CN108489497B - Safe navigation aiding method for preventing reef touch by using map - Google Patents
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Abstract
The invention relates to the technical field of water transportation traffic safety navigation aid, and provides a safe navigation aid method for preventing a map from touching a reef, which comprises the steps of firstly, utilizing a GNSS positioning technology and a water level observation and data processing technology to solve the safe draft elevation at the lowest point of a ship; then judging whether a depth datum plane elevation fitting equation is started or not to carry out water level correction in the process of sailing according to the acquired related safe navigation aid element information; and finally, matching and retrieving vector isobath or safe navigation guarantee line node coordinate set according to the safe draft elevation, displaying a safe navigation boundary line formed by the marked vector isobath and the safe navigation guarantee line on the electronic channel map, and playing the warning distance between the ship and the safe navigation boundary and the warning angle between the ship heading and the safe navigation boundary by voice. The problem of the prior art scheme, can't avoid the lower boundary handing-over fault that hinders navigation region buffer and navigable waters and lead to of resolution ratio, the service function of dynamic safe navigation aid of channel map has been brought into play.
Description
Technical Field
The invention relates to the technical field of safe navigation aid of water transportation traffic map navigation, and provides a safe navigation aid method using a map anti-reef touch based on a terrain matching navigation technology and combined with the characteristics of multi-dimensional change and various elevation references of a water transportation traffic navigation environment.
Background
Current state of the technical function realized by the navigation map API (SDK): the current navigation map API (SDK) is widely used for land transportation navigation service, and because the water transportation traffic navigation has the influences of various natural environment factors such as flow state, flow velocity, gradient, reef, wind power, fog condition and the like, and a vector contour map is not yet applied comprehensively; an underwater terrain analysis model aiming at the distortion of complex and difficult channel safe navigation boundaries such as a suitable submerged reef disturbance, a channel renovation building and the like and an underway water level fitting and correcting model based on the elevation fitting of a depth datum plane are not established. Almost all navigation map apis (sdks) are not developed for water traffic related navigation functions.
The research and application status of the reef-touch-preventing map safe navigation aid technology is as follows: at present, two methods are available for the research of safe navigation aid technology of an electronic channel chart, one method is based on the scheme that safe navigation boundaries are generated in a buffer area of an obstructed area and navigable waters of a route of the electronic channel chart, the method comprises the steps of 'Lane dynamic generation algorithm and realization based on a Changjiang electronic channel chart', the method comprises the steps of 'Yangbai Cen', the method comprises the steps of 'dynamic calculation model research of navigable waters of the Changjiang electronic channel chart', the method comprises the steps of pre-manufacturing the areas through a GIS platform, and having larger pre-processing workload and more operation steps; in the real-time release operation of the navigation area with large drop change and water level amplitude, the low-resolution buffer area of the navigation area and the update release of the navigable water area can not effectively avoid the 'coin pool tide head' boundary handover fault caused by the flood wave-flattening characteristic, and the instantaneity and the timeliness of the map navigation anti-reef safety navigation aid are reduced. Lebang et al, eds "dynamic water and foam line algorithm and implementation of inland river electronic fairway map". The other method is electronic navigation channel map and digital navigation channel entity navigation mark setting, the method is digital application of traditional manual navigation mark setting, the characteristics of high relative cost and high labor intensity are not changed, and the service function of map essential dynamic safe navigation aid is not played fundamentally.
The water depth linear interpolation algorithm model has the defects that: the water depth point linear interpolation algorithm is a traditional description method of the navigation datum plane drop, the method can better reflect the spatial change characteristics of the water level in the period of stable or regular periodic change of the water level, but low-density water level observation data cannot reflect the piecewise linear characteristics of the water level in real time in the period of severe meteorological conditions and flood movement, and the method is not suitable for all-weather water level correction.
