the monitoring of cruise is improved, management and running efficiency.
The present invention provides a kind of cruise dispatching management information systems, including are set to the GPS device and distance on cruise top
The vertical range of GPS device is the anchor of the calibrating installation being arranged at L and the multiple reticular structures being arranged on cruise deck
The vertical range of the anchor point of point and the corresponding multiple reticular structures being arranged on cruise deck is at L and setting
In multiple reticular structures in the cabin of cruise anchor point and multiple be equipped in the label on the object S of dispatching and monitoring
Equipment, and be set to the first R-T unit of cruise stern and be set to the second R-T unit and the inertial navigation of cruise fore
Device, display device and control processor, GPS device include transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, display device, the first R-T unit and the second transmitting-receiving dress
It sets and is connect respectively with control processor, multiple labeling apparatus are connect with multiple anchor point wireless telecommunications；
Anchor point, the first R-T unit and the second R-T unit of the multiple reticular structures being wherein arranged on cruise deck with
The relative position information of GPS device it is known that the anchor point and calibrating installation for the multiple reticular structures being arranged in the cabin of cruise phase
To location information it is known that the first R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane.
Further, each labeling apparatus includes wireless transmitter.
Further, labeling apparatus has the ID of its own.
Further, control processor calculates the headway v for obtaining cruise by following formula：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, ts be transmitter simultaneously to the first R-T unit and the second R-T unit emit signal when
It carves, at the time of t is that the first R-T unit or the second R-T unit receive GPS device and emit signal, b is GPS device distance the
The vertical range of one R-T unit or the second R-T unit, a are the first R-T unit or the second R-T unit apart from GPS device
Vertical range.
Further, anchor point, the first R-T unit and the second transmitting-receiving dress for the multiple reticular structures being arranged on cruise deck
Set with the relative position information of GPS device be the anchor point of multiple reticular structures being arranged on cruise deck, the first R-T unit and
Air line distance, vertical range between second R-T unit and GPS device and difference in height.
The present invention also provides a kind of cruise schedule management methods, sequentially include the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after being resolved by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device, using the anchor point for the multiple reticular structures being arranged on cruise deck,
The relative position information of first R-T unit and the second R-T unit, calibrating installation and GPS device obtains on cruise deck respectively
The position coordinates of the anchor point for the multiple reticular structures being arranged, the first R-T unit and the second R-T unit, calibrating installation；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck, obtain in the cabin of cruise
The position coordinates of the anchor point for the multiple reticular structures being arranged；
(5) control processor sends positioning request signal extremely using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on cruise deck, and/or sent using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in positioning request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal extremely
At corresponding anchor point；
(6) it is sent to control processor after the positioning signal that corresponding anchor point receives, obtaining corresponding scheduling through clearing supervises
The location information of the object S of control, is shown by display device；
(7) kinematic parameter for obtaining cruise is made when meeting GPS positioning condition using the location information that GPS device obtains
For the location information of GPS device；When being unsatisfactory for GPS positioning condition, using kinematic parameter as auxiliary positioning information, in conjunction with
The history location information that GPS device obtains carries out resolving the location information obtained at GPS device position, repeats step (3)-(6).
Further, step (1) is specially：
(1.1) transmitter is utilized to emit the anchor for the multiple reticular structures being arranged on signal to cruise deck in synchronization
Point, the first R-T unit and the second R-T unit, anchor point, the first R-T unit of the multiple reticular structures being arranged on cruise deck
With the second R-T unit respectively receive transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting
The anchor point of anchor point, the interior multiple reticular structures being arranged of cabin of cruise receives transmitting signal respectively, and record receives hair respectively
At the time of penetrating signal；
(1.2) calculate separately the anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and
The transmitting signal moment of second R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple respectively
The initial measurement distance of the anchor point of reticular structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and connects
The time difference at collection of letters moment, respectively obtain cruise cabin in be arranged multiple reticular structures anchor point and calibrating installation just
Beginning measurement distance；
(1.3) anchor point, the first R-T unit, the second transmitting-receiving of the multiple reticular structures being arranged on cruise deck are respectively compared
Difference between device and the known distance and initial measurement of GPS device distance, and it is respectively compared setting in the cabin of cruise
The anchor point of multiple reticular structures and the known distance of calibrating installation and initial measurement distance between difference：If difference is all
Zero, then enter next step, it is corresponding based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of multiple reticular structures, the first R-T unit and the second R-T unit relative to GPS device so that cruise deck
The anchor points of multiple reticular structures of upper setting, the first R-T unit, the second R-T unit are at a distance from GPS device and known distance
The anchor point for the multiple reticular structures being arranged in the identical and/or corresponding cabin for adjusting cruise based on difference is relative to calibration cartridge
The position set so that the anchor point for the multiple reticular structures being arranged in the cabin of cruise at a distance from calibrating installation with known distance phase
Together, return to step (1.1).
