CN110294074A - A kind of scientific investigation ship with Beidou differential signal dynamic positioning system - Google Patents

A kind of scientific investigation ship with Beidou differential signal dynamic positioning system Download PDF

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Publication number
CN110294074A
CN110294074A CN201910394789.6A CN201910394789A CN110294074A CN 110294074 A CN110294074 A CN 110294074A CN 201910394789 A CN201910394789 A CN 201910394789A CN 110294074 A CN110294074 A CN 110294074A
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CN
China
Prior art keywords
ship
signal
control
controller
dynamic positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910394789.6A
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Chinese (zh)
Inventor
张志平
孙永福
王立松
赵晓龙
孙杨
谢博文
张浩然
李欣
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First Institute of Oceanography MNR
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First Institute of Oceanography MNR
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority to CN201910394789.6A priority Critical patent/CN110294074A/en
Publication of CN110294074A publication Critical patent/CN110294074A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H21/00Use of propulsion power plant or units on vessels
    • B63H21/21Control means for engine or transmission, specially adapted for use on marine vessels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H21/00Use of propulsion power plant or units on vessels
    • B63H21/21Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H21/213Levers or the like for controlling the engine or the transmission, e.g. single hand control levers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00Measuring or testing not otherwise provided for
    • G01D21/02Measuring two or more variables by means not covered by a single other subclass
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/40Correcting position, velocity or attitude
    • G01S19/41Differential correction, e.g. DGPS [differential GPS]
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H21/00Use of propulsion power plant or units on vessels
    • B63H21/21Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216Control means for engine or transmission, specially adapted for use on marine vessels using electric control means

Abstract

The invention discloses a kind of scientific investigation ships with Beidou differential signal dynamic positioning system, including hull, Beidou differential signal dynamic positioning system is provided on hull, Beidou differential signal dynamic positioning system includes measuring system, thruster system, dynamical system, control system, control system includes controller, what is be connected with controller is used to carry out the information that measuring system acquires to handle and control instruction is exported to thruster system to the computer software for realizing scheduled ship's fix or 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, when ship shift position is close to desired locations, automatically switch to automatic sail mode, Ship's navigation is driven by automatic control unit and reaches 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

