CN110196439A - A kind of dynamic positioning system based on Beidou differential signal - Google Patents
A kind of dynamic positioning system based on Beidou differential signal Download PDFInfo
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- CN110196439A CN110196439A CN201910395432.XA CN201910395432A CN110196439A CN 110196439 A CN110196439 A CN 110196439A CN 201910395432 A CN201910395432 A CN 201910395432A CN 110196439 A CN110196439 A CN 110196439A
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- 238000005183 dynamical system Methods 0.000 claims abstract description 4
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- 238000004088 simulation Methods 0.000 claims description 5
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- 230000005611 electricity Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 230000004308 accommodation Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention discloses a kind of dynamic positioning systems based on Beidou differential signal, including measuring system, thruster system, dynamical system, control system, control system includes controller, what is be connected with controller is used to the information that measuring system acquires carrying out processing and exports control instruction to thruster system to realize that scheduled attitude of ship controls, location control or the computer software of motion control, and when measuring system signal from it is unstable become stablizing when, automatically analyze current offset data and compared with desired locations parameter, automatically generate the quick compensation adjustment system for restoring the track curve of desired locations with minimum load, and thrust distribution system, and manual control unit, when ship shift position is close to desired locations, automatically switch to automatic sail mode, ship's navigation is driven simultaneously by automatic control unit Reach desired locations.The present invention can be realized minimum load and fast and accurately control ship desired locations, guarantee the control precision of system.
Description
Technical field
The present invention relates to ship control technical field more particularly to a kind of dynamic positioning systems based on Beidou differential signal
System.
Background technique
As the mankind set foot in more and more in sea, the research of ship and ocean platform Mooring Arrangements is also become increasingly
Pay attention to.Application due to common anchoring approach at deep-sea is very limited, it is fixed without the help of the power of mooring system
Position system is just come into being.Ship Dynamic Positioning Systems Based started to begin to show blank in the 1960s, after the 1970s
Phase obtains rapid progress and develops by leaps and bounds with the development of computer technology and the demand in West Europe North Sea oil field, until 20 generation
Discipline latter stage has entered the stage of ripeness.With the development of dynamic positioning technology, the concept of dynamic positioning is also expanding.It is fixed using power
Position technology, ship and other ships can also be made to keep, and relative position is constant, makes ship by desired trajectory displacement, according to schedule
It is navigated by water with schedule speed, realizes ship automatic steering, submarine target is carried out the function such as to automatically track in course line.Dynamic positioning system
It is initially applied to offshore oil drilling ship, there is cable remote control underwater hiding-machine (ROV) lash ship, fire boat etc. to need deep-sea Fixed Point Operation
Special boat.Since the 1980s, dynamic positioning system be widely used to oceanographic vessel, drilling ship, pick-up boat,
The naval vessels such as mining dredger, cable laying ship.
Ship Dynamic Positioning Systems Based is exactly according to required ship's fix or movement instruction, according to measurement gained ship
Motion information and environmental information, complicated real-time calculating is carried out using computer, and control ship major-minor thrust device generates certain
Thrust and torque, to realize scheduled attitude of ship control, location control or motion control.Dynamic positioning system can usually divide
At two large divisions: measurement control section and thrust device part.Measurement control section generally comprises differential GPS, gyro compass, ship
The measuring devices such as motion reference units, wind direction and wind velocity sensor, laser locating apparatus, underwater ultra-short baseline acoustic positioning device,
And the peripheral hardwares such as control computer, operating console, printer；Thrust device part include main thruster, rudder, bow stern auxiliary push away
Power device (side thruster and full circle swinging thruster).
Mostly important sensor (Sensor) is exactly differential GPS in measuring system, i.e. DGPS signal, if its letter
It number loses, dynamic positioning system will be unable to work normally.The positioning accuracy of DGPS is 3~5m, even more small, and common GPS
For positioning accuracy then in 100m or so, the requirement due to power-positioning control system for position information is especially high, it is necessary to be difference
GPS signal can just be interpreted, and not receive common GPS signal.It is unstable to will appear differential signal on the ocean far from bank
The case where.In certain bows to when bringing to, just without differential signal, by bow to 10~20 degree of adjustment, differential signal will go out
It keeps now and within a certain period of time stablizing, when situation is serious, differential signal cuts in and out, intermittently.Warp in position information
If location information cannot propagate into operating system, and dynamic positioning system is automatically fixed without differential signal in latitude data
It is all as judgment criteria with accommodation signal designation value to pushing away no matter whether accommodation signal designation value passes through difference under bit pattern
Compensating instruction is issued into device.Because the very little or none variation of accommodation changing value of display, power at this time is born without differential signal
Lotus often very little.After a period of time, although there is no becoming for the accommodation longitude and latitude that shows of dynamic positioning system action pane
Change, actually accommodation is as the external forces such as wind and ocean current are drifted about.After having differential signal again again, warp
Judge that position deviates, compensating instruction can be issued to power device immediately, main propelling machinery and lateral thruster of head and the tail etc. are just
Meeting is with bigger load running, when being returned to setting position, then the underrun to maintain accommodation；When occurring one again
When the section time does not have differential signal then and has the case where differential signal again, living load increased feelings suddenly can be also generated
Condition.The impact anticlimax of appearance machine utilization so in cycles generates very big load for the normal operation of marine main engine
Impact.