The environmental conditions of the application and development of the safe navigation aid technology of the reef-touch-preventing map are as follows: the essential requirement of an application model of the reef-touch-preventing map safe navigation aid technology is that the underwater terrain elevation of the current position of a ship is lower than the abundant safe draught elevation of the ship, and the core technology of the reef-touch-preventing map safe navigation aid technology is a terrain matching navigation technology with the measurement elevation matched with the digital map elevation contour line [ Liu Cheng Xiang's eds (research on terrain matching auxiliary positioning technology of underwater vehicles) ]. At present, a terrain matching navigation technology is applied to navigation correction work of a GNSS satellite signal interruption area or a submarine inertial navigation system, a lane-level automobile automatic driving technology is started in recent years, and a vector road auxiliary navigation algorithm related to the terrain matching navigation technology [ Levole et al, a rough and fine matching combined vector road auxiliary inertial navigation algorithm ] is widely proved. The technical achievements provide good demonstration guiding effect for the application of the map navigation anti-reef touch safe navigation aiding technology.
With the rise of a multi-beam echo sounding technology and an airborne ALB high-resolution high-availability underwater topography mapping technology, the application of a GNSS satellite (ground) -based enhanced differential system is realized; the development of sensor technology; the study on the sea seamless vertical datum and inland river navigation datum plane is deep (Schoen et al, eds of dynamic water level guarantee in navigation and ocean); an underwater topography feature analysis method (Zhang Yi et al, eds the topography navigability analysis in underwater topography matching navigation) and a relative water depth map navigation area depth datum elevation fitting technology (Sun military, et al, eds the application discussion of solving a curved surface equation for relative water depth correction). The reef touch prevention safe navigation aiding technology application model based on the navigation map can obtain a precise navigation map background field, precise real-time navigation external element parameters and a strict calculation processing model structure, and can provide reliable guarantee for the operation of the map navigation reef touch prevention safe navigation aiding technology application model.
The prior art also has the defects that: 1. the pretreatment workload is large, and the operation steps are more; in the real-time release operation of the navigation section with large drop change and water level amplitude variation, a low-resolution navigation obstructing area buffer area and a navigable water area generate a 'coin pool tide' boundary handover fault due to the delay influence of map updating release, so that the instantaneity and timeliness of map navigation anti-reef safety navigation aid are reduced; 2. the method is the digital application of the traditional manual navigation mark setting, has the characteristics of high relative cost and high labor intensity, and does not change and play the service function of map essential dynamic safe navigation aid. 3. Under severe meteorological conditions and flood movement periods, the prior art cannot well reflect the morphological characteristics of longitudinal slope, transverse slope, reverse slope and turbulent convex-concave continuous change composite curved surfaces of a navigation datum plane, low-density water level observation data cannot reflect the piecewise linear characteristics of the water level in real time, and the method is not suitable for all-weather water level correction. 4. A square with the stem coordinate as the center and the due north direction as the axis cannot form a maximum search range square with the stem coordinate as the center and the heading direction as the axis.
Disclosure of Invention
The invention aims to provide a reef touch prevention safe navigation aid method based on a navigation map, which integrates the acquisition of a precise navigation map background field, precise real-time external navigation parameters and a strict calculation processing method to realize an anti-collision design technology of reefs on a ship navigation line; the problem of prior art scheme, can't effectively avoid the lower boundary handing-over fault that hinders navigation region buffer and navigable waters and lead to of resolution ratio, play the map essence dynamic safe service function of assisting navigation, reduce working strength is solved.
