CN110133659A - A kind of Novel surface naval vessel is assisted from berthing pilotage device and method - Google Patents
A kind of Novel surface naval vessel is assisted from berthing pilotage device and method Download PDFInfo
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- CN110133659A CN110133659A CN201910403261.0A CN201910403261A CN110133659A CN 110133659 A CN110133659 A CN 110133659A CN 201910403261 A CN201910403261 A CN 201910403261A CN 110133659 A CN110133659 A CN 110133659A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
-
- 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
- G01S19/53—Determining attitude
Abstract
The invention discloses a kind of Novel surface naval vessels to assist from berthing pilotage device and method, which is connected by Shipborne Network with BEI-DOU position system, pathfinder, AIS system, inertial navigation system, Laser Distance Measuring Equipment, meteorological model system；The hardware components of the equipment include display module, host module and Keysheet module；Host module is internally provided with following software module: information receives with processing module, from berthing situation generation module, from berthing passage planning module, Lookout assist module and human-computer interface module；The present invention passes through integrated multi-sensor, the information of positioning terminal, utilize naval vessel accurate positioning, speed, ship-to-shore relative status, sea-surface target motion state, and the information such as sea area hydrometeorology, in conjunction with electronic chart information system, it provides comprehensively from berthing situation information and with reference to from berthing air route information, it provides decision-making assistant information from berthing operation for naval vessel to support, to improve the efficiency from berthing.
Description
Technical field
The present invention relates to combat system Integrated design fields more particularly to a kind of Novel surface naval vessel to assist from berthing pilotage
Device and method.
Background technique
Surface vessel pilotage duty is the very strong work of systematicness.The professional skill of oneself is utilized by pilot, is led to
The safe navigation and from berthing of issuing an order is crossed, to complete pilotage task.In this journey, various relevant informations is needed to support,
Also the restriction by various factors (quay for traffic, navigation channel and natural conditions, harbor regulations system etc.) simultaneously.Pilotage duty is not
A kind of individual behavior, it is a system engineering.When referring to that surface vessel accesses to the ports from berthing pilotage, pilot is engaged in
The corresponding ship's navigation of guidance, berthing, movable from pool, shifting berth and anchoring etc., to ensureing harbour and harbour water area safety, guarantee ship
Oceangoing ship navigation safety and maintenance navigation method play the role of positive.With surface vessel it is enlarged, it is rapid, automation development,
Surface vessel becomes most difficult, most complicated one of operation from berthing pilotage operation.Surface vessel is from berthing mainly by harbour water
The many factors such as stream, ship velocity, harbour environment, surrounding ship status, visibility influence.
Existing surface vessel is primarily present following deficiency from berthing pilotage:
(1) pilotage information reliability is not high.
Navigating officer needs the position according to naval vessel, speed, in conjunction with port when carrying out surface vessel from berthing pilotage operation
The natural conditions such as the mouth information of disengaging ship, the width in navigation channel, the depth of water, water flow, meteorology plan air route, and comprehensive surface vessel is certainly
The factors such as relative position carry out ship piloting manipulation between ship motion state, ship-to-shore around the speed of body, air route.It is universal at present
The method of use is the week for identifying the speed of surface vessel, location information and ship automatic identification system (hereinafter referred to as AIS)
Waters ship information is enclosed, Overlapping display provides situation on electronic chart, for navigating officer, plans air route for it.But such side
The shortcomings that formula is that auxiliary information relies primarily on the ship information of AIS identification, and there may be deviations for information.AIS identification and reception number
It is believed that number being that passively, so it finds that the ability of target is substantially to be restricted, the information of acquisition has inaccuracy, essence
The not high phenomenon of accuracy, influences judgement of the navigating officer to ship status, and information reliability is not high.
(2) the degree of automation is low.
Navigating officer carries out surface vessel and operates from berthing pilotage, when according to the guidance ship's navigation of both tramp-liners, needs root
According to the real time kinematics state of ship around, ship's avoiding is carried out in conjunction with this warship motion state, and according to warship bank relative position, carry out
Commander operation of the naval vessel from berthing.Currently, navigating officer is mainly believed by the naval vessel position and speed shown on electronic chart
Breath, and the port environment information observed in sighting distance is combined, the operation judges from berthing pilotage are carried out, to navigating officer's skill requirement
It is very high, it is too strong to Personnel Dependence, lack the supplementary means of modernization, the degree of automation is low, long by ETB expected time of berthing.