Therefore, in the case that differential signal is unstable, once restoring stable difference signal, such as how the smallest load comes
Ship desired locations are fast and accurately controlled, are a current problems for restricting the development of dynamic positioning technology.
Summary of the invention
In view of the deficienciess of the prior art, the technical problem to be solved by the invention is to provide one kind to require
Response time in quickly find an optimal control input combination, meet desired control force and torque, resist extraneous dry
The influence disturbed, realize minimum load fast and accurately control ship desired locations, guarantee the control precision of system based on Beidou
The dynamic positioning system of differential signal.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of dynamic based on Beidou differential signal
Power positioning system, including one for the sea situations information parameter such as real-time monitoring wind, wave, stream measuring system, one there is main thruster
And the thruster system of side propeller, one for providing the dynamical system of electric energy to thruster system, and one for measuring system
The ship motion information and current environment effect information measured is handled, and provides propeller control signal to main thruster
And side propeller is controlled, and dynamic positioning ship is made to be maintained at the phase under the external force such as wind, stream, wave and the thrust of propeller
Hope position and bow to control system, the control system includes controller, and what is be connected with controller is used to adopt measuring system
The information of collection handle and export control instruction to thruster system to realize scheduled ship's fix control or movement control
The computer software of system, and when measuring system signal from it is unstable become stablizing when, automatically analyze current offset data
And compared with desired locations parameter, in conjunction with the actual state of current outside active force, automatically generate with minimum load convalescence
Hope position track curve quick compensation adjustment system, and according to be calculated make ship be restored to target position and bow to
Control force is automatically assigned to the thrust distribution system of corresponding main thruster and side propeller, Yi Jigen by the size of required thrust
The manual control system unit quickly moved along track curve driving ship is realized according to track curve obtained, when ship is mobile
When being closely located to desired locations, automatic sail mode is automatically switched to, ship's navigation is driven by automatic control unit and is reached
Desired locations.
The above-mentioned dynamic positioning system based on Beidou differential signal, the quick compensation adjustment system include one and control
The detecting signal unit for being used to detect measuring system information parameter stability that device is connected, one automatically generates the rail of track curve graph
Mark generation unit, the track generation unit generate track plot information and are sent to display by controller.
The above-mentioned dynamic positioning system based on Beidou differential signal, the thrust distribution system include track for identification
The parameter identification module of curve data, what is be connected with controller is used to handle the parameter information that parameter identification module identifies
And the thrust distribution module of corresponding control force signal is generated, the thrust distribution module and each main thruster and side propeller are believed
Number connection.
The above-mentioned dynamic positioning system based on Beidou differential signal, the manual control unit include one for realizing ship
The front and rear, left and right of oceangoing ship and the manual joystick of instantaneous displacement, manual joystick are believed by shift simulation input unit and controller
Number connection, further includes one sending a signal to controller when manual joystick is by displacement signal input displacement simulation input unit,
Controller sends the automatic control mode switching module of pause signal to automatic control unit, and the automatic control mode switches mould
Block is connect with controller signals.
The above-mentioned dynamic positioning system based on Beidou differential signal, the automatic control unit include moving parameter input
Module, the moving parameter input module are connect with controller signals, further include one when moving parameter is input to parameter input mould
Controller is sent a signal to when block, controller sends the MANUAL CONTROL mode switching module of pause signal to manual control unit,
The MANUAL CONTROL mode switching module is connect with controller signals.
The above-mentioned dynamic positioning system based on Beidou differential signal, the measuring system include respectively with controller signals
The one of connection is for acquiring gyro compass of the ship bow to signal, and one for acquiring the wind speed of ship local environment wind direction and wind velocity signal
Anemoscope, one for providing the dynamic pickup of Ship dynamic situation reference signal, and one is complete for receiving the difference of satellite positioning signal
Ball positioning system, one for determining the acoustic positioning system of water-flow signal.