The invention provides a safe navigation aiding method for preventing reef touch by using a map, which comprises the following steps: s1, logging in a control module through a system, logging in the parameter information of the air route, the navigation area and the ship, and entering S2; s2, acquiring the three-dimensional coordinates, heading and water level of the current position of the ship through a positioning module and a network server, entering S3 and S3, calculating the safe draft elevation and bow plane coordinates of the lowest point of the ship through the ship parameter information input by a data calculating module and the acquired three-dimensional coordinates and water level of the current position of the ship, and entering S4; s4, judging whether the safe draft elevation at the lowest point of the ship needs to be corrected in the water level in the process of sailing through a water level correction value judging module, if so, entering S5, and if not, entering S6; s5, calculating an underway water level correction value of the current lowest point safe draft elevation of the ship by adopting a curved surface elevation fitting equation through a matrix calculation module, and entering S6; s6, searching a vector isobath matched with the current lowest safe draft elevation of the ship and a safe navigation guarantee line node coordinate set by applying a channel space geographic information database and a terrain matching technology, and entering S7; s7, marking, displaying or broadcasting related information through an application terminal module, firstly, marking vector isopachous lines or safe navigation guarantee lines on an electronic channel chart application terminal according to the current time position and the course information of the ship and combining S6 to form a safe navigation boundary line of the ship; secondly, calculating to obtain the distance between the ship and the safe navigation boundary line and the included angle between the ship heading and the safe navigation boundary line according to the current time position and the heading of the ship, and entering S8; and S8, ending.
The using principle of the method is that firstly, the GNSS positioning technology and the water level observation and data processing technology are utilized to realize the calculation of the safe draught elevation; then, acquiring related safe navigation aid element information in the forms of object marks and the like, and judging whether a depth datum plane elevation fitting equation is started to correct the water level in the process of sailing; and finally, matching and retrieving vector equal-depth lines or a safe navigation guarantee line node coordinate vector set according to the safe draft elevation, displaying a safe navigation boundary formed by the marked vector equal-depth lines and the safe navigation guarantee line on the electronic channel map, and playing the warning distance between the ship and the safe navigation boundary and the warning angle between the ship heading and the safe navigation boundary by voice and audio.
The safe navigation method using the map anti-reef, disclosed by the invention, has the beneficial effects that the coordinate set of a plurality of vector contour lines or safe navigation guarantee line nodes matched with the safe draft elevation range is obtained through the steps S3 and S6, and the coordinate set of the vector contour lines or the safe navigation guarantee line nodes is segmented and marked through the steps S3 and S7, so that the requirements of the navigation map background field elevation design precision equal height of 0.5 m, the maximum difference of 10% of a design navigation section and the reference design basis of the highest speed of 40 km/h of ship navigation according to the safe navigation method using the map anti-reef are met, and the sampling frequency, the timeliness and the current situation of data obtained by the safe navigation method using the map anti-reef are improved. The underway water level correction value obtained in the steps S4 and S5 can effectively avoid the influence of cross fault distortion of safe sailing boundary caused by the fall and water level change in a relative water depth map sailing area, severe meteorological conditions and a flood period, and the reliability of the application of the safe navigation aid information is improved. The safe navigation guarantee line defined by the underwater topography feature analysis model of S6 avoids the safe navigation aid information error caused by the flood and reef disorder and the safe navigation boundary distortion of the navigation channel regulating building. The invention designs that beneficial technical processing means are obtained due to the full and comprehensive analysis of the method running state.
Drawings
FIG. 1 is a flow chart of a safe navigation method using a map for preventing reef touch according to the invention;
FIG. 2 is a software and hardware flow chart of a safe navigation method using a map for preventing reef touch according to the invention;
FIG. 3 is a schematic diagram illustrating a square retrieval range judgment of a channel in the safe navigation method using a map to prevent reef collision according to the present invention;
FIG. 4 is a flow chart of a method for judging a square retrieval range of a channel by using a map anti-reef safety navigation method of the invention;
FIG. 5 is a logic judgment flow chart of starting safe draught elevation on-going water level correction by using the safe navigation method for preventing reef touch by using a map according to the invention;
FIG. 6 is a flow chart of logic judgment of object attributes of a safe navigation guarantee line initiated by the safe navigation aid method for preventing reef touch by using a map;
wherein: 1. a processor; 2. an application terminal module; 3. a system login control module; 4. a positioning module; 5. a data resolving module; 6. a water level correction value judging module; 7. a matrix resolving module; 8. a channel spatial geographic information database; 10. a safe navigation boundary line; 11. a network server.