(3) safety is to be improved.
It is main to judge that the display of auxiliary electron sea chart carries out ship away from bank by sighting distance when navigating officer is carried out from berthing pilotage
The judgement of relative position, and ship motion state is rule of thumb adjusted in real time.In the process, serious, shortage is relied on experience
The alarm mode and auxiliary judgment means of modernization exist because of artificial error in judgement bring safety of ship hidden danger.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, it is auxiliary to provide a kind of Novel surface naval vessel
It helps from berthing pilotage device and method.
The technical solution adopted by the present invention to solve the technical problems is:
The present invention provides a kind of Novel surface naval vessel and assists from berthing pilotage equipment, which passes through Shipborne Network and Beidou
Positioning system, pathfinder, AIS system, inertial navigation system, Laser Distance Measuring Equipment, meteorological model system are connected；The hardware of the equipment
Part includes display module, host module and Keysheet module；Host module is internally provided with following software module: information receives
With processing module, from berthing situation generation module, from berthing passage planning module, Lookout assist module and man-machine interface mould
Block；Wherein:
Information receives and processing module, for receiving and processing BEI-DOU position system, pathfinder, AIS system, inertial navigation system
The various information that system, Laser Distance Measuring Equipment, meteorological model system are sent；
From berthing situation generation module, the sea peripheral motor target by receiving the real-time active probe of pathfinder is believed
Breath realizes the perception to sea-surface target, and obtains the motion information and location information of target；By receiving AIS equipment quilt in real time
Received surrounding Ship dynamic situation information and static information are moved, realizes surrounding ship name of vessel, type, sail plan, port of destination information
Identification, obtain the real time kinematics information of surrounding ship target, including position, speed, course；And pass through speed of the ship in metres per second, position
Information realizes identification, the fusion of surrounding ship target, comprehensive situation around this warship is generated, by display module in electronic chart
Upper Overlapping display；
From berthing passage planning module, for receiving the destination information of this warship, and this warship surrounding sea target is combined to believe
Breath carries out navigation and draws calculation, and auxiliary navigating officer draws up to be planned from berthing air route, generates planned course；And based on the received from leaning on
Geography information, meteorological model information, the history navigation job information in sea area are moored, the security evaluation in plan air route is completed；
Lookout assist module, for during pilotage, surface vessel to assist monitoring this warship in real time from berthing pilotage equipment
It is pre- to provide dangerous obstruction early warning, collision prevention for navigation safety, and according to the distance of this warship and surrounding objects, the motion information of speed
It is alert；It monitors this warship sail plan executive condition, calculates Waypoint Navigation, and provide yaw early warning；It is set according to laser ranging
Relative position, velocity information between the standby warship bank provided, monitor executive condition of this warship from berthing schedule, provide to monitor from berthing and accuse
It is alert；
Human-computer interface module, for show information receive with processing module, from berthing situation generation module, from berthing course line
It drafts module, each function that Lookout assist module is realized, and manual operation is carried out by Keysheet module.
Further, the hardware components of the equipment of the invention further include: touch ball module, reinforce shell and adjustable installing
Hanger.
Further, information of the invention receive with processing module include: information receiving module, subject fusion module and
Clock synchronization module；Wherein:
Information receiving module, for passing through BEI-DOU position system, pathfinder, AIS system, inertial navigation system, laser ranging
Equipment, meteorological model system receive this warship motion information, surrounding objects motion information, meteorological model information；
Subject fusion module, for carrying out fusion judgement according to AIS target information and pathfinder target information；
Clock synchronization module is set time for receiving the unified temporal information provided in naval vessel.
Further, it is of the invention from berthing situation generation module include: situation measuring and calculating module, target display module, ring
Border information display module and sea chart display module；Wherein:
Situation calculates module, realizes that the differentiation of target is merged according to the static attribute of sea-surface target and kinetic characteristic, and tie
The motion state of this warship, the geographical environment information from berthing sea area, meteorological model information is closed to generate from berthing comprehensive situation, in electricity
Overlapping display on sub- sea chart；
Target display module, for showing sea moving target on electronic chart；
Environmental information display module, for showing the information of meteorological model, harbour environment on electronic chart；
Sea chart display module, for being shown to electronic chart.