The present invention is based on the advantages of dynamic positioning system of Beidou differential signal to be: quick compensation adjustment system can be realized
When measuring system signal from it is unstable become stablizing when, automatically analyze current offset data and compared with desired locations parameter,
In conjunction with the actual state of current outside active force, the track curve for restoring desired locations with minimum load is automatically generated.Thrust point
Match system can make ship be restored to the size of target position and bow to required thrust according to being calculated, and control force is divided automatically
It is fitted on corresponding main thruster and side propeller, realizes and quickly finds an optimal control input within the desired response time
Combination, meets desired control force and torque, resists the influence of external interference, realizes that minimum load fast and accurately controls ship
Oceangoing ship desired locations guarantee the control precision of system.The setting of manual control system, can be artificial according to the track curve graph of generation
It manipulates manual joystick to realize along track curve quickly close to desired locations, can be realized when expectation is closely located to and lean on automatically
Closely, the purpose of quickly control movement speed is substantially increased.Using manual by the way of combining control automatically, solves tradition
The slow problem of response speed.
Detailed description of the invention
Fig. 1 is circuit structure block diagram of the invention；
Fig. 2 is the schematic diagram quickly adjusted after differential signal is stablized to accommodation.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in further details the present invention；
As shown in Figure 1, 2, a kind of dynamic positioning system based on Beidou differential signal, including one for real-time monitoring wind,
The measuring systems of sea situations information parameter such as wave, stream, a thruster system with main thruster and side propeller, one for pushing away
Power device system provides the dynamical system of electric energy, and the ship motion information and current environment for measuring measuring system acts on
Information is handled, and is provided propeller control signal to control main thruster and side propeller, is made dynamic positioning ship
Be maintained under the external force such as wind, stream, wave and the thrust of propeller desired locations and bow to control system, measuring system packet
Connect respectively with controller signals one is included for acquiring gyro compass of the ship bow to signal, one for acquiring ship local environment
The anemoclinograph of wind direction and wind velocity signal, one for providing the dynamic pickup of Ship dynamic situation reference signal, and one defends for receiving
The Differential Global Positioning System of star positioning signal, one for determining the acoustic positioning system of water-flow signal.
Control system includes controller, be connected with controller for by the information that measuring system acquires handled and incite somebody to action
Control instruction exports to thruster system the computer software to realize scheduled ship's fix control or motion control, with
And when measuring system signal from it is unstable become stablizing when, automatically analyze current offset data and compared with desired locations parameter
Compared with, in conjunction with the actual state of current outside active force, automatically generate with minimum load restore desired locations track curve it is fast
Fast compensation adjustment system, quick compensation adjustment system include one be connected with controller for detect measuring system information parameter steady
Qualitative detecting signal unit, one automatically generates the track generation unit of track curve graph, and the track generation unit generates boat
Trace curve figure information is sent to display by controller.
It further include one so that ship is restored to the size of target position and bow to required thrust according to being calculated, by control force
It is automatically assigned to the thrust distribution system of corresponding main thruster and side propeller, which includes track for identification
The parameter identification module of curve data, what is be connected with controller is used to handle the parameter information that parameter identification module identifies
And the thrust distribution module of corresponding control force signal is generated, the thrust distribution module and each main thruster and side propeller are believed
Number connection.
It is quickly adjusted to realize, the present invention, which is provided with, to be realized quickly according to track curve obtained along the driving of track curve
The mobile manual control unit of ship automatically switches to automatic sail mode, leads to when ship shift position is close to desired locations
It crosses automatic control unit driving ship's navigation and reaches desired locations.Wherein, automatic control unit includes moving parameter input mould
Block, the moving parameter input module are connect with controller signals, further include one when moving parameter is input to parameter input module
When send a signal to controller, controller sends MANUAL CONTROL mode switching module of the pause signal to manual control unit, institute
MANUAL CONTROL mode switching module is stated to connect with controller signals.Manual control unit include one for realizing ship front and back,
The manual joystick of left and right and instantaneous displacement, manual joystick are connect by shift simulation input unit with controller signals, also
Controller is sent a signal to when manual joystick is by displacement signal input displacement simulation input unit including one, controller is sent
Automatic control mode switching module of the pause signal to automatic control unit, the automatic control mode switching module and controller
Signal connection.Manually with the mode of automatic switchover, the efficiency and accuracy of ship control are substantially increased, and improves ship
The degree of automation of control.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, within the essential scope of the present invention, the variations, modifications, additions or substitutions made all should belong to the present invention
Protection scope.