Detailed Description
The safe navigation method using the map for preventing reef touch according to the present invention will be further described with reference to the accompanying drawings and the embodiments.
In order to make the purpose and technical scheme of the invention clearer, a navigation map API is taken as an example to explain a structural design of a safe navigation aid method using a map to prevent reef touch.
1. The system login control module adopts C + + to compile and is responsible for the organization process navigation positioning and data processing interactive work of the system, and is responsible for the input of relevant parameters of the ship and the acquisition of GNSS receiver data, and the interactive processing calculation of channel elements and intermediate data such as the current flight stage water level and depth datum plane fitting parameters which are published on line.
2. And the matrix resolving module adopts MATLAB to compile, and compiles the elevation fitting surface equation into a DLL dynamic link library to be responsible for the relative safe draft elevation fitting and the resolving of the navigation datum plane elevation fitting parameters.
3. The application terminal adopts a JavaScript engine module to compile a depth line which is responsible for resolving the minimum search circle circumscribed square, retrieving a safe draft elevation matching underwater topography elevation vector and other depth lines, a safe navigation guarantee line node coordinate vector data set and judging the related water gauge, water level information, depth datum plane fitting parameters and an intersection range of the current navigation section depth datum plane; and marking the broadcasting of the anti-reef safe navigation aid early warning boundary, the safe warning distance and the safe warning course.
The invention provides a safe navigation aiding method for preventing reef touch by using a map, which comprises the following steps: s1, logging in the control module 3 through the system, logging in the parameter information of the air route, the navigational area and the ship, and entering S2; s2, acquiring the three-dimensional coordinates, heading and water level of the current position of the ship through the positioning module 4 and the network module 11, entering S3, S3, calculating the three-dimensional coordinates and water level of the current position of the ship through the data calculating module 5, calculating the safe draught elevation and the bow plane coordinates of the lowest point of the ship, and entering S4; s4, judging whether the lowest point safe draft elevation of the ship needs to be corrected in the water level in the process of sailing through the water level correction value judging module 6, if so, entering S5, and if not, entering S6; s5, calculating the underway water level correction value of the current lowest point safe draft elevation of the ship by adopting a curved surface elevation fitting equation through a matrix calculating module 7, and entering S6; s6, searching a vector isobath matched with the current lowest safe draft elevation of the ship and a safe navigation guarantee line node coordinate set by using the channel space geographic information database 8 and the terrain matching technology, and entering S7; s7, marking, displaying or broadcasting related information through the application terminal module 2, firstly, marking vector isopachous lines or safe navigation guarantee lines on the electronic channel map according to the current time position and the route information of the ship and combining S6 to form a safe navigation boundary line of the ship; secondly, calculating to obtain the distance between the ship and the safe navigation boundary line and the included angle between the ship heading and the safe navigation boundary line according to the current time position and the heading of the ship, and entering S8; and S8, ending.
The use principle is as follows: firstly, utilizing a GNSS positioning technology and a water level observation and data processing technology to realize the calculation of the safe draft elevation; then, acquiring related element information in the forms of object marks and the like, and judging whether a depth datum plane elevation fitting equation is started to correct the water level in the process of aviation; and finally, matching and retrieving a vector contour or a safe navigation guarantee line node coordinate set according to the safe draft elevation, and displaying a ship safe navigation boundary line formed by a marked vector contour and a safe navigation guarantee line on the electronic channel chart, wherein the voice and audio play is carried out on the distance between the ship and the safe navigation boundary line 10 and the angle between the ship heading and the safe navigation boundary line 10.