Further, it is of the invention from berthing passage planning module include: passage planning module, course line editor module, boat
Line preserving module, feasibility check module, course line demonstration module and Target track displaying module；Wherein:
Passage planning module carries out navigation and draws according to the destination information of this warship in conjunction with this warship surrounding sea ship information
It calculates, provides aid decision for navigating officer, generate planned course；
Course line editor module as needed modifies to planned course for navigating officer；
Course line preserving module, for being saved to course data；
Feasibility checks module, for carrying out feasibility inspection to planned course according to situation；
Course line demonstration module, for carrying out analog demenstration on electronic chart according to planned course；
Target track displaying module, for carrying out real-time display to track.
Further, Lookout assist module of the invention includes: obstruction detection module, yaw detection module, hypervelocity inspection
Survey module, alarm module and navigational record module；Wherein:
Obstruction detection module, for checking barrier on course line in real time；
Detection module is yawed, for monitoring this warship sail plan executive condition in real time, way point navigational parameter is calculated, provides
Yaw early warning；
Overspeed detection module, for checking whether ship is more than pre-set velocity；
Alarm module, to being alerted after obstruction, yaw, overspeed detection；
Navigational record module, for being recorded to navigation and from berthing course line.
Further, human-computer interface module of the invention includes plotting module and sea chart modified module；Wherein:
Plotting module, the operation for carrying out ranging on electronic chart, drawing calculation；
Sea chart modified module, for modifying operation to electronic chart.
The present invention provides a kind of Novel surface naval vessel and assists from berthing pilotage method, method includes the following steps:
Step 1: device power-up self-test is run；
Before from berthing task, surface vessel assists carrying out first after booting from berthing pilotage device power-up surface ship
Self-test, then the unified time information with naval vessel is set time, and guarantees time consistency；Sea chart display module is enabled, it will be outside hull
Shape dimension model is shown on large scale electronic chart；
Prepare Step 2: information receives；
Start information receiving module, receives BEI-DOU position system, this warship motion state that inertial navigation system is sent, meteorological model
System send real-time weather hydrographic information, AIS equipment send this warship around ship information, pathfinder send sea mesh
Mark the warship bank relative motion state of information and Laser Distance Measuring Equipment transmission；
Step 3: being generated from berthing situation；
After receiving external relevant information, realize that the differentiation of target is melted according to the static attribute of sea-surface target and kinetic characteristic
It closes, and the motion state, the geographical environment information from berthing sea area, meteorological model information of this warship is combined to generate from the comprehensive state of berthing
Gesture, the Overlapping display on electronic chart；
Step 4: from berthing passage planning；
It carries out navigation in conjunction with this warship surrounding sea ship information according to the destination information of this warship and draws calculation, be navigating officer
Aid decision is provided, planned course is generated；According to from information such as berthing situation, history navigation job informations, planned course is completed
Feasibility inspection and analog demenstration, planned course is shown on electronic chart, and carry out analog demenstration；Navigating officer is according to need
Editor's adjustment is carried out to course line；And be intended to course line and sent to comprehensive Bridge System, steering control system and integrated navigation system, it supplies
Navigating officer manipulate from berthing and refers to；
Step 5: from berthing Lookout assist；
According to the relative motion state of this warship and surrounding ship, this warship navigation safety is monitored in real time, and according to this warship and week
Enclose the distance between ship, velocity information progress draw calculation in real time, dangerous obstruction early warning, collision prevention early warning are provided；Monitoring in real time is originally
Warship sail plan executive condition calculates way point navigational parameter, provides yaw early warning；While implementing from berthing operation, root
Relative motion state between the warship bank provided according to Laser Distance Measuring Equipment, monitors executive condition of this warship from berthing schedule, provides danger
Distance alarm is got off from berthing monitoring alarm, and by this warship from berthing navigation and berthing process record, for subsequent use.
