CN110136487A - The anti-safe navaid technical application model that hits a submerged reef of digital map navigation - Google Patents
The anti-safe navaid technical application model that hits a submerged reef of digital map navigation Download PDFInfo
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- CN110136487A CN110136487A CN201810109339.3A CN201810109339A CN110136487A CN 110136487 A CN110136487 A CN 110136487A CN 201810109339 A CN201810109339 A CN 201810109339A CN 110136487 A CN110136487 A CN 110136487A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Abstract
The invention discloses the anti-safe navaid technical application models that hits a submerged reef of digital map navigation.The model is the navigation feature of nearest point search principle and the variation of water transport traffic multidimensional, various height datum based on terrain match airmanship, with computer technology, surface equation height fitting in boat correction of water level model, underwater topography feature analysis al model, the high frequency of building, real-time, the dynamic anti-safe navaid technical application model that hits a submerged reef.The model has given full play to the essential navaid function of map, running precision, can be applied to the setting of emphasis segment navigation mark, ship emergency auxiliary in fog-zone is berthed and the navigation navaid services such as inshore, inland river.
Description
One, technical field
The present invention relates to the applications of water transport traffic map navigation safety navaid technology.Its major technique core is based on landform
Airmanship is matched, is to combine the variation of water transport traffic navigation multidimensional, various height datum feature, the anti-safe navaid that hits a submerged reef of proposition
The computer disposal model structure of the application model algorithm structure of technology and the anti-safe navaid that hits a submerged reef.
Two, background technique
1, the technical functionality status that navigation map API (SDK) is realized
Existing navigation map API (SDK) is widely used in overland transport navigation Service, since there are all for water transport communication navigation
Such as flow-shape, flow velocity, factor of natural environment more a variety of than drop, submerged reef and wind-force, mist feelings influences and numerous navigation maps
The also non-overall application contour map of API (SDK).Almost all of navigation map API (SDK) does not set foot in water transport communication navigation
Function technological development.
2, the research application status of safe navaid technology
There are two types of method, a kind of method is based on electronic channel chart for the related safe navaid technical research of electronic channel chart at present
The difficult area buffer area of airline generation and navigable waters generate safe navigation boundary, and [Lee's hair etc. is write " based on the Changjiang river electronics navigation channel
The course line dynamic generation algorithm of figure and realization "] [Yang Baocen etc. writes " the Changjiang river electronic channel chart navigable waters dynamic calculation model
Research "], the formation in these face domains is needed through GIS platform pre-production, and pretreatment work amount is larger, operating procedure is more；?
In drop variation and range of stage larger segment real-time release operation, the difficult area buffer area and navigable waters of low resolution by because
Sluggish for map rejuvenation publication influences boundary handover tomography occur, reduces the Up-to-date state of the anti-safe navaid that hits a submerged reef of digital map navigation
And timeliness.[Li Qing etc. writes " inland river electronic channel chart dynamic foam line algorithm and realization "].Another method is electronics boat
Road figure+number navigation channel entity navigation mark setting, this method are the digital applications of traditional artificial navigation mark setting, relative cost
The characteristics of height, large labor intensity, does not change still, also without the service function of performance map essence dynamic security navaid at all.
3, the defect of depth of water linear interpolation algorithm model
Depth of water point linear interpolation algorithm is the traditional description method of navigational datum drop, and this method can preferably embody
Water level Spatial Variation, but cannot reflect navigational datum longitudinal direction gradient, lateral gradient, reversed gradient and turbulent flow well
The morphological feature of convex-concave consecutive variations compound curved surface is unsuitable for sampled point in boat correction of water level application.