The beneficial effects are that: the coordinate set of a plurality of vector contour lines or safe navigation guarantee line nodes matched with the safe draft elevation range is obtained through the steps S3 and S6, the coordinate set of the vector contour lines or the safe navigation guarantee line nodes is labeled in a segmented mode through the steps S3 and S7, the equal height distance of 0.5 m of navigation map background field elevation design accuracy, the maximum difference of a designed navigation section is 10%, and the reference design basis of the highest speed of ship navigation of 40 km/h is met, and the sampling frequency, the timeliness and the current situation of data obtained by the safe navigation method of the map anti-reef are improved. The underway water level correction value obtained in the steps S4 and S5 can effectively avoid the influence of cross fault distortion of safe sailing boundary caused by the fall and water level change in a relative water depth map sailing area, severe meteorological conditions and a flood period, and the reliability of the application of the safe navigation aid information is improved. The safe navigation guarantee line defined by the underwater topography feature analysis model of S6 avoids the safe navigation aid information error caused by the flood and reef disorder and the safe navigation boundary distortion of the navigation channel regulating building. The invention designs that beneficial technical processing means are obtained due to the full and comprehensive analysis of the method running state.
Wherein S3: acquiring a lowest safe draft elevation and a bow coordinate of the ship by using a ship type coordinate application logic judgment model and a ship lowest safe draft elevation and bow coordinate reduction mathematical model;
Xship bow＝XGNSS+DShip shape×cos(αCourse of course-αShip shape)
YShip bow＝YGNSS+DShip shape×sin(αCourse of course-αShip shape)
HSafety draught height＝HGNSS-hAntenna with a shield-hDraft waterOr HSafety draught height＝HWater level-hDraft water
Has the advantages that: the safe draft elevation at the lowest point of the ship can be obtained through the current position water level of the ship and the GNSS three-dimensional coordinate; by reasonably arranging the GNSS antennas, the operation of ship type coordinates in the reef touch prevention map safe navigation aid technology application model is eliminated, and the model calculation processing efficiency is improved.
S4, according to the navigation area information, the meteorological information and the water level information, whether the safe draft elevation at the lowest point of the ship needs to be corrected in the current navigation area or not is judged. The aim is to simplify the minimum safe draught elevation of the operation and improve the operation efficiency of the whole safe navigation method for preventing the reef from being touched by using the map.
S5, obtaining depth reference plane fitting parameters according to the depth reference plane fitting parameter partition information; and starting a curved surface equation elevation fitting algorithm model, and calculating the underway water level correction value of the current lowest point safe draft elevation of the ship. By combining the step S4, the sailing water level correction value of the current lowest point safe draught elevation of the ship can be obtained under severe meteorological conditions and the sailing environment in the flood water level variation period, and the application of the safe navigation aid method for preventing reef touch by using the map is realized in all weather.
The safe draft elevation underway water level correction model is judged in a partitioning mode according to set aviation zone information and depth datum plane fitting parameters, and the depth datum plane fitting parameters and water level information which are issued in a partitioning mode are acquired in an online mode; starting a curved surface equation elevation fitting algorithm model, and fitting and correcting the current navigational position safe draft elevation of the ship in a physical approach fitting mode based on the relative safe draft elevation fitting correction value of the depth datum plane in the aviation calculation. And (3) correcting and fitting a mathematical model on the water level:
g(x,y)＝b0+b1x+b2y+b3x2+b4y2+b5xy
parameter b0、b1、b2、b3、b4、b5By the principle of least squares VTAnd PV is min resolving.