The beneficial effect comprise that: Novel surface naval vessel of the invention is assisted from berthing pilotage device and method,
This warship motion state, the environmental goals information that Overlapping display AIS, pathfinder obtain, with solution are shown by background of electronic chart
The not high disadvantage of information reliability in certainly traditional pilotage mode.Meanwhile it is opposite in real time to introduce the warship bank that Laser Distance Measuring Equipment obtains
Position, the meteorological model environmental information of meteorological model system are aided with accurate hull lines dimension model, accurately reflect this warship and exist
Positional relationship from hull during berthing and harbour, planned course, obstruction etc. is realized from the monitoring of berthing situation, course line rule
Draw, security alarm, provide decision-making assistant information support for naval vessel berthing operation, raising naval vessel from berthing automation and safety,
To improve the degree of automation and level of security of naval vessel from berthing, have great importance.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is that the surface vessel of the embodiment of the present invention is assisted from berthing pilotage device systems schematic diagram；
Fig. 2 is that the surface vessel of the embodiment of the present invention is assisted from berthing pilotage equipment outline drawing；
Fig. 3 is that the surface vessel of the embodiment of the present invention is assisted from berthing pilotage functions of the equipments structure chart；
Fig. 4 is that the surface vessel of the embodiment of the present invention is assisted from berthing pilotage equipment work flow diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
The embodiment of the present invention utilizes naval vessel accurate positioning, speed, ship by integrated multi-sensor, the information of positioning terminal
The information such as bank relative status, towboat movement provide comprehensively in conjunction with electronic chart information system from berthing situation information and reference
From berthing air route, decision-making assistant information is provided for aircraft carrier berthing operation and is supported, auxiliary navigating officer smoothly completes ship berthing, thus
Improve the safety and efficiency of berthing.
(1) principle designs
Surface vessel assists receiving this warship athletic posture that naval vessels inertial navigation provides by Shipborne Network from berthing pilotage equipment
The vessel position information that information, BEI-DOU position system provide, and by ship profile and this warship motion state real-time display in electronics
On sea chart, achieve the purpose that navaid and monitoring.
By receiving the sea peripheral motor target information of the real-time active probe of pathfinder, the sense to sea-surface target is realized
Know, and obtains the motion information and location information of target.By receiving AIS equipment received surrounding Ship dynamic situation letter passive in real time
Breath and static information realize the identification of surrounding ship name of vessel, type, sail plan, port of destination information, obtain surrounding ship target
The motion informations such as real time position, speed, course.And by information such as speed of the ship in metres per second, positions, the knowledge of surrounding ship target is realized
Not, it merges, generates comprehensive situation around this warship, the Overlapping display on electronic chart.
The destination information of this warship is received, and combines this warship surrounding sea target information, navigation is carried out and draws calculation, assist navigation
Personnel draw up to be planned from berthing air route, generates planned course.And the geography information from berthing sea area, meteorological model based on the received
The information such as information, history navigation job information complete the security evaluation in plan air route, are navigating officer's determination, optimal planning course line
Foundation is provided.
During pilotage, surface vessel assists monitoring this warship navigation safety in real time from berthing pilotage equipment, and according to this
The motion informations such as the distance of warship and surrounding objects, speed provide dangerous obstruction early warning, collision prevention early warning；Monitor this warship navigation meter
Executive condition is drawn, calculates Waypoint Navigation, and provide yaw early warning；It is opposite between the warship bank provided according to Laser Distance Measuring Equipment
Position, velocity information monitor executive condition of this warship from berthing schedule, provide from berthing monitoring alarm.
(2) software design
Surface vessel, which assists the function from berthing pilotage equipment, to be moved using naval vessel accurate positioning, speed, surrounding ship
The information such as information, ship-to-shore relative status are realized in conjunction with electronic chart from berthing acquisition of information and display, are provided comprehensively from leaning on
It moors situation and refers to berthing air route, and real-time monitoring operational configuration, realize from berthing monitoring alarm, navigating officer is assisted to smoothly complete
Ship berthing.
Information processing and receiving module mainly (receive this warship motion information, surrounding objects movement is believed by information receiving module
Breath, meteorological model information etc.), the subject fusion module fusion of AIS target information and pathfinder target information (judge) and right
When module (receive the unified temporal information provided in naval vessel to set time) composition.
From berthing situation generation module by situation measuring and calculating module (calculate and generate situation around this warship), sea chart display module
(electronic Chart Display), target display module (display of the sea moving target on electronic chart) and environmental information display module
(display of the information such as meteorological model, harbour environment on electronic chart) composition.
From berthing passage planning module by course line editor module (modification to planned course), course line preserving module, feasible
Property check that module (carrying out feasibility inspection to planned course according to situation), course line demonstration module is (according to planned course in electronics
Analog demenstration on sea chart), Target track displaying module (track real-time display) composition.