4, the environmental aspect of the anti-safe navaid technical application model development that hits a submerged reef of digital map navigation
The essential requirement of the anti-safe navaid technical application model that hits a submerged reef of digital map navigation is the underwater topography of ship current location
Elevation is lower than the safe draft elevation of ship affluence, and technological core is that measurement elevation and numerical map elevation isopleth are matched
Terrain match airmanship [Liu Chengxiang writes " the Terrain Matching Assistant Positioning Technology research of underwater hiding-machine "].Terrain match at present
Airmanship is applied to GNSS satellite signal interruption region or seabed submarine inertial navigation system navigational correction works, in recent years vehicle
Road grade automatic driving technology rises vector road assisting navigation algorithm [Li Xiang etc. relevant with terrain match airmanship
Write " the vector road aided inertial navigation algorithm that coarse-fine matching combines "] also solved extensively.These technological achievements are ground
The application of the anti-safe navaid technology of hitting a submerged reef of figure navigation provides demonstration leading action well.
With the emergence of multi-beam echo sounding, the high Up-to-date state underwater topography surveying & mapping of airborne ALB high-resolution,
And the application of GNSS star base enhancing differential system, the development of sensor technology, ocean seamless vertical benchmark, inland waterway navigation benchmark
Face research is goed deep into, and underwater topography characteristic analysis method is [firm etc. to write that " landform in underwater terrain matching navigation be navigational
Analysis "] and [writings such as Sun Jun " application of surface equation solution relative water depth correction of relative water depth figure segment height fitting technology
Inquire into "] maturation.The anti-safe navaid technical application model that hits a submerged reef based on precise navigation map, accurate navigation will be obtained
Figure ambient field, accurate navigation external key elements parameter and strict calculation processing model structure in real time, will be the anti-touching of digital map navigation
The operation of the safe navaid technical application model of reef provides reliable guarantee.
5, the design reference basis of the anti-safe navaid technical application model that hits a submerged reef of digital map navigation
The principal element for influencing the anti-safe navaid technical application model safety navaid boundary precision of hitting a submerged reef of digital map navigation is to lead
Navigate map background field precision, sample frequency and segment drop.The design reference basis of its sample frequency is navigation map ambient field
0.5 meter of elevation design precision contour interval designs segment maximum drop 1 ‰, 40 kilometers/hour of ship's navigation maximum speed.
Three, summary of the invention
1, main technical schemes institutional framework process
(1) enter anti-safe navaid interface of hitting a submerged reef, input segment, ship parameter
1. inputting ship type coordinate and GNSS antenna height.
2. inputting wide ship load, length, type, height and moldeed depth, route information, segment information.
(2) it obtains and resolves current ship GNSS antenna coordinate, course and water level elevation
1. obtaining GNSS receiver positioning three-dimensional coordinate and GNSS double antenna orienting course bearing angle.
2. resolving stem GNSS coordinate and current water level elevation by ship type coordinate and antenna height.
(3) navigational datum height fitting parameter in relative water depth segment locality is determining or navigational datum fitting parameter is online
Publication
1. the current leg water level basal plane related to navigational datum for obtaining navigation map publication controls three-dimensional coordinate.
2. calling in Quadratic Surface Equation Height Fitting Models resolves current region navigation basal plane height fitting parameter.
3. obtaining online subregion publication according to segment information and relative water depth figure segment line of demarcation attribute of object logic judgment
Navigational datum fitting parameter,
(4) ship current safety drinking water elevation and comparatively safe drinking water elevation are resolved in boat correction of water level
The segment 1. absolute elevation passes through is resolved ship and is currently perfectly safe and absorbs water elevation by shipping draft.
The segment 2. relative water depth is passed through calls navigational datum fitting parameter to solve comparatively safe drinking water elevation in boat water level
Correction.
(5) prevent the Design of warning that hits a submerged reef
1. establishing using stem coordinate as the center of circle, the external pros of minimum search circle of 2 kilometers of search radius, course angular orientation
Shape forms retrieval intersection determination range.
2. intersecting principle according to the external square range of search circle, the matched safe navigation guarantee of safe draft elevation is retrieved
Line and underwater topography elevation isopleth knot vector coordinate set.
