CN109976342A - A kind of intelligent ship multi-ship situation collision prevention method of News Search - Google Patents
A kind of intelligent ship multi-ship situation collision prevention method of News Search Download PDFInfo
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Abstract
The present invention relates to a kind of intelligent ship multi-ship situation collision prevention methods of News Search；Including S1 obtain this ship and it is multiple come ship current location information, revolution angular speed, ship's speed and captain, ship movement conflict radius；S2 obtains subsequent time and comes the location sets of ship and the speed of a ship or plane of this ship and revolution angular velocity range；S3 is combined acquisition prediction navigation point set to the speed of a ship or plane and revolution angular speed；S4 obtains prediction navigation point and carrys out the Distance evaluation functional value of ship；S5 judges whether the braking distance of this ship is less than Distance evaluation functional value, if then recording prediction navigation point, otherwise this ship emergency braking；S6 calculates the overall evaluation functional value of the prediction navigation point of record, obtains the optimal speed of a ship or plane and optimal revolution angular speed and return step S1 until reaching target point；The method of the present invention combination ship arena, can bring to processing in urgent situation, the effective safety for guaranteeing intelligent ship；Collision prevention and restoring navigation is chosen according to evaluation function, high reliablity.
Description
Technical field
The present invention relates to intelligent ship navigation control field more particularly to a kind of intelligent ship multi-ship situations of News Search
Collision prevention method.
Background technique
Intelligent ship, which refers to, utilizes the technological means such as sensor, communication, Internet of Things and internet, automatic sensing and acquisition ship
The multi-party information such as oceangoing ship itself, marine environment, logistics, harbour and data, and based on computer technology, automatic control technology and big number
According to processing analytical technology, ship's navigation, management, maintenance, in terms of realize unmanned, intelligent operation
Ship.The conflict-free problem of marine ships is always the primary study technical field of nautical science technology, since ship is by navigation water
The influence of domain, sea situation, meteorological condition, high traffic, ship self-condition factors such as operating experience and level of driver
Ship experience is caused to collide, hit a submerged reef or the contingencies such as fire, and then also with huge economic loss, it can be seen that, ship
Oceangoing ship collision prevention intelligence is the important topic of academic research of current international maritime.
On the one hand, traditional collision avoidance method is generally according to artificial experience, and straight according to definite value steering angle when turning to
To complete collision prevention；Collision prevention condition only considers that two ships reach the distance (hereinafter referred to as DCPA) of closest point of approach and two ships reach recently
Two factors of time (hereinafter referred to as TCPA) a little can be met, it can not be direct according to the traditional ship collision prevention method of artificial micro-judgment
Applied to intelligent ship field；On the other hand, existing intelligent Collision Avoidance technology only operates ship turning, and the practicability is poor does not have
The factor for considering ship itself, not can guarantee the safety of ship.
Summary of the invention
(1) technical problems to be solved
In order to solve the case where prior art only considers two factors of DCPA and TCPA and only considers collision prevention two-by-two, it is not suitable for
In intelligent ship more ships evacuation and the technical issues of the practicability is poor, the present invention provides a kind of more ship meetings of intelligent ship of News Search
Meet collision prevention method.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
S1, obtain respectively this ship and it is multiple come ship current location information, revolution angular speed, ship's speed and captain, according to this
Ship and it is multiple come ship captain determine ship arena, and ship movement conflict radius R is obtained according to the ship arena；
S2, according to the multiple come the current location information of ship, the revolution angular speed and speed of a ship or plane, obtain subsequent time it is multiple come
Location sets (the x of shipobt,yobt), the speed of a ship or plane range and revolution of this ship subsequent time are obtained according to this ship revolution angular speed, the speed of a ship or plane