Assuming that the number of fitting points is n, an error equation can be obtained by a quadratic polynomial equation:
g1+v1＝b0+b1x1+b2y1+b3x1 2+b4y1 2+b5x1y1
g2+v2＝b0+b1x2+b2y2+b3x2 2+b4y2 2+b5x2y2
…………………
gn+vn＝b0+b1xn+b2yn+b3xn 2+b4yn 2+b5xnyn
the error equation is:
V＝BX-L
wherein V is [ V ═ V1、v2…vn]T
X＝[b0b1b2b3b4b5]T
L＝[g1 g2…… gn]T
According to the least square method, the solution of the equation is obtained:
X＝-(BTB)-1BTL
TABLE 1
| Item categories | Error in fitting (u) | Maximum residual error (v) |
| Basal plane fitting parameters | +/-0.009 m | 0.016 m |
Carrying out precision statistics on elevation fitting parameters of a navigation datum plane in 2014;
TABLE 2
| Number of the sub-band | Measured elevation | Elevation of basal plane | Correcting water depth | Fitting water depth | Maximum poor |
| S1 | 157.421 Rice | 161.9 Rice | 4.54 m | 4.48 m | 0.06 m |
| S2 | 161.647 Rice | 162.0 m | 0.42 m | 0.35 m | 0.07 m |
| S3 | 160.173 Rice | 162.1 m | 2.02 m | 1.93 m | 0.09 m |
And (4) carrying out maximum poor statistics on elevation fitting of a quadric surface equation and zonal relative water depth correction results.
S6, establishing a minimum circumscribed search circle square by applying an algorithm model according to the ship bow coordinates and the heading data; and determining a vector isobath matched with the current lowest point safe draft elevation of the ship in the square search area and a safe navigation guarantee line node coordinate set according to the logical judgment of the right vertex included angle and the opposite angle enclosure of the square in the ship advancing direction. A positioning heading data application resolving model is adopted in an application model of the reef-touch-preventing map safe navigation aid technology, firstly, a minimum external search round square search model with a ship bow coordinate as a circle center and a heading azimuth angle for orientation is formed, secondly, a logical processing model for judging an intersection range by combining an included angle on two sides of the right vertex of the minimum external search round square in a forward direction and a diagonal angle is adopted, and an underwater terrain elevation contour line, a safe navigation guarantee line vector coordinate set, a relevant depth datum plane fitting parameter and water level information matched with the current safe draft elevation of a ship are retrieved to the maximum extent. 2 kilometers radius minimum circumscribed search circle and square coordinate calculation mathematical model:
X(i＝a、d)＝Xship bow+2000÷cos45°×cos(αCourse of course±45°)
Y(i＝a、d)＝YShip bow+2000÷sin45°×sin(αCourse of course±45°)
X(i＝b、c)＝XShip bow+2000÷cos45°×cos(αCourse of course±180°±45°)
Y(i＝b、c)＝YShip bow+2000÷sin45°×sin(αCourse of course±180°±45°)
S6 the safe navigation guarantee line is to complicated difficult navigation section, the vector boundary line of navigable waters and the difficult navigation waters drawn according to the underwater topography feature analysis model, its water level scope of operation in season, the preferred operation definition is confirmed through obtaining its node coordinate set and relevant attribute information, solve the bridge, flood the chao reef, the channel renovation building heavy point navigation section such as, safe navigation channel boundary, safe warning distance, the distortion phenomenon of safe warning course, realize its safe navigation guarantee effect, ensure that boats and ships pass through the difficult navigation of difficult navigation area safely. An underwater topography feature analysis model:
ρ＝σ+γφsinθ+γλcosθ
by verifying that the larger the navigation coefficient rho is, the larger the terrain roughness is, the broken ground surface is, and the easier the safe navigation boundary line is to be distorted. When the safe navigation guarantee line defined by the rho value accords with the limit value determined by the DEM resolution ratio, the safe navigation boundary line of the navigable water area and the navigation obstructing area can be solved.
S7 can retrieve a plurality of underwater topography vector isopulegone and safe navigation guarantee line node coordinate sets matched with different safe draft elevations according to the course information, and broadcasts the anti-reef touch safety navigation aid warning boundary, the warning distance and the warning course information according to the current safe draft elevation segmentation marking of the ship. Has the advantages that: the reef touch prevention map safe navigation aid technology application method adopts a method of retrieving multiple underwater terrain elevation contour lines matched with different safe draft elevations at a time, and is based on a microcirculation interactive design of a ship current safe draft elevation subsection marking safe navigation channel boundary, so that the sampling frequency of a reef touch prevention map safe navigation aid technology application model is improved, and the dynamic operation precision of the reef touch prevention map safe navigation aid technology application model is improved.