3. absorbing water elevation according to ship current safety, segmentation mark is highlighted matched underwater topography elevation isopleth
Boundary or safe navigation ensure line boundary.
(6) prevent the Design of Alarm System that hits a submerged reef
1. mark stem along ship trajectory normal direction and the matched underwater topography elevation isopleth of safe draft elevation or
The most short warning alert safe distance of safe navigation security system.
2. marking ship's navigation track course bearing angle and the matched safe navigation security system of safe draft elevation or underwater
The landform altitude isopleth line segment angle of cut limits the safe course of poor warning alert.
3. starting warning note voice in conjunction with safe distance and safe course.
2, beneficial effect of the present invention
The parameter sampling frequency of modelling of the present invention is higher, and the safe navaid parameter and data processing product of acquisition are active
State embodies current navigation channel water level and drop and influences, and effectively preventing the lower difficult area buffer area of resolution ratio and navigable waters causes
Boundary join tomography, reduce repeated work intensity, improve the timeliness and Up-to-date state of the application of safe navigation supported information.This hair
Bright design obtains beneficial technical treatment means due to sufficiently comprehensively analyzing model running state.
(1) the anti-safe navaid technical application model that hits a submerged reef of digital map navigation obtains positioning and directing using GNSS receiver double antenna
Data, and model is resolved using the application of GNSS receiver double antenna positioning and directing data, 1. forming GNSS stem coordinate is circle
External search circle square aearch model (see Figure of description 2) of minimum of the heart, GNSS double antenna course angular orientation, using advance
Square right vertex angle in direction combines judgement determination intersecting ranges logical process model (see Figure of description 3) with diagonal, most
Bigization retrieves the matched underwater topography elevation isopleth of ship current safety drinking water elevation, safe navigation security system phasor coordinate collection
Conjunction and the control of navigational datum correlation basal plane, water level information.The minimum external square coordinate of search circle of 2 kilometer radius calculates mathematics
Model:
X(i=1,4)=XStem+2000×sin(αCourse±90) Y(i=1,4)=YStem+2000×cos(αCourse±90)
X(i=2,3)=XStem+2000×sin(αCourse+180±90) Y(i=2,3)=YStem+2000×cos(αCourse+180±90)
2. using logic judgment model using ship type coordinate, by Reasonable Arrangement GNSS stem coordinate antenna, ship type is excluded
Operation of the coordinate in the anti-safe navaid technical application model that hits a submerged reef of digital map navigation, improves model calculation processing efficiency.Ship type is sat
Mark participates in stem calculating coordinate mathematical model:
XStem=XGNSS+DShip type×sinαShip type YStem=YGNSS+DShip type×cosαShip type
(2) comparatively safe drinking water elevation is the anti-safe navaid technical application mould that hits a submerged reef of digital map navigation in boat correction of water level model
Type judges (see Figure of description 4) according to the segment information of setting, relative water depth navigation channel wall mark attribute logic, enables curved surface
Equation Height Fitting Models approach fit approach with physics, quickly obtain the navigation base of irregular geometric curved surfaces morphological feature in real time
Quasi- face height fitting corrected value.
Navigational datum height fitting parameter testing precision statistics table 1 in 2014
| Project category | Error (u) in fitting | Maximum residul difference (v) |
| Basal plane fitting parameter | ± 0.009 meter | 0.016 meter |
Quadratic Surface Equation height fitting and point maximum poor statistical form 2 of band relative water depth correction achievement
| Divide reel number | Survey elevation | Basal plane elevation | Correct the depth of water | It is fitted the depth of water | It is maximum poor |
| S1 | 157.421 rice | 161.9 rice | 4.54 rice | 4.48 rice | 0.06 meter |
| S2 | 161.647 rice | 162.0 rice | 0.42 meter | 0.35 meter | 0.07 meter |
| S3 | 160.173 rice | 162.1 rice | 2.02 rice | 1.93 rice | 0.09 meter |
(3) safe navigation security system application model is the anti-safe navaid technical application model that hits a submerged reef of digital map navigation for bridge
Beam fits and floods the emphasis such as random reef segment, safety water depth, security boundary, security warning distance, the setting of security warning course distortion phenomenon
Special safety precautions.Safe navigation security system attribute of object logic judgment (see Figure of description 5) of the energy according to setting,
The safe navigation security system node coordinate set of vectors that retrieval, mark underwater topography feature analysis al model delimited；And according to
Safe navigation security system priority principle resolves safe navigation warning distance, safe navigation warns course.