Angular velocity range；
S3, speed of a ship or plane range and revolution angular velocity range for this ship subsequent time, to any speed of a ship or plane within the scope of the speed of a ship or plane
It is combined with any revolution angular speed in revolution angular velocity range, point set is navigated by water in the prediction for obtaining all corresponding ships of combination
Close (xot,yot), speed of a ship or plane evaluation function value vevalWith course evaluation function value heading；
S4, point set (x is navigated by water using the prediction of described shipot,yot), the target point of this ship and the ship movement punching
Prominent radius R, obtain each prediction navigation point and it is all come ship Distance evaluation functional value dist；
S5, the braking distance TotalDist that this ship is obtained for each prediction navigation pointstop, and judge described
The braking distance TotalDist of shipstopWhether the Distance evaluation functional value dist is less than, if so, recording prediction navigation
Point, the prediction speed of a ship or plane and prediction revolution angular speed for reaching prediction navigation point；
Otherwise, this ship is enabled to keep the revolution angular speed at current time, and slowed down with twice ship constraint linear acceleration until
This ship stops；
S6, the prediction that record is calculated using formula one navigate by water the overall evaluation functional value of point, this ship is according to overall evaluation letter
Numerical value obtains the optimal speed of a ship or plane and optimal revolution angular speed travels a moment and return step S1, until this ship reaches target point；
Formula one: feval=α heading+ β dist+ γ veval；
Wherein, fevalFor overall evaluation functional value；Heading is course evaluation function value；Dist is Distance evaluation function
Value；vevalFor speed of a ship or plane evaluation function value；α is that parameter is assessed in course；β is distance assessment parameter；γ is that the speed of a ship or plane assesses parameter.
Optionally, between step S2 and S3 further include:
Determine this ship and it is all come ship meeting meet situation, calculate this ship and it is all come ship Risk-Degree of Collision, according to described
Risk-Degree of Collision obtains main target ship.
Optionally, in step S6 further include:
Situation is met according to the meeting of this ship and the main target ship, according to the steering requirement pair in International Regulations for Preventing Collisions at Sea
Optimal revolution the positive and negative of angular speed is corrected.
Optionally, the multiple location sets come ship of subsequent time are obtained using formula two to four in step s 2
(xobt,yobt)；
Formula two: θobt(i)=θob(i)+ωob(i)Δt；
Formula three: xobt(i)=xob(i)+vob(i)Δtcos(θobt(i))；
Formula four: yobt(i)=yob(i)+vob(i)Δtsin(θobt(i))；
Wherein, xobtAnd yobtCome the longitude and latitude of ship position for subsequent time；θobtCome ship's head for subsequent time；
xobAnd yobCome the longitude and latitude of ship position for current time；vobFor the speed of a ship or plane for carrying out ship；ωobFor the revolution angular speed for carrying out ship；i
For the number for carrying out ship；θobCome ship's head for current time；Δ t is data collection interval.
Optionally, the speed of a ship or plane range and angle of revolution of this ship of this ship subsequent time are obtained using formula five and six in step s 2
Velocity interval；
Formula five: vot∈[vo-aoΔt,vo+aoΔt]；
Formula six: ωot∈[ωo-aroΔt,ωo+aroΔt]；
Wherein, votThe speed of a ship or plane being likely to be breached for subsequent time this ship；ωotThe revolution being likely to be breached for subsequent time this ship
Angular speed；voFor the speed of a ship or plane of this ship of current time；aoFor the linear acceleration of this ship of current time；ωoFor this ship of current time
Turn round angular speed；aroFor the revolution angular acceleration of this ship of current time；Δ t is data collection interval.
Optionally, which is characterized in that obtain prediction navigation point set (x using formula seven to nine in step s3ot,yot)；
Formula seven: θot=θo+ωotΔt；
Formula eight: xot=xo+votΔtcosθot；
Formula nine: yot=yo+votΔtsinθot；
Wherein, xotAnd yotFor the longitude and latitude of the position that subsequent time this ship may reach；θotFor subsequent time sheet
The course that ship may reach；votThe speed of a ship or plane that may reach for subsequent time this ship；ωotFor subsequent time, this ship may
The revolution angular speed reached；xoAnd yoFor the longitude and latitude of this ship position of current time；θoFor this ship's head of current time；
Δ t is data collection interval.