Lookout assist module by obstruction detection module (inspection of barrier on course line), yaw detection module (ship is inclined
Inspection from course line), the overspeed detection module inspection of pre-set velocity (ship be more than), alarm module (to obstruction, yaw, surpass
Alerted after speed detection), navigational record module (navigation and from berthing odograph) composition.
Human-computer interface module is by plotting module operations such as (ranging on electronic chart) drawing calculation and sea chart modification mould
Block (modification to electronic chart) composition.
(3) hardware design
Surface vessel assist from berthing pilotage equipment by display module, host module, Keysheet module, touch ball module, reinforce
The part such as shell and adjustable installing hanger forms.Its outline drawing is as shown in Fig. 2, weight about 20Kg.
(4) other are designed
This equipment uses standardized designs principle, in strict accordance with GJB 2532-1995 " Warship Electronic Equipments general specification "
Design requirement design.Equipment is in each feature board using mature achievement, standardized product, structure design, circuit design
In, implement standardization thought.In accordance with " six property ", (reliability design, capability of maintenance design, safety are set design principle related content
Meter, the design of testability design, Supportability design, environmental suitability) carry out equipment software and hardware and process design.
The surface vessel of the embodiment of the present invention is assisted from berthing pilotage method and apparatus, by obtaining warship/bank ranging and survey
Fast information is aided with accurate hull lines dimension model and large scale electronic chart data, is superimposed in real time on electronic chart
It shows this warship skeleton pattern, accurately reflects this warship hull lines and port facilities or narrow waters, plan during berthing and navigate
The positional relationship of line, obstruction etc. provides electronic chart operation means during berthing or when restricted waters navigate by water for this warship,
Auxiliary completes the obstruction collision prevention operation in pilotage duty, ensures that ship berthing is safe and efficient.
The surface vessel of the embodiment of the present invention is assisted from berthing pilotage method, and specific implementation step is as follows:
(1) device power-up self-test is run；
Before from berthing task, surface vessel assists carrying out first after booting from berthing pilotage device power-up surface ship
Self-test, then the unified time information with naval vessel is set time, and guarantees time consistency.Sea chart display module is enabled, it will be accurate
Hull lines dimension model is shown on large scale electronic chart.
(2) information, which receives, prepares；
Start information receiving module, receives BEI-DOU position system, this warship motion state that inertial navigation system is sent, meteorological model
The sea mesh that ship information, pathfinder are sent around this warship of real-time weather hydrographic information, AIS equipment transmission that system is sent
Mark the warship bank relative motion state of information and Laser Distance Measuring Equipment transmission.
(3) it is generated from berthing situation；
After surface vessel receives external relevant information from berthing pilotage equipment, according to the static attribute of sea-surface target and movement
Characteristic realizes the differentiation fusion of target, and combines motion state, the geographical environment information from berthing sea area, meteorological model of this warship
Information is generated from berthing comprehensive situation, the Overlapping display on electronic chart.
(4) from berthing passage planning；
Surface vessel from berthing pilotage equipment according to the destination information of this warship, in conjunction with this warship surrounding sea ship information,
It carries out navigation and draws calculation, provide aid decision for navigating officer, generate planned course.According to from berthing situation, history navigation operation
The information such as information complete feasibility inspection and the analog demenstration of planned course, planned course are shown on electronic chart, and carry out
Analog demenstration.Navigating officer can also carry out editor's adjustment to course line as needed.And course line is intended to comprehensive Bridge System, behaviour
Rudder system and integrated navigation system are sent, and carry out manipulating reference from berthing for navigating officer.
(5) from berthing Lookout assist；
Surface vessel, according to the relative motion state of this warship and surrounding ship, monitors that this warship navigates from berthing pilotage equipment in real time
Row safety, and calculation is drawn in real time according to the progress of the information such as the distance between this warship and surrounding ship, speed, it is pre- to provide dangerous obstruction
Alert, collision prevention early warning；This warship sail plan executive condition is monitored in real time, calculates way point navigational parameter, yaw early warning is provided；In reality
While applying from berthing operation, relative motion state between the warship bank provided according to Laser Distance Measuring Equipment monitors this warship from berthing meter
The executive condition drawn provides risk distance alarm, from berthing monitoring alarm, and by this warship from berthing navigation and berthing process record
Get off, for subsequent use.