(4) the early warning and alarming model of the anti-safe navaid technical application model that hits a submerged reef of digital map navigation is a plurality of not using primary retrieval
With the matched underwater topography elevation equivalence line method of safe draft elevation, and according to ship current safety drinking water elevation segmentation mark
The microcirculation Interactive Design on safe navigation boundary improves the anti-safe navaid technical application model sampling frequency that hits a submerged reef of digital map navigation
Rate improves the anti-safe navaid technical application model dynamic operation precision of hitting a submerged reef of digital map navigation.
(5) the anti-safe navaid technical application model structure of hitting a submerged reef of digital map navigation is set using open modular interactive interface
Meter, provides quality assurance for model running, also the involvement for other Subsequent secure navaid elements is laid a good foundation.
Four, Detailed description of the invention
Figure of description Fig. 1: the anti-safe navaid computer disposal structure flow chart that hits a submerged reef of digital map navigation
Figure of description Fig. 2: navigation channel element square range of search judges schematic diagram
Figure of description Fig. 3: navigation channel element square range of search logic judgment flow chart
Figure of description Fig. 4: comparatively safe drinking water elevation is enabled in boat correction of water level logic judgment flow chart
Figure of description Fig. 5: safe navigation security system attribute of object logic judgment flow chart is enabled
Five, specific embodiment
In order to be more clear goal of the invention of the invention, technical solution, we illustrate map by taking navigation map API as an example
The structure design of the anti-safe navaid technical application model that hits a submerged reef of navigation.
1, system login control module writes the organization flow navigation and data processing interaction work of responsible system using C++
Make, is responsible for input of the ship in relation to parameter and the acquisition of GNSS receiver data, the current leg water gauge, the water that obtain Online release
Position, navigational datum fitting parameter, etc. the interaction process of navigation channels element and intermediate data calculate.
2, matrix is resolved module and is worked out using MatLab, and height fitting surface equation is compiled as DLL dynamic link library
It is responsible for the resolving of comparatively safe drinking water height fitting and navigational datum height fitting parameter.
3, browser interactive module is responsible for resolving, the retrieval of the external square of minimum search circle using JavaScript establishment
Safe draft elevation matches underwater topography elevation isopleth, safe navigation security system node coordinate vector data set and current boat
The judgement of section navigational datum correlation water gauge, water level information, navigational datum fitting parameter and intersecting ranges；The anti-peace of hitting a submerged reef of mark
Landform altitude isopleth and security warning distance under full navaid early warning boundary water, security warning course are broadcast.
The present invention dynamically reflects timeliness, the Up-to-date state of safe navigation navaid element using high frequency sampling Design in real time,
By surface equation Height Fitting Models and underwater topography feature analysis al, realize in boat correction of water level and reliable safety
Navigation ensures.The operation advantage that different computer languages have been given full play to using the design of modularization interactive interface structure, is improved
The allomeric function and operational efficiency of the anti-safe navaid technical application system of hitting a submerged reef of digital map navigation.