Optionally, each prediction navigation point is obtained using formula ten to 11 in step s 4 to comment with multiple come the distance of ship
Valence functional value dist；
Formula ten:
11: dist=min (dist of formulatmp)；
Wherein, xobtAnd yobtTo predict to come the longitude and latitude of ship position；xotAnd yotFor predict this ship position longitude and
Latitude；R moves the radius that conflicts with the ship for carrying out ship for this ship；I is the number for carrying out ship.
Optionally, course evaluation function heading is calculated using formula 12 to 13；
Formula 12:
13: heading=180- θ of formulatarget；
Wherein, θtargetFor this ship position yaw angle of prediction；θotThe course reached for this ship position of prediction；xotWith
yotFor the longitude and latitude for measuring this ship position in advance；xgoalAnd ygoalFor the longitude and latitude of target point.
Optionally, speed of a ship or plane evaluation function is calculated using formula 14；
Formula 14: veval=vot(veval≥0)；
Wherein, vevalFor speed of a ship or plane evaluation function value；votThe speed of a ship or plane that may reach for the subsequent time of prediction this ship.
Optionally, the braking distance TotalDist of this ship is obtained using formula 15 to 16 in step s 5stop；
Formula 15: diststop(j+1)=diststop(j)+vstop(j)Δt；
Formula 16: vstop(j+1)=vstop(j)-aoΔt；
Wherein, diststopFor this ship braking distance set；vstopFor this ship retro-speed set；aoIt is linear for this shipping
Acceleration；Δ t is data collection interval；J is cycle calculations counter, initial value 1, diststopInitial value is
diststop(1)=0, vstopInitial value is vstop(1)=veval, loop stop conditions vstop(j) 0 <, and choose the braking of this ship
Distance set last time circulation gained diststopIt (j+1) is this ship braking distance TotalDiststop。
(3) beneficial effect
The beneficial effects of the present invention are: firstly, the method for the present invention can control course and the speed of a ship or plane of intelligent ship, and it is entire
Motion process meets ship kinetic characteristic；Next enables ship, around stern collision prevention, guarantee intelligent ship safety according to arena；Again
Secondary, this method has the processing that even brings to of slowing down when the urgent situation of ship meeting, the safety of effective guarantee intelligent ship；Most
Afterwards, collision prevention process and process of restoring navigation are chosen according to evaluation function, avoid unreliability when imposing a condition according to artificial experience.
Detailed description of the invention
Fig. 1 is that a kind of intelligent ship multi-ship situation collision prevention method flow for News Search that one embodiment of the invention provides shows
It is intended to；
Fig. 2 a is the oval ship arena used in open waters that one embodiment of the invention provides；
Fig. 2 b is that the oval ship used at narrow water or restricted waters that one embodiment of the invention provides is dynamic
Boundary；
Fig. 3 is the emulation original state schematic diagram that one embodiment of the invention provides；
Fig. 4 starts evacuation for this ship that one embodiment of the invention provides and carrys out 1 schematic diagram of ship；
Fig. 5 avoids the schematic diagram that comes after the completion of ship 1 to restore navigation for this ship that one embodiment of the invention provides；
Fig. 6 starts evacuation for this ship that one embodiment of the invention provides and carrys out 2 schematic diagram of ship；
Fig. 7 avoids the schematic diagram that comes after the completion of ship 2 to restore navigation for this ship that one embodiment of the invention provides；
Fig. 8 is that the emulation that one embodiment of the invention provides terminates status diagram.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
Embodiment
As shown in Figure 1, present embodiments providing a kind of intelligent ship multi-ship situation collision prevention method of News Search:
S1, obtain respectively this ship and it is multiple come ship current location information, revolution angular speed, ship's speed and captain, according to this
Ship and it is multiple come ship captain determine ship arena, and ship movement conflict radius R is obtained according to the ship arena；