Further, it is that visible satellite quantity is at least 4 that GPS positioning condition is met in step (7).
Further, the kinematic parameter for obtaining cruise, specially：
(7.1) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device is received and dispatched with the first R-T unit and second
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2)/2, then the headway v=d/c of cruise；
(7.2) inertial nevigation apparatus is utilized to obtain the inertial guidance data of cruise, the headway v and cruise that step (7.1) is obtained
Inertial guidance data be compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；
If conditions are not met, then compensating correction to inertial nevigation apparatus；
(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.
Description of the drawings
Fig. 1 is cruise dispatching management information system structural schematic diagram.
Fig. 2 is cruise dispatching management information system vertical view.
Fig. 3 is personnel positioning principle schematic on cruise；
Fig. 4 is that cruise dispatching management information system calibrates more new diagram.
Fig. 5 is cruise dispatching management information system electrical block diagram.
Specific implementation mode
The following detailed description of the specific implementation of the present invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, should not be understood as limiting the scope of the invention, and field technology skilled person is according to above-mentioned
Some nonessential modifications and adaptations that invention content makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of cruise dispatching management information system and its methods, as shown in attached drawing 1-5, cruise management and running system
System includes the GPS device 1 (being denoted as G points) for being set to cruise top, further includes the calibration that the vertical range apart from GPS device 1 is L
Device 4.When meeting GPS positioning condition, you can when seeing that number of satellite is at least 4, GPS device 1 receives defending from satellite
Sing data obtains the coordinate G (x, y, z) of itself after being resolved by control processor.The Location-Unknown of calibrating installation 4, but such as
Shown in Fig. 1, the plane coordinates and GPS device 1 of calibrating installation 4 are identical, and only ordinate has the residual quantity of L, then can be directly sharp
The coordinate G ' (x, y, z-L) of calibrating installation 4 is obtained with coordinate G (x, y, z).
Dispatching management information system further includes the multiple anchor points 5 being correspondingly arranged respectively in the storehouses Shang Hechuan of cruise deck, and Fig. 3 is cruise
Upper personnel positioning principle schematic, the anchor point on specific cruise deck is multiple, and forms reticular structure.The setting of anchor point 5
It is corresponding to be set on cruise deck in the cabin of cruise, i.e., the anchor of multiple reticular structures is provided on cruise deck
5 are put, the anchor point for the multiple reticular structures being arranged on the anchor point 5 for the multiple reticular structures being belowdecks correspondingly arranged and cruise deck
5 plane coordinates coordinate difference is identical, and only corresponding ordinate has the residual quantity of L, and is arranged on cruise deck multiple
It is (air line distance between anchor point and GPS device, vertical known to the anchor point 5 of reticular structure and the relative position information of GPS device 1
Distance and difference in height etc.), then in the cabin of cruise on the corresponding cruise deck of the anchor point 5 of multiple reticular structures of setting
Ordinate between the anchor point 5 for the multiple reticular structures being arranged differs L.
Specifically, GPS device 1 receives satellite data, after the coordinate G (x, y, z) of itself is calculated, so that it may to be based on phase
5 position coordinates of anchor point to the multiple reticular structures being arranged on the Relation acquisition cruise deck of position, while also just obtaining cruise
Cabin in be arranged multiple reticular structures anchor point 5 position coordinates.As shown in figure 3, it is S to need the object of dispatching and monitoring,
The object of the dispatching and monitoring on deck can then be carried out by using the anchor point 5 for the multiple reticular structures being arranged on cruise deck
Positioning, the anchor point 5 using the multiple reticular structures being arranged in the cabin of cruise determine the object of the dispatching and monitoring in cabin
Position, the real-time positioning that cruise internal schedule monitored object S thus may be implemented can after showing its position by display device
With the management and running concentrated.