Claims (6)
1. the overall model algorithm structure of anti-safe navaid technical application of hitting a submerged reef, it is characterised in that: prevent hitting a submerged reef according to digital map navigation
The nearest point search principle of safe navaid parameter, terrain match airmanship and the variation of water transport traffic multidimensional, various height datum
Navigation feature constructs the maximization retrieval of safe navigation security system and underwater topography elevation isopleth node coordinate set of vectors
Model, safe navaid warning boundary, warning distance, the high-frequency of warning course information are segmented marking model；With surface equation
Height fitting realizes full segment safe navaid clothes dynamic in real time in the boat comparatively safe drinking water elevation of correction of water level Models computed
Business；The region securities such as the rock awash and bridge delimited using underwater topography feature analysis al model navigation security system solves safety
Navigation supported information distortion phenomenon.
2.GNSS receiver double antenna positioning and directing data apply algorithm model, it is characterised in that: using minimum external search
Circle square aearch model and direction of advance the right vertex angle of square and the intersecting ranges judgment models that are diagonally jointly formed, most
Bigization retrieves the matched safe navigation security system of current leg safe draft elevation and underwater topography elevation isopleth knot vector
Coordinate set, navigational datum correlation water gauge and water level information；Using ship type Coordinate Logic judgment models, excludes ship type coordinate and exist
Operation in the anti-safe navaid technical application model that hits a submerged reef of digital map navigation, improves model calculation processing efficiency.
3. comparatively safe drinking water elevation is in boat correction of water level model, it is characterised in that: can be according to segment information and relative water depth figure
Segment line of demarcation attribute of object logic judgment obtains the navigational datum fitting parameter of online subregion publication, using navigation benchmark
Fitting parameter partition boundaries judgement in face enables surface equation height fitting algorithm model, realizes comparatively safe drinking water elevation in boat water
Position correction.
4. safe navigation security system application model, it is characterised in that: can be according to bridge, the suitable peace for flooding the setting of the emphasis such as random reef segment
Full navigation security system attribute of object logic judgment, the safe navigation that retrieval, mark underwater topography feature analysis al model delimited
Security system node coordinate set of vectors；And according to safe navigation security system priority principle, safe navigation warning distance, safety are resolved
Navigation warning course prevents safe navaid parameter distortion of hitting a submerged reef.
5. anti-hit a submerged reef safe navaid early warning, alarm model, it is characterised in that: can be a plurality of by retrieving according to route information
The different matched underwater topography elevation isopleth of safe draft elevation, and elevation segmentation mark is absorbed water according to ship current safety and is broadcast
Hair anti-hit a submerged reef safe navaid warning boundary, warning distance, warning course information, improve the anti-safe navaid technology of hitting a submerged reef of digital map navigation
The sample frequency of application model, eliminating drop ladder influences caused safe navaid Boundary Distortion, improves digital map navigation and prevents hitting a submerged reef
Safe navaid technical application model dynamic operation precision.
6. the anti-safe navaid technology computer application processing module structure of hitting a submerged reef of digital map navigation, it is characterised in that: opening follow more
Ring and the design of storing module interactive interface provide reliable quality assurance for model high-frequency, maximized sampling operation,
Also it lays a good foundation for the involvement of Subsequent secure navaid element.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108489497A (en) * | 2018-05-22 | 2018-09-04 | 何竹君 | It is a kind of to utilize the anti-safe navaid method hit a submerged reef of map |
| CN112578409A (en) * | 2020-11-09 | 2021-03-30 | 中国南方电网有限责任公司超高压输电公司广州局 | Navigation mark positioning reporting system and positioning reporting method for 500kV submarine cable |
-
2018
- 2018-02-02 CN CN201810109339.3A patent/CN110136487A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108489497A (en) * | 2018-05-22 | 2018-09-04 | 何竹君 | It is a kind of to utilize the anti-safe navaid method hit a submerged reef of map |
| CN108489497B (en) * | 2018-05-22 | 2021-07-30 | 何竹君 | Safe navigation aiding method for preventing reef touch by using map |
| CN112578409A (en) * | 2020-11-09 | 2021-03-30 | 中国南方电网有限责任公司超高压输电公司广州局 | Navigation mark positioning reporting system and positioning reporting method for 500kV submarine cable |
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Application publication date: 20190816 |