Specifically for example intelligent ship is provided with the sensors such as GPS, AIS and radar, loads by intelligent ship
Sensor obtains this ship and comes the current location information of ship, revolution angular speed, ship's speed and captain, and ship arena is for this ship and comes
Ship is both needed to calculate, ship movement conflict radius two ship spacing when to be actually this ship tangent with the ship arena that carrys out ship；In this implementation
Such as Fig. 2 a shows the long axis and short axle in open waters of oval ship arena in example, and 4L and the corresponding model of 1.6L are
Open waters be using oval ship arena model；As Fig. 2 b show oval ship arena narrow or restricted water supply
Ship arena when long axis and short axle when domain, 3L and 0.8L are narrow water or restricted waters, wherein L is ship captain, ship
Oceangoing ship bypasses stern collision prevention according to arena, guarantees intelligent ship safety；
S2, according to the multiple come the current location information of ship, the revolution angular speed and speed of a ship or plane, obtain subsequent time it is multiple come
Location sets (the x of shipobt,yobt), the speed of a ship or plane range and revolution of this ship subsequent time are obtained according to this ship revolution angular speed, the speed of a ship or plane
Angular velocity range；
The multiple location sets (the x come ship of subsequent time is obtained using formula 1 to 3 in step s 2obt,yobt)；
Formula 1: θobt(i)=θob(i)+ωob(i)Δt；
Formula 2:xobt(i)=xob(i)+vob(i)Δtcos(θobt(i))；
Formula 3:yobt(i)=yob(i)+vob(i)Δtsin(θobt(i))；
Wherein, xobtAnd yobtCome the longitude and latitude of ship position for subsequent time；θobtCome ship's head for subsequent time；
xobAnd yobCome the longitude and latitude of ship position for current time；vobFor the speed of a ship or plane for carrying out ship；ωobFor the revolution angular speed for carrying out ship；i
For the number for carrying out ship；θobCome ship's head for current time；Δ t is data collection interval.
The speed of a ship or plane range and revolution angular velocity range of this ship of this ship subsequent time are obtained using formula 4 and 5；
Formula 4:vot∈[vo-aoΔt,vo+aoΔt]；
Formula 5: ωot∈[ωo-aroΔt,ωo+aroΔt]；
Wherein, votThe speed of a ship or plane being likely to be breached for subsequent time this ship；ωotThe revolution being likely to be breached for subsequent time this ship
Angular speed；voFor the speed of a ship or plane of this ship of current time；aoFor the linear acceleration of this ship of current time；ωoFor this ship of current time
Turn round angular speed；aroFor the revolution angular acceleration of this ship of current time；Δ t is data collection interval.
S3, speed of a ship or plane range and revolution angular velocity range for this ship subsequent time, to any speed of a ship or plane within the scope of the speed of a ship or plane
It is combined with any revolution angular speed in revolution angular velocity range, point set is navigated by water in the prediction for obtaining all corresponding ships of combination
Close (xot,yot), speed of a ship or plane evaluation function value vevalWith course evaluation function value heading；
Prediction navigation point set (x is obtained using formula 6 to 8 in step s3ot,yot)；
Formula 6: θot=θo+ωotΔt；
Formula 7:xot=xo+votΔtcosθot；
Formula 8:yot=yo+votΔtsinθot；
Wherein, xotAnd yotFor the longitude and latitude of the position that subsequent time this ship may reach；θotFor subsequent time sheet
The course that ship may reach；votThe speed of a ship or plane that may reach for subsequent time this ship；ωotFor subsequent time, this ship may
The revolution angular speed reached；xoAnd yoFor the longitude and latitude of this ship position of current time；θoFor this ship's head of current time；
Δ t is data collection interval.
Wherein, speed of a ship or plane evaluation function indicates are as follows:
Formula 9:veval=vot(veval≥0)；
Wherein, vevalFor speed of a ship or plane evaluation function value；votThe speed of a ship or plane that may reach for the subsequent time of prediction this ship；Citing
For, the absolute value for the speed of a ship or plane that subsequent time this ship chosen herein may reach is as speed of a ship or plane evaluation function value.