Dispatching management information system includes multiple labeling apparatus, and each labeling apparatus includes wireless transmitter, scheduling prison
The object S of control is equipped with labeling apparatus, and labeling apparatus has the ID of its own, and such management and running personnel can be directed to specific
The object S of the dispatching and monitoring of ID carries out locating and monitoring, specifically to the mode of cruise internal schedule monitored object S positioned in real time,
May be used TOA, the various ways such as TDOA, RSSI, and it is preferred in the case of, the object S distances of chosen distance dispatching and monitoring
4 nearest anchor points are realized.In this way, the positioning system inside cruise is realized, and the coordinate of coordinate system and GPS are using identical
Coordinate system, without being converted again, enhanced convenience is intuitive.
Dispatching management information system further includes being set to the first R-T unit 2 of cruise stern and being set to the second of cruise fore
R-T unit 3, wherein the first R-T unit 2, the second R-T unit 3 and GPS device 1 are located at same straight line on a projection plane
On.First R-T unit 2 and the second R-T unit 3 are relative to known to the location information of GPS device 1.
GPS device 1 includes transmitter, and transmitter is sent out to the first R-T unit 2 and the second R-T unit 3 simultaneously in moment ts
Signal is penetrated, the first R-T unit 2 and the second R-T unit 3 are denoted as t1 and t2 respectively at the time of receiving signal.In conjunction with Fig. 3 institutes
Show, cruise in the stationary case, after G points emit signal, answer GPS device 1 by the first R-T unit 2 or the second R-T unit 3
It is received when in P points, the distance of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3 is respectively r1 and r2.
However since cruise has certain headway v during navigation, then can be an actually-received signal
Position there is certain deviation, such as at P ' points.P points and P ' then have certain displacement d, then by calculating
The headway v of cruise is obtained, while calibration can be compensated to the position coordinates of anchor point 5, in GPS according to headway
When dropout, auxiliary positioning is carried out using the data of this compensation calibration, inertial navigation equipment, calibrating installation 4, first can also be received
Transmitting apparatus 2 and the second R-T unit 3 etc. compensate calibration, realize seamless positioning.Specifically：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and b is the vertical range of GPS device 1 distance the first R-T unit 2 and the second R-T unit 3, a
Vertical range for the first R-T unit 2 or the second R-T unit 3 apart from GPS device 1.In this way, can be obtained by by calculating
The headway v of cruise.
Similar with the calculating process of the second R-T unit 3 based on the first R-T unit 2, principle is all shown in Fig. 4 such.
In actual position fixing process, cruise in the stationary case, 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3
Distance be respectively r1 and r2,1 distance of GPS device is b in the vertical range of the first R-T unit 2 and the second R-T unit 3, the
The vertical range of one R-T unit 2 and the second R-T unit 3 apart from GPS device 1 is respectively a1 and a2, and GPS device 1 and first is received
The measurement distance of transmitting apparatus 2 and the second R-T unit 3 is respectively R1 and R2, and d1 and d2 are respectively to be based on 2 He of the first R-T unit
The displacement that second R-T unit 3 is calculated, then for the first R-T unit 2：
R1=(t1-ts) c, R2=(t2-ts)·c；
For normal, the calculated value of d1 and d2 should be identical, but due to the presence of error, two values have partially
Difference eliminates fractional error, enables d=(d then in order to more objective1+d2)/2, then the headway v=d/c of cruise.
In this way, by finally can be obtained by the headway of cruise and the location information of cruise, and utilize cruise
Headway information the compensation correction of location information is carried out to cruise, and when GPS signal is unavailable, utilize the boat of cruise
The auxiliary positioning of row velocity interpolation, and the calibration to inertial navigation equipment, and the auxiliary positioning etc. with inertial navigation equipment cooperation progress.
During actual management and running, cruise schedule management method sequence includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(1.1) transmitter is utilized to emit the anchor for the multiple reticular structures being arranged on signal to cruise deck in synchronization
Point, the first R-T unit and the second R-T unit, anchor point, the first R-T unit of the multiple reticular structures being arranged on cruise deck
With the second R-T unit respectively receive transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting
The anchor point of anchor point, the interior multiple reticular structures being arranged of cabin of cruise receives transmitting signal respectively, and record receives hair respectively
At the time of penetrating signal；
(1.2) calculate separately the anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and
The transmitting signal moment of second R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple respectively
The initial measurement distance of the anchor point of reticular structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and connects
The time difference at collection of letters moment, respectively obtain cruise cabin in be arranged multiple reticular structures anchor point and calibrating installation just
Beginning measurement distance；
(1.3) anchor point, the first R-T unit, the second transmitting-receiving of the multiple reticular structures being arranged on cruise deck are respectively compared
Difference between device and the known distance and initial measurement of GPS device distance, and it is respectively compared setting in the cabin of cruise
The anchor point of multiple reticular structures and the known distance of calibrating installation and initial measurement distance between difference：If difference is all
Zero, then enter next step, it is corresponding based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of multiple reticular structures, the first R-T unit and the second R-T unit relative to GPS device so that cruise deck
The anchor points of multiple reticular structures of upper setting, the first R-T unit, the second R-T unit are at a distance from GPS device and known distance
The anchor point for the multiple reticular structures being arranged in the identical and/or corresponding cabin for adjusting cruise based on difference is relative to calibration cartridge
The position set so that the anchor point for the multiple reticular structures being arranged in the cabin of cruise at a distance from calibrating installation with known distance phase
Together, return to step (1.1).