Inventionthe invention address the problem that
(1) increase assistance application of much information when from berthing pilotage, reduce single piece of information to surface vessel from berthing
The influence of pilotage；
(2) it provides information-based from berthing pilotage means, reduces traditional surface vessel and assist passing through personnel from berthing pilotage
The dependence tested improves the degree of automation；
(3) increase auxiliary monitoring alarm of the surface vessel from berthing pilotage when, safety when improving from berthing and from leaning on
Moor efficiency.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of Novel surface naval vessel is assisted from berthing pilotage equipment, which is characterized in that the equipment passes through Shipborne Network and Beidou
Positioning system, pathfinder, AIS system, inertial navigation system, Laser Distance Measuring Equipment, meteorological model system are connected；The hardware of the equipment
Part includes display module, host module and Keysheet module；Host module is internally provided with following software module: information receives
With processing module, from berthing situation generation module, from berthing passage planning module, Lookout assist module and man-machine interface mould
Block；Wherein:
Information receive and processing module, for receive and process BEI-DOU position system, pathfinder, AIS system, inertial navigation system,
The various information that Laser Distance Measuring Equipment, meteorological model system are sent；
It is real by receiving the sea peripheral motor target information of the real-time active probe of pathfinder from berthing situation generation module
Now to the perception of sea-surface target, and obtain the motion information and location information of target；It is passively received in real time by receiving AIS equipment
Surrounding's Ship dynamic situation information and static information, realize surrounding ship name of vessel, type, sail plan, port of destination information identification,
Obtain the real time kinematics information of surrounding ship target, including position, speed, course；It is real and by speed of the ship in metres per second, location information
The now identification, fusion of surrounding ship target, generates comprehensive situation around this warship, is superimposed on electronic chart by display module aobvious
Show；
From berthing passage planning module, for receiving the destination information of this warship, and this warship surrounding sea target information is combined, into
Calculation is drawn in row navigation, and auxiliary navigating officer draws up to be planned from berthing air route, generates planned course；And based on the received from berthing sea area
Geography information, meteorological model information, history navigation job information, complete plan air route security evaluation；
Lookout assist module, for during pilotage, surface vessel to assist monitoring that this warship navigates by water in real time from berthing pilotage equipment
Safety, and according to the distance of this warship and surrounding objects, the motion information of speed, dangerous obstruction early warning, collision prevention early warning are provided；Prison
Depending on this warship sail plan executive condition, Waypoint Navigation is calculated, and yaw early warning is provided；It is provided according to Laser Distance Measuring Equipment
Warship bank between relative position, velocity information, monitor executive condition of this warship from berthing schedule, provide from berthing monitoring alarm；
Human-computer interface module, for show information receive with processing module, from berthing situation generation module, from berthing passage planning
Each function that module, Lookout assist module are realized, and manual operation is carried out by Keysheet module.
2. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that the equipment it is hard
Part part further include: touch ball module, reinforce shell and adjustable installing hanger.
3. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that information receive with
Processing module includes: information receiving module, subject fusion module and clock synchronization module；Wherein:
Information receiving module, for by BEI-DOU position system, pathfinder, AIS system, inertial navigation system, Laser Distance Measuring Equipment,
Meteorological model system receives this warship motion information, surrounding objects motion information, meteorological model information；
Subject fusion module, for carrying out fusion judgement according to AIS target information and pathfinder target information；
Clock synchronization module is set time for receiving the unified temporal information provided in naval vessel.
4. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that from berthing situation
Generation module includes: situation measuring and calculating module, target display module, environmental information display module and sea chart display module；Wherein:
Situation calculates module, realizes that the differentiation of target is merged according to the static attribute of sea-surface target and kinetic characteristic, and combine this
The motion state of warship, the geographical environment information from berthing sea area, meteorological model information are generated from berthing comprehensive situation, in electron sea
Overlapping display on figure；
Target display module, for showing sea moving target on electronic chart；
Environmental information display module, for showing the information of meteorological model, harbour environment on electronic chart；
Sea chart display module, for being shown to electronic chart.
5. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that from berthing course line
Drafting module includes: passage planning module, course line editor module, course line preserving module, feasibility inspection module, course line demonstration mould
Block and Target track displaying module；Wherein:
Passage planning module carries out navigation and draws calculation according to the destination information of this warship in conjunction with this warship surrounding sea ship information,
Aid decision is provided for navigating officer, generates planned course；
Course line editor module as needed modifies to planned course for navigating officer；
Course line preserving module, for being saved to course data；
Feasibility checks module, for carrying out feasibility inspection to planned course according to situation；
Course line demonstration module, for carrying out analog demenstration on electronic chart according to planned course；
Target track displaying module, for carrying out real-time display to track.
6. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that Lookout assist mould
Block includes: obstruction detection module, yaw detection module, overspeed detection module, alarm module and navigational record module；Its
In:
Obstruction detection module, for checking barrier on course line in real time；
Detection module is yawed, for monitoring this warship sail plan executive condition in real time, way point navigational parameter is calculated, yaw is provided
Early warning；
Overspeed detection module, for checking whether ship is more than pre-set velocity；
Alarm module, to being alerted after obstruction, yaw, overspeed detection；
Navigational record module, for being recorded to navigation and from berthing course line.
7. Novel surface naval vessel according to claim 1 is assisted from berthing pilotage equipment, which is characterized in that man-machine interface mould
Block includes plotting module and sea chart modified module；Wherein:
Plotting module, the operation for carrying out ranging on electronic chart, drawing calculation；
Sea chart modified module, for modifying operation to electronic chart.
8. a kind of assist the Novel surface naval vessel from berthing pilotage equipment to assist using Novel surface naval vessel described in claim 1
From berthing pilotage method, which is characterized in that method includes the following steps:
Step 1: device power-up self-test is run；
Before from berthing task, surface vessel assists carrying out self-test after booting first from berthing pilotage device power-up surface ship,
Then the unified time information with naval vessel is set time, and guarantees time consistency；Sea chart display module is enabled, by hull lines size
Model is shown on large scale electronic chart；
Prepare Step 2: information receives；
Start information receiving module, receives BEI-DOU position system, this warship motion state that inertial navigation system is sent, meteorological model system
The real-time weather hydrographic information of transmission, AIS equipment send this warship around ship information, pathfinder send sea-surface target letter
The warship bank relative motion state that breath and Laser Distance Measuring Equipment are sent；
Step 3: being generated from berthing situation；
After receiving external relevant information, realize that the differentiation of target is merged according to the static attribute of sea-surface target and kinetic characteristic, and
It generates in conjunction with the motion state of this warship, the geographical environment information from berthing sea area, meteorological model information from berthing comprehensive situation,
Overlapping display on electronic chart；
Step 4: from berthing passage planning；
It carries out navigation in conjunction with this warship surrounding sea ship information according to the destination information of this warship and draws calculation, provided for navigating officer
Aid decision generates planned course；It can according to from information such as berthing situation, history navigation job informations, complete planned course
Row inspection and analog demenstration show planned course on electronic chart, and carry out analog demenstration；Navigating officer is right as needed
Course line carries out editor's adjustment；And be intended to course line and sent to comprehensive Bridge System, steering control system and integrated navigation system, for navigation
Personnel manipulate from berthing and refer to；
Step 5: from berthing Lookout assist；
According to the relative motion state of this warship and surrounding ship, this warship navigation safety is monitored in real time, and according to this warship and surrounding ship
The distance between oceangoing ship, velocity information progress draw calculation in real time, provide dangerous obstruction early warning, collision prevention early warning；Monitor that this warship navigates in real time
Row implementation of the plan calculates way point navigational parameter, provides yaw early warning；While implementing from berthing operation, according to sharp
Relative motion state between the warship bank that ligh-ranging equipment provides, monitors executive condition of this warship from berthing schedule, provides risk distance
Alarm is got off from berthing monitoring alarm, and by this warship from berthing navigation and berthing process record, for subsequent use.
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| CN111540047A (en) * | 2020-04-17 | 2020-08-14 | 智慧航海（青岛）科技有限公司 | Ship port entry and exit navigation aid method and device and ship port entry and exit drilling method |
| CN112729314A (en) * | 2021-01-11 | 2021-04-30 | 中国船舶重工集团公司第七0七研究所 | Naval vessel maneuvering drawing method based on electronic vessel operation diagram |
| CN113188538A (en) * | 2021-04-26 | 2021-07-30 | 广东海洋大学 | Method for analyzing situation of small ship in offshore area |
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| CN115410417B (en) * | 2022-07-20 | 2023-11-14 | 国能浙江北仑第一发电有限公司 | Ship scheduling berthing prediction system based on environmental factors |
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