Course evaluation function is obtained by formula 10-11:
Formula 10:
Wherein, θtargetFor this ship position yaw angle of prediction；θotThe course reached for this ship position of prediction；xotWith
yotFor the longitude and latitude for measuring this ship position in advance；xgoalAnd ygoalFor the longitude and latitude of target point；
Formula 11:heading=180- θtarget；
Wherein, heading is course evaluation function value；θtargetFor this ship position yaw angle of prediction；
For example, steering angle is directly acquired in the prior art using revolution angular speed progress steering operation substitution to be turned
To operation, meet the turning quality of ship, ship turning quality is to make the ability of ship circular motion, with anti-collision behavior, collision prevention, by from
Harbour, flexibly turn around it is related；
It calculates this ship position of prediction and carrys out shipping and move the distance between conflict area boundary disttmp；
S4, point set (x is navigated by water using the prediction of described shipot,yot), the target point of this ship and the ship movement punching
Prominent radius R, obtain each prediction navigation point and it is all come ship Distance evaluation functional value dist；
Each prediction navigation point and multiple Distance evaluation functional value dist come ship are obtained using formula 12 to 13；
Formula 12:
Formula 13:dist=min (disttmp)；
Wherein, xobtAnd yobtTo predict to come the longitude and latitude of ship position；xotAnd yotFor predict this ship position longitude and
Latitude；R moves the radius that conflicts with the ship for carrying out ship for this ship；I is the number for carrying out ship.
S5, the braking distance TotalDist that this ship is obtained for each prediction navigation pointstop, and judge described
The braking distance TotalDist of shipstopWhether the Distance evaluation functional value dist is less than, if so, recording prediction navigation
Point, the prediction speed of a ship or plane and prediction revolution angular speed for reaching prediction navigation point；
The braking distance TotalDist of this ship is obtained using formula 14 to 15stop；
Formula 14:diststop(j+1)=diststop(j)+vstop(j)Δt；
Formula 15:vstop(j+1)=vstop(j)-aoΔt；
Wherein, diststopFor this ship braking distance set；vstopFor this ship retro-speed set；aoIt is linear for this shipping
Acceleration；Δ t is data collection interval；J is cycle calculations counter, initial value 1, diststopInitial value is
diststop(1)=0, vstopInitial value is vstop(1)=veval, loop stop conditions vstop(j) 0 <, and choose the braking of this ship
Distance set last time circulation gained diststopIt (j+1) is this ship braking distance TotalDiststop；
Otherwise, this ship is enabled to keep the revolution angular speed at current time, and slowed down with twice ship constraint linear acceleration until
This ship stops；For example this method has a processing that even brings to of slowing down when the urgent situation of ship meeting, it is effective guarantee it is intelligent
The safety of ship；
S6, the prediction that record is calculated using formula 16 navigate by water the overall evaluation functional value of point, this ship is according to overall evaluation letter
Numerical value obtains the optimal speed of a ship or plane and optimal revolution angular speed travels a moment and return step S1, until this ship reaches target point；
Particularly because the possible more than one of record navigation point in S5, therefore overall evaluation functional value is one comprising more
The array of a element chooses the speed of a ship or plane predicted in the maximum situation of overall evaluation functional value and revolution angular speed as optimal boat
Fast and optimal revolution angular speed；
Formula 16:feval=α heading+ β dist+ γ veval；
Wherein, fevalFor overall evaluation functional value；Heading is course evaluation function value；Dist is Distance evaluation function
Value；vevalFor speed of a ship or plane evaluation function value；α is that parameter is assessed in course；β is distance assessment parameter；γ is that the speed of a ship or plane assesses parameter.
For example, collision prevention process and process of restoring navigation are chosen according to evaluation function in the present embodiment, avoid according to artificial
Unreliability when experience imposes a condition.
Embodiment two
On the basis of example 1, between step S2 and S3 further include:
Determine this ship and it is all come ship meeting meet situation, calculate this ship and it is all come ship Risk-Degree of Collision, according to described
Risk-Degree of Collision obtains main target ship.
Correspondingly, in step S6 further include:
Situation is met according to the meeting of this ship and the main target ship, according to the steering requirement pair in International Regulations for Preventing Collisions at Sea
Optimal revolution the positive and negative of angular speed is corrected, above-mentioned makeover process enable to the safety of intelligent ship can meet closer to
Practical application.