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after being resolved by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device, using the anchor point for the multiple reticular structures being arranged on cruise deck,
The relative position information of first R-T unit and the second R-T unit, calibrating installation and GPS device obtains on cruise deck respectively
The position coordinates of the anchor point for the multiple reticular structures being arranged, the first R-T unit and the second R-T unit, calibrating installation；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck, obtain in the cabin of cruise
The position coordinates of the anchor point for the multiple reticular structures being arranged；
(5) control processor sends positioning request signal extremely using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on cruise deck, and/or sent using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in positioning request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal extremely
At corresponding anchor point；
(6) it is sent to control processor after the positioning signal that corresponding anchor point receives, obtaining corresponding scheduling through clearing supervises
The location information of the object S of control, is shown by display device；
(7) kinematic parameter for obtaining cruise, when meeting GPS positioning condition, you can see that number of satellite is at least 4, profit
Use the location information that GPS device obtains as the location information of GPS device；When being unsatisfactory for GPS positioning condition, joined using movement
Number is used as auxiliary positioning information, carries out resolving the position obtained at GPS device position in conjunction with the history location information that GPS device obtains
Confidence ceases, and repeats step (3)-(6).
The kinematic parameter for obtaining cruise, specially：
(7.1) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device is received and dispatched with the first R-T unit and second
The measurement distance of device is respectively R1 and R2, and d1 and d2 are respectively to be calculated based on the first R-T unit and the second R-T unit
Displacement, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2)/2, then the headway v=d/c of cruise；
(7.2) inertial nevigation apparatus is utilized to obtain the inertial guidance data of cruise, the headway v and cruise that step (7.1) is obtained
Inertial guidance data be compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；
If conditions are not met, then compensating correction to inertial nevigation apparatus；
(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case of not departing from the scope and spirit invented disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes should all belong to appended claims of the present invention
Protection domain, and each step in the claimed each department of product and method, can be in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (9)
1. a kind of cruise dispatching management information system, it is characterised in that：GPS device including being set to cruise top, and distance GPS
The vertical range of device is the anchor point of the calibrating installation being arranged at L and the multiple reticular structures being arranged on cruise deck, and
The vertical range of the anchor point of the corresponding multiple reticular structures being arranged on cruise deck is at L and to be set to cruise
The anchor point of multiple reticular structures in cabin and it is multiple be equipped in the labeling apparatus on the object S of dispatching and monitoring,
And be set to cruise stern the first R-T unit and be set to cruise fore the second R-T unit and inertial nevigation apparatus,
Display device and control processor, GPS device include transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, display device, the first R-T unit and the second R-T unit point
It is not connect with control processor, multiple labeling apparatus are connect with multiple anchor point wireless telecommunications；
Anchor point, the first R-T unit and the second R-T unit and GPS for the multiple reticular structures being wherein arranged on cruise deck fill
The relative position information set it is known that the anchor point and calibrating installation for the multiple reticular structures being arranged in the cabin of cruise relative position
Information is it is known that the first R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane.
2. the system as claimed in claim 1, it is characterised in that：Each labeling apparatus includes wireless transmitter.
3. system as claimed in claim 1 or 2, it is characterised in that：Labeling apparatus has the ID of its own.
4. system as claimed in claim 3, it is characterised in that：Control processor calculates the boat for obtaining cruise by following formula
Scanning frequency degree v：
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and at the time of ts is that transmitter emits signal to the first R-T unit and the second R-T unit simultaneously, t is
At the time of first R-T unit or the second R-T unit receive GPS device transmitting signal, b receives and dispatches for GPS device distance first
The vertical range of device or the second R-T unit, a be the first R-T unit or the second R-T unit apart from GPS device it is vertical away from
From.