The above is merely a preferred embodiment of the present invention and is not intended to limit the present invention, and any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A safe navigation aid method for preventing reef touch by using a map is characterized by comprising the following steps: s1, logging in a control module through a system, logging in the parameter information of the air route, the navigation area and the ship, and entering S2; s2, acquiring the three-dimensional coordinates, heading and water level of the current position of the ship through a positioning module and a network server, entering S3 and S3, calculating the safe draft elevation and bow plane coordinates of the lowest point of the ship through the ship parameter information input by a data calculating module and the acquired three-dimensional coordinates and water level of the current position of the ship, and entering S4; s4, judging whether the safe draft elevation at the lowest point of the ship needs to be corrected in the water level in the process of sailing through a water level correction value judging module, if so, entering S5, and if not, entering S6; s5, calculating an underway water level correction value of the current lowest point safe draft elevation of the ship by adopting a curved surface elevation fitting equation through a matrix calculation module, and entering S6; s6, searching a vector isobath matched with the current lowest safe draft elevation of the ship and a safe navigation guarantee line node coordinate set by applying a channel space geographic information database and a terrain matching technology, and entering S7; s7, marking, displaying or broadcasting related information through an application terminal module, firstly, marking vector isopachous lines or safe navigation guarantee lines on an electronic channel chart application terminal according to the current time position and the course information of the ship and combining S6 to form a safe navigation boundary line of the ship; secondly, calculating to obtain the distance between the ship and the safe navigation boundary line and the included angle between the ship heading and the safe navigation boundary line according to the current time position and the heading of the ship, and entering S8; s8, ending; wherein,
s4 further includes: judging whether the safe draft elevation at the lowest point of the ship needs to be corrected in the current navigation area of the ship or not according to the navigation area information, the meteorological information and the water level information;
s6 further includes: applying an algorithm model according to the ship bow coordinates and the heading data to establish a square circumscribed by the minimum circumscribed search circle; determining a vector isobath matched with the current lowest point safe draft elevation of the ship in a square search area and a safe navigation guarantee line node coordinate set according to the right vertex included angle and opposite angle closure logic judgment of the square in the advancing direction of the ship, wherein the square circumscribed by the minimum circumscribed search circle is the square circumscribed by the minimum circumscribed search circle formed by taking a ship bow coordinate as the center of a circle and orienting a heading azimuth angle;
calculating the lowest point safe draft elevation and the bow plane coordinate of the ship comprises the following steps:
Xship bow＝XGNSS+DShip shape×cos(aCourse of course-aShip shape)；
YShip bow＝YGNSS+DShip shape×sin(aCourse of course-aShip shape)；
HSafety draught height＝HGNSS-hAntenna with a shield-hDraft waterOr HSafety draught height＝HWater level-hDraft water。
2. The safe navigation aid method using the map for preventing the reef from being struck according to claim 1, wherein: s5, obtaining depth reference plane fitting parameters according to the depth reference plane fitting parameter partition information; and starting a curved surface equation elevation fitting algorithm model, and calculating the underway water level correction value of the current lowest point safe draft elevation of the ship.
3. The safe navigation aid method using the map for preventing the reef from being struck according to claim 1, wherein: the safe navigation guarantee line of S6 is a vector boundary line of a navigable water area and an impassable water area defined according to an underwater topography feature analysis model aiming at a complex difficult navigation section, and the safe navigation guarantee function is realized by acquiring a node coordinate set and related attribute information to determine the current operating water level range and the prior operating definition of the current operating water level range.
4. The safe navigation aid method using the map for preventing the reef from being struck according to claim 1, wherein: s7 can retrieve a plurality of underwater topography vector isopulegone and safe navigation guarantee line node coordinate sets matched with different safe draft elevations according to the course information, and broadcasts the anti-reef touch safety navigation aid warning boundary, the warning distance and the warning course information according to the current safe draft elevation segmentation marking of the ship.
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