Emulation embodiment
As shown in figure 3, simulating two ships in the present embodiment and the case where this ship can be met, specifically, this accommodation in coordinate (1,
1) position is intended to travel to the target point of (10,10), carves at the beginning and detect ship 1 and carry out ship 2；
Main target ship is determined as using ship in the method for the present invention future 1 as shown in Figure 4, and is selected by overall evaluation functional value
The optimal speed of a ship or plane and optimal revolution angular speed are avoided carrying out ship 1 out；Come the position after the completion of ship 1 is restored navigation as Fig. 5 shows this ship evacuation；
Further as shown in fig. 6, this ship detects that carrying out ship 2 is that emphasis avoids ship, is selected by overall evaluation functional value
The optimal speed of a ship or plane and optimal revolution angular speed are avoided carrying out ship 2 out；Come the position after the completion of ship 2 is restored navigation as Fig. 7 shows this ship evacuation；
This ship persistently detects whether the ship that can be met during traveling, until this ship safety traffic as shown in Figure 8
To target point (10,10).
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (10)
1. a kind of intelligent ship multi-ship situation collision prevention method of News Search characterized by comprising
S1, obtain respectively this ship and it is multiple come ship current location information, revolution angular speed, ship's speed and captain, according to this ship and
It is multiple come ship captain determine ship arena, and ship movement conflict radius R is obtained according to the ship arena；
S2, according to the multiple come the current location information of ship, the revolution angular speed and speed of a ship or plane, obtain subsequent time it is multiple come ship
Location sets (xobt,yobt), the speed of a ship or plane range and angle of revolution speed of this ship subsequent time are obtained according to this ship revolution angular speed, the speed of a ship or plane
Spend range；
S3, speed of a ship or plane range and revolution angular velocity range for this ship subsequent time, to any speed of a ship or plane within the scope of the speed of a ship or plane and are returned
Any revolution angular speed is combined within the scope of tarnsition velocity, and point set is navigated by water in the prediction for obtaining all corresponding ships of combination
(xot,yot), speed of a ship or plane evaluation function value vevalWith course evaluation function value heading；
S4, point set (x is navigated by water using the prediction of described shipot,yot), the target point of this ship and the ship movement conflict radius
R, obtain it is each prediction navigation point and it is all come ship Distance evaluation functional value dist；
S5, the braking distance TotalDist that this ship is obtained for each prediction navigation pointstop, and judge the system of described ship
Dynamic distance TotalDiststopWhether the Distance evaluation functional value dist is less than, if so, recording prediction navigation point, reaching
The prediction speed of a ship or plane and prediction revolution angular speed of prediction navigation point；
Otherwise, it enables this ship keep the revolution angular speed at current time, and is slowed down with twice of ship constraint linear acceleration until this ship
Stop；
S6, the prediction that record is calculated using formula one navigate by water the overall evaluation functional value of point, this ship is according to overall evaluation functional value
It obtains the optimal speed of a ship or plane and optimal revolution angular speed travels a moment and return step S1, until this ship reaches target point；
Formula one: feval=α heading+ β dist+ γ veval；
Wherein, fevalFor overall evaluation functional value；Heading is course evaluation function value；Dist is Distance evaluation functional value；
vevalFor speed of a ship or plane evaluation function value；α is that parameter is assessed in course；β is distance assessment parameter；γ is that the speed of a ship or plane assesses parameter.
2. the method as described in claim 1, which is characterized in that between step S2 and S3 further include:
Determine this ship and it is all come ship meeting meet situation, calculate this ship and it is all come ship Risk-Degree of Collision, according to the collision
Danger level obtains main target ship.
3. method according to claim 2, which is characterized in that in step S6 further include:
Situation is met according to the meeting of this ship and the main target ship, is required according to the steering in International Regulations for Preventing Collisions at Sea to described
Optimal revolution the positive and negative of angular speed is corrected.