5. system as claimed in claim 4, it is characterised in that：The anchor point for the multiple reticular structures being arranged on cruise deck,
One R-T unit and the second R-T unit and the relative position information of GPS device are the multiple reticular structures being arranged on cruise deck
Anchor point, air line distance, vertical range and difference in height between the first R-T unit and the second R-T unit and GPS device.
6. a kind of schedule management method using such as the claims 1-5 any one of them cruise dispatching management information systems,
It is characterized in that, sequentially includes the following steps：
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(2) GPS device receive the satellite data from satellite, obtained after being resolved by control processor itself coordinate G (x, y,
z)；
(3) the coordinate G (x, y, z) based on GPS device, utilizes the anchor point for the multiple reticular structures being arranged on cruise deck, first
The relative position information of R-T unit and the second R-T unit, calibrating installation and GPS device obtains be arranged on cruise deck respectively
The anchor points of multiple reticular structures, the first R-T unit and the second R-T unit, calibrating installation, position coordinates；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck obtain setting in the cabin of cruise
Multiple reticular structures anchor point position coordinates；
(5) control processor sends positioning request signal to cruise using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on deck, and/or send positioning using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal to correspondence
Anchor point at；
(6) it is sent to control processor after the positioning signal that corresponding anchor point receives, corresponding dispatching and monitoring is obtained through clearing
The location information of object S, is shown by display device；
(7) obtain cruise kinematic parameter, when meeting GPS positioning condition, using GPS device obtain location information as
The location information of GPS device；When being unsatisfactory for GPS positioning condition, using kinematic parameter as auxiliary positioning information, in conjunction with GPS
The history location information that device obtains carries out resolving the location information obtained at GPS device position, repeats step (3)-(6).
7. system as claimed in claim 6, it is characterised in that：Step (1) is specially：
(1.1) utilize multiple reticular structures that transmitter is arranged on synchronization transmitting signal to cruise deck anchor point, the
One R-T unit and the second R-T unit, anchor point, the first R-T unit and of the multiple reticular structures being arranged on cruise deck
Two R-T units receive respectively transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the anchor point for the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting,
The anchor point for the multiple reticular structures being arranged in the cabin of cruise receives transmitting signal respectively, and record receives transmitting signal respectively
At the time of；
(1.2) anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and second are calculated separately
The transmitting signal moment of R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple netted respectively
The initial measurement distance of the anchor point of structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and receives and believe
The time difference at number moment obtains the initial survey of the anchor point and calibrating installation of the multiple reticular structures being arranged in the cabin of cruise respectively
Span from；
(1.3) anchor point, the first R-T unit, the second R-T unit of the multiple reticular structures being arranged on cruise deck are respectively compared
The difference between the known distance and initial measurement of GPS device distance, and be respectively compared be arranged in the cabin of cruise it is more
Difference between the anchor point of a reticular structure and the known distance of calibrating installation and initial measurement distance：If difference is all zero,
Then enter next step, it is corresponding more based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of a reticular structure, the first R-T unit and the second R-T unit relative to GPS device so that on cruise deck
The anchor point for the multiple reticular structures being arranged, the first R-T unit, the second R-T unit at a distance from GPS device with known distance phase
The anchor point for the multiple reticular structures being arranged together and/or in the corresponding cabin for adjusting cruise based on difference is relative to calibrating installation
Position so that the anchor point for the multiple reticular structures being arranged in the cabin of cruise at a distance from calibrating installation with known distance phase
Together, return to step (1.1).
8. method as claimed in claims 6 or 7, it is characterised in that：It is visible satellite to meet GPS positioning condition in step (7)
Quantity is at least 4.
9. method as claimed in claim 6, it is characterised in that：The kinematic parameter for obtaining cruise, specially：
(7.1) the headway v of cruise is obtained：
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and second
Vertical range of the R-T unit apart from GPS device is respectively a1 and a2, GPS device and the first R-T unit and the second R-T unit
Measurement distance be respectively R1 and R2, d1 and d2 are respectively the position being calculated based on the first R-T unit and the second R-T unit
It moves, calculation is as follows：
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2)/2, then the headway v=d/c of cruise；
(7.2) inertial nevigation apparatus is utilized to obtain the inertial guidance data of cruise, the headway v that step (7.1) is obtained and cruise it is used
Derivative if meeting threshold condition, does not compensate correction, into next step according to being compared to inertial nevigation apparatus；If
It is unsatisfactory for, then correction is compensated to inertial nevigation apparatus；
(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.
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