Claims (6)
1. a kind of dynamic positioning system based on Beidou differential signal, including one for sea situations information such as real-time monitoring wind, wave, streams
The thruster system of the measuring system of parameter, one with main thruster and side propeller, one for providing electricity to thruster system
The dynamical system of energy, the ship motion information and current environment effect information for measuring measuring system are handled,
Propeller control signal is provided to control main thruster and side propeller, keeps dynamic positioning ship outer in wind, stream, wave etc.
Be maintained under power and the thrust of propeller desired locations and bow to control system, it is characterised in that: the control system
Including controller, be connected with controller for the information that measuring system acquire handle and exports control instruction to pushing away
Power device system is to realize the computer software of scheduled ship's fix control or motion control, and works as measuring system signal
From it is unstable become stablizing when, automatically analyze current offset data and compared with desired locations parameter, make in conjunction with current outside
Actual state firmly automatically generates the quick compensation adjustment system for restoring the track curve of desired locations with minimum load, with
And so that ship is restored to the size of target position and bow to required thrust according to being calculated, control force is automatically assigned to accordingly
The thrust distribution system of main thruster and side propeller, and realized according to track curve obtained and quickly driven along track curve
The mobile manual control unit of dynamic ship automatically switches to automatic sail mode when ship shift position is close to desired locations,
Ship's navigation is driven by automatic control unit and reaches desired locations.
2. the dynamic positioning system according to claim 1 based on Beidou differential signal, it is characterized in that: the quick compensation
Regulating system includes a detecting signal unit for being used to detect measuring system information parameter stability being connected with controller, and one certainly
The dynamic track generation unit for generating track curve graph, the track generation unit generate track plot information and are sent out by controller
It send to display.
3. the dynamic positioning system according to claim 1 based on Beidou differential signal, it is characterized in that: the thrust is distributed
System includes the parameter identification module of track curve data for identification, and what is be connected with controller is used to know parameter identification module
Other parameter information is handled and is generated the thrust distribution module of corresponding control force signal, the thrust distribution module and each
Main thruster and the connection of side propeller signal.
4. the dynamic positioning system according to claim 1 based on Beidou differential signal, it is characterized in that: described manually control
Unit includes one for realizing the front and rear, left and right of ship and the manual joystick of instantaneous displacement, and manual joystick passes through displacement mould
Quasi- input unit is connect with controller signals, further includes one working as manual joystick for displacement signal input displacement simulation input unit
When send a signal to controller, controller sends automatic control mode switching module of the pause signal to automatic control unit, institute
Automatic control mode switching module is stated to connect with controller signals.
5. the dynamic positioning system according to claim 1 based on Beidou differential signal, it is characterized in that: the automatic control
Unit includes moving parameter input module, and the moving parameter input module is connect with controller signals, further includes one when movement
Parameter sends a signal to controller when being input to parameter input module, controller sends the hand of pause signal to manual control unit
Dynamic control mode switch module, the MANUAL CONTROL mode switching module are connect with controller signals.
6. the dynamic positioning system according to claim 1 based on Beidou differential signal, it is characterized in that: the measuring system
One including connecting respectively with controller signals is used to acquire gyro compass of the ship bow to signal, and one for acquiring ring locating for ship
The anemoclinograph of border wind direction and wind velocity signal, one for providing the dynamic pickup of Ship dynamic situation reference signal, and one for receiving
The Differential Global Positioning System of satellite positioning signal, one for determining the acoustic positioning system of water-flow signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395432.XA CN110196439A (en) | 2019-05-13 | 2019-05-13 | A kind of dynamic positioning system based on Beidou differential signal |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910395432.XA CN110196439A (en) | 2019-05-13 | 2019-05-13 | A kind of dynamic positioning system based on Beidou differential signal |
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| CN201910395432.XA Pending CN110196439A (en) | 2019-05-13 | 2019-05-13 | A kind of dynamic positioning system based on Beidou differential signal |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253263A (en) * | 2021-12-10 | 2022-03-29 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Ship control system and control method |
| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
| CN117246451A (en) * | 2023-09-12 | 2023-12-19 | 青岛无疆技术有限公司 | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253263A (en) * | 2021-12-10 | 2022-03-29 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Ship control system and control method |
| CN116443217A (en) * | 2023-06-16 | 2023-07-18 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
| CN116443217B (en) * | 2023-06-16 | 2023-08-22 | 中交一航局第一工程有限公司 | Piling ship parking control method and device, piling ship and storage medium |
| CN117246451A (en) * | 2023-09-12 | 2023-12-19 | 青岛无疆技术有限公司 | Anchor monitoring device for auxiliary monitoring and electronic anchor positioning method |
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