A kind of scientific investigation ship with Beidou differential signal dynamic positioning system
Technical field
The present invention relates to ship control technical fields more particularly to a kind of with Beidou differential signal dynamic positioning system Scientific investigation ship.
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, head and the tail main propelling machinery and head and the tail lateral thruster etc. can be issued to power device immediately Will be with bigger load running, when being returned to setting position, then the underrun to maintain accommodation;When occurring again When then there is the case where differential signal in a period of time without 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 realizes that minimum load fast and accurately controls ship desired locations, and guarantee the control precision of system has Beidou The scientific investigation ship of differential signal dynamic positioning system.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of have Beidou differential signal power The scientific investigation ship of positioning system, including hull are provided with Beidou differential signal dynamic positioning system, the Beidou difference on hull Signal dynamic positioning system include one have for the measuring system of sea situations information parameter such as real-time monitoring wind, wave, stream, one it is featured Into device and the thruster system of side propeller, one for providing the dynamical system of electric energy to thruster system, and one for measurement Systematic survey to ship motion information and current environment effect information handled, provide propeller control signal to featured It is controlled into device and side propeller, keeps dynamic positioning ship under the external force such as wind, stream, wave and the thrust of propeller Desired locations and bow to control system, the control system includes controller, be connected with controller for system will to be measured The information of system acquisition handle and export control instruction to thruster system to realize scheduled ship's fix control or fortune The computer software of dynamic control, 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 extensive with minimum load The quick compensation adjustment system of the track curve of multiple desired locations, and according to be calculated make ship be restored to target position and Control force is automatically assigned to the thrust distribution system of corresponding main thruster and side propeller to the size of required thrust by bow, with And the manual control 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 scientific investigation ship with Beidou differential signal dynamic positioning system, the quick compensation adjustment system include one What is be connected with controller is used to detect the detecting signal unit of measuring system information parameter stability, and one automatically generates track curve The track generation unit of figure, the track generation unit generate track plot information and are sent to display by controller.
The above-mentioned scientific investigation ship with Beidou differential signal dynamic positioning system, the thrust distribution system includes for knowing The parameter identification module of other track curve data, the parameter information for identifying parameter identification module being connected with controller into Row handles and generates the thrust distribution module of corresponding control force signal, and the thrust distribution module is pushed away with each main thruster and side It is connected into device signal.
The above-mentioned scientific investigation ship with Beidou differential signal dynamic positioning system, the manual control unit are used for including one Realize that the front and rear, left and right of ship and the manual joystick of instantaneous displacement, manual joystick pass through shift simulation input unit and control Device signal processed connection further includes one sending a signal to control when manual joystick is by displacement signal input displacement simulation input unit Device processed, controller send automatic control mode switching module of the pause signal to automatic control unit, the automatic control mode Switching module is connect with controller signals.
The above-mentioned scientific investigation ship with Beidou differential signal dynamic positioning system, the automatic control unit include mobile ginseng Number input module, the moving parameter input module are connect with controller signals, further include one when moving parameter is input to parameter Controller is sent a signal to when input module, the MANUAL CONTROL mode that controller sends pause signal to manual control unit switches Module, the MANUAL CONTROL mode switching module are connect with controller signals.
The above-mentioned scientific investigation ship with Beidou differential signal dynamic positioning system, the measuring system include respectively with control The one of device signal connection is for acquiring gyro compass of the ship bow to signal, and one for acquiring ship local environment wind direction and wind velocity signal Anemoclinograph, one for providing the dynamic pickup of Ship dynamic situation reference signal, and one for receiving satellite positioning signal Differential Global Positioning System, one for determining the acoustic positioning system of water-flow signal.
The present invention has the advantages that the scientific investigation ship of Beidou differential signal dynamic positioning system is: quick compensation adjustment system energy It is enough realize when measuring system signal from it is unstable become stablizing when, automatically analyze current offset data and with desired locations parameter phase Compare, in conjunction with the actual state of current outside active force, automatically generates the track curve for restoring desired locations with minimum load.It pushes away Power distribution system can make ship be restored to the size of target position and bow to required thrust according to being calculated, certainly by control force It is dynamic to be assigned to corresponding main thruster and side propeller, it realizes and quickly finds an optimal control within the desired response time Input combination, meets desired control force and torque, resists the influence of external interference, realizes that minimum load is fast and accurately controlled Ship desired locations processed guarantee the control precision of system.The setting of manual control system, can be according to the track curve graph of generation Manual control manual joystick is realized along track curve quickly close to desired locations, can be realized when expectation is closely located to certainly Move it is close, substantially increase quickly control movement speed purpose.Using manual by the way of combining control automatically, solve The slow-footed problem of conventional response.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the circuit structure block diagram of Beidou differential signal dynamic positioning system;
Fig. 3 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, 3, a kind of scientific investigation ship with Beidou differential signal dynamic positioning system, including hull 1, in ship Beidou differential GPS dynamic positioning system 2 is provided on body 1, Beidou differential signal dynamic positioning system 2 includes one for supervising in real time The thruster system of the measuring systems of sea situations information parameter such as survey wind, wave, stream, one with main thruster 3 and side propeller 4, one For providing the dynamical system of electric energy to thruster system, a ship motion information for measuring to measuring system and current Environmental activity information is handled, and is provided propeller control signal to control main thruster and side propeller, is made power 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 of the present invention includes that one connect respectively with controller signals is used to acquire electric sieve of the ship bow to signal Through one for acquiring the anemoclinograph of ship local environment wind direction and wind velocity signal, and one for providing Ship dynamic situation reference signal Dynamic pickup, one for receiving the Differential Global Positioning System of satellite positioning signal, and one for determining the water of water-flow signal Acoustic positioning system.
Control system of the present invention includes controller, at the information for acquiring measuring system being connected with controller It manages and control instruction is exported to thruster system to the computer software to realize scheduled ship's fix control or motion control System, and when measuring system signal from it is unstable become stablizing when, automatically analyze current offset data and with desired locations join Number compares, and in conjunction with the actual state of current outside active force, it is bent to automatically generate the track for restoring desired locations with minimum load The quick compensation adjustment system of line, the quick compensation adjustment system include that a measuring system that is used to detect being connected with controller is believed The detecting signal unit of parametric stability is ceased, one automatically generates the track generation unit of track curve graph, and the track generates single Member generates track plot information and 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 3 and side propeller 4, thrust distribution system 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.Manual control unit include one for realizing ship before Afterwards, the manual joystick of left and right and instantaneous displacement, manual joystick are connect by shift simulation input unit with controller signals, It further include one sending a signal to controller when manual joystick is by displacement signal input displacement simulation input unit, controller hair Send pause signal to the automatic control mode switching module of automatic control unit, the automatic control mode switching module and control The connection of device signal.Automatic control unit includes moving parameter input module, the moving parameter input module and controller signals Connection further includes one sending a signal to controller when moving parameter is input to parameter input module, and controller sends pause letter Number to manual control unit MANUAL CONTROL mode switching module, the MANUAL CONTROL mode switching module and controller signals connect It connects.Manually with the mode of automatic switchover, the efficiency and accuracy of ship control are substantially increased, and improves ship control The degree of automation.
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 scientific investigation ship with Beidou differential signal dynamic positioning system, including hull, it is poor to be provided with Beidou on hull Sub-signal dynamic positioning system, the Beidou differential signal dynamic positioning system include one for seas such as real-time monitoring wind, wave, streams The thruster system of the measuring system of condition information parameter, one with main thruster and side propeller, one is used for thruster system The dynamical system of electric energy is provided, the ship motion information and current environment effect information for measuring measuring system carries out Processing, provide propeller control signal to control main thruster and side propeller, make dynamic positioning ship wind, stream, Be maintained under the external force such as wave and the thrust of propeller desired locations and bow to control system, it is characterised in that: the control System processed includes controller, the information for acquiring measuring system being connected with controller carry out processing and control instruction is defeated The computer software of scheduled ship's fix control or motion control is realized to thruster system out, and when measurement system System signal from it is unstable become stablizing when, current offset data are automatically analyzed and compared with desired locations parameter, in conjunction with current The actual state of external forces automatically generates the quick compensation adjustment system for restoring the track curve of desired locations with minimum load System, and so that ship is restored to the size of target position and bow to required thrust according to being calculated, control force is distributed automatically It realizes to the thrust distribution system of corresponding main thruster and side propeller, and according to track curve obtained quickly along track The manual control unit that curve drives ship mobile automatically switches to automatic boat when ship shift position is close to desired locations Row mode drives ship's navigation by automatic control unit and reaches desired locations.
2. the scientific investigation ship according to claim 1 with Beidou differential signal dynamic positioning system, it is characterized in that: described fast Fast compensation adjustment system includes a signal detection list for being used to detect measuring system information parameter stability being connected with controller Member, one automatically generates the track generation unit of track curve graph, and the track generation unit generates track plot information and passes through Controller is sent to display.
3. the scientific investigation ship according to claim 1 with Beidou differential signal dynamic positioning system, it is characterized in that: described push away Power distribution system includes the parameter identification module of track curve data for identification, and what is be connected with controller is used to identify parameter The parameter information of module identification is handled and generates the thrust distribution module of corresponding control force signal, and the thrust distributes mould Block is connect with each main thruster and side propeller signal.
4. the scientific investigation ship according to claim 1 with Beidou differential signal dynamic positioning system, it is characterized in that: the hand Dynamic 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 Shift simulation input unit is connect with controller signals, further includes one when manual joystick is defeated by the simulation of displacement signal input displacement Controller is sent a signal to when entering unit, the automatic control mode that controller sends pause signal to automatic control unit switches mould Block, the automatic control mode switching module are connect with controller signals.
5. the scientific investigation ship according to claim 1 with Beidou differential signal dynamic positioning system, it is characterized in that: it is described from Dynamic control unit includes moving parameter input module, and it further includes one that the moving parameter input module is connect with controller signals Send a signal to controller when moving parameter is input to parameter input module, controller sends pause signal to manually controlling list The MANUAL CONTROL mode switching module of member, the MANUAL CONTROL mode switching module are connect with controller signals.
6. the scientific investigation ship according to claim 1 with Beidou differential signal dynamic positioning system, it is characterized in that: the survey Amount system includes that one connect respectively with controller signals is used to acquire gyro compass of the ship bow to signal, and one for acquiring ship The anemoclinograph of local environment wind direction and wind velocity signal, one for providing the dynamic pickup of Ship dynamic situation reference signal, and one uses In the Differential Global Positioning System for receiving satellite positioning signal, one for determining the acoustic positioning system of water-flow signal.
CN201910394789.6A 2019-05-13 2019-05-13 A kind of scientific investigation ship with Beidou differential signal dynamic positioning system Pending CN110294074A (en)