4. the method as described in claim 1, which is characterized in that obtain subsequent time institute using formula two to four in step s 2
State it is multiple come ship location sets (xobt,yobt)；
Formula two: θobt(i)=θob(i)+ωob(i)Δt；
Formula three: xobt(i)=xob(i)+vob(i)Δtcos(θobt(i))；
Formula four: yobt(i)=yob(i)+vob(i)Δtsin(θobt(i))；
Wherein, xobtAnd yobtCome the longitude and latitude of ship position for subsequent time；θobtCome ship's head for subsequent time；xobWith
yobCome the longitude and latitude of ship position for current time；vobFor the speed of a ship or plane for carrying out ship；ωobFor the revolution angular speed for carrying out ship；I is next
The number of ship；θobCome ship's head for current time；Δ t is data collection interval.
5. method as claimed in claim 4, which is characterized in that obtained under this ship for the moment using formula five and six in step s 2
The speed of a ship or plane range and revolution angular velocity range of carving copy ship；
Formula five: vot∈[vo-aoΔt,vo+aoΔt]；
Formula six: ωot∈[ωo-aroΔt,ωo+aroΔt]；
Wherein, votThe speed of a ship or plane being likely to be breached for subsequent time this ship；ωotThe angle of revolution speed being likely to be breached for subsequent time this ship
Degree；voFor the speed of a ship or plane of this ship of current time；aoFor the linear acceleration of this ship of current time；ωoFor the revolution of this ship of current time
Angular speed；aroFor the revolution angular acceleration of this ship of current time；Δ t is data collection interval.
6. method as claimed in claim 5, which is characterized in that obtain prediction navigation point using formula seven to nine in step s3
Gather (xot,yot)；
Formula seven: θot=θo+ωotΔt；
Formula eight: xot=xo+votΔtcosθot；
Formula nine: yot=yo+votΔtsinθot；
Wherein, xotAnd yotFor the longitude and latitude of the position that subsequent time this ship may reach；θotFor subsequent time, this ship can
The course that can reach；votThe speed of a ship or plane that may reach for subsequent time this ship；ωotFor subsequent time, this ship may reach
Revolution angular speed；xoAnd yoFor the longitude and latitude of this ship position of current time；θoFor this ship's head of current time；Δ t is
Data collection interval.
7. method as claimed in claim 6, which is characterized in that obtain each prediction using formula ten to 11 in step s 4
Navigation point and it is multiple come ship Distance evaluation functional value dist；
Formula ten:
11: dist=min (dist of formulatmp)；
Wherein, xobtAnd yobtTo predict to come the longitude and latitude of ship position；xotAnd yotFor the longitude and latitude for predicting this ship position；
R moves the radius that conflicts with the ship for carrying out ship for this ship；I is the number for carrying out ship.
8. the method for claim 7, which is characterized in that calculate course evaluation function using formula 12 to 13
heading；
Formula 12:
13: heading=180- θ of formulatarget；
Wherein, θtargetFor this ship position yaw angle of prediction；θotThe course reached for this ship position of prediction；xotAnd yotFor
The longitude and latitude of this ship position are measured in advance；xgoalAnd ygoalFor the longitude and latitude of target point.
9. method according to claim 8, which is characterized in that calculate speed of a ship or plane evaluation function using formula 14；
Formula 14: veval=vot(veval≥0)；
Wherein, vevalFor speed of a ship or plane evaluation function value；votThe speed of a ship or plane that may reach for the subsequent time of prediction this ship.
10. method as claimed in claim 9, which is characterized in that obtain this ship using formula 15 to 16 in step s 5
Braking distance TotalDiststop；
Formula 15: diststop(j+1)=diststop(j)+vstop(j)Δt；
Formula 16: vstop(j+1)=vstop(j)-aoΔt；
Wherein, diststopFor this ship braking distance set；vstopFor this ship retro-speed set；aoFor the linear acceleration of this shipping
Degree；Δ t is data collection interval；J is cycle calculations counter, initial value 1, diststopInitial value is diststop(1)
=0, vstopInitial value is vstop(1)=veval, loop stop conditions vstop(j) 0 <, and choose this ship braking distance set
Last time circulation gained diststopIt (j+1) is this ship braking distance TotalDiststop。
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