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Application Number Priority Date Filing Date Title
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101872195A (en) * 2010-06-21 2010-10-27 哈尔滨工程大学 Path deviation generation analysis method for ship at sea
CN103411609A (en) * 2013-07-18 2013-11-27 北京航天自动控制研究所 Online composition based aircraft return route programming method
CN103576555A (en) * 2013-11-14 2014-02-12 哈尔滨工程大学 Path tracking guiding control method of dynamic positioning ship
CN103777635A (en) * 2014-01-13 2014-05-07 哈尔滨工程大学 Robust self-adaptive track tracking control system for dynamic positioning vessel
CN107422344A (en) * 2017-08-10 2017-12-01 广州中船文冲船坞有限公司 Support the scientific investigation ship power positioning system structure of bathyscaph
CN108663235A (en) * 2018-04-13 2018-10-16 国家海洋局第海洋研究所 Realize scientific investigation ship of the boat process to deep-sea superficial water continuous sampling

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101872195A (en) * 2010-06-21 2010-10-27 哈尔滨工程大学 Path deviation generation analysis method for ship at sea
CN103411609A (en) * 2013-07-18 2013-11-27 北京航天自动控制研究所 Online composition based aircraft return route programming method
CN103576555A (en) * 2013-11-14 2014-02-12 哈尔滨工程大学 Path tracking guiding control method of dynamic positioning ship
CN103777635A (en) * 2014-01-13 2014-05-07 哈尔滨工程大学 Robust self-adaptive track tracking control system for dynamic positioning vessel
CN107422344A (en) * 2017-08-10 2017-12-01 广州中船文冲船坞有限公司 Support the scientific investigation ship power positioning system structure of bathyscaph
CN108663235A (en) * 2018-04-13 2018-10-16 国家海洋局第海洋研究所 Realize scientific investigation ship of the boat process to deep-sea superficial water continuous sampling

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