CN110525602A - A kind of ship track speed of a ship or plane integrated planning method - Google Patents
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Abstract
A kind of ship track speed of a ship or plane integrated planning method, it is characterized in that, include the following steps, 1) system is monitored using ship oil consumption, the instantaneous fuel consumption data of ship is collected, including the data such as accommodation report in all previous navigation, and initial data is cleaned, the data of mistake or the data of inaccuracy are removed, the instantaneous oil consumption navigation large database concept of ship is established；2) using the attribute reduction theory and dependency degree algorithm in rough set, or cluster and decision tree analysis method, from the affecting parameters such as wind, wave, stream, finding influences most important correlated variables to oil consumption；3) the instantaneous oil consumption model for extracting ship, finds the relationship between the navigation environments parameter such as ship oil consumption and wind, wave, stream, ship's speed；The route optimization method that invention proposes both had considered safety of ship avoidance, the operating conditions of equipment such as also comprehensive marine main engine, marine auxiliary and sea going environment influence to consider the energy conservation etc. of ship, guarantee that ship farthest adapts to complicated sea situation and navigation environment.
Description
Technical field
The present invention relates to ship's navigation control field more particularly to a kind of ship track optimization methods.
Background technique
Ship track, which is planned, directly affects the energy consumption level of ship, ship at sea course line, since maritime environment is changeable, such as
Fruit is navigated by water according to constant course line, and it is excessive to will lead to oil consumption.With the continuous development of shipping business, shipowner plans ship track
Requirement it is more and more tighter, traditional trajectory planning technology only meets security of shipping needs.And most according to ship power design
Excellent course line has biggish engineering significance, ship's navigation can be made to achieve the effect that most economical, on this basis ship track
Dynamic Programming be conducive to shipping expanding economy, resource makes full use of.
With the fast development of domestic and international shipping business, the efficiency problem in operation of ship is increasingly taken seriously.In reality
Shipping during, since there is direct relations all between fuel consumption for the factors such as wind speed, wave, to influence ship
The trajectory planning of oceangoing ship, but the complexity and shipowner due to ship efficiency problem itself consider from operation efficiency, to ship track
Dynamic adjustment it is usually ignored.
The present invention is most short from voyage, energy consumption is minimum and the angle of safe avoidance is designed ship overall situation track optimization,
It is proposed the ship path planning for the purpose of maximum energy conservation.First with existing ships data collection network, based on navigation ring
The border factor establishes Ship dynamic situation oil consumption model, and then on the basis of oil consumption model, for wave wind in specific navigation area
The features such as power use ant group algorithm to cook up a navigation energy consumption in marine environment for ship minimum and be capable of safe avoidance
Track is a kind of track that can be changed in real time according to the variation of maritime environment, and can dynamically adjust in ship's navigation, compares mesh
Preceding route design method has stronger superiority.
Summary of the invention
The present invention is difficult to take the status of energy factor into account in spot ship trajectory planning to overcome, and provides a kind of navigation
In to track carry out dynamic optimization method.
To achieve the goals above, the invention adopts the following technical scheme:
1) system is monitored using ship oil consumption, collects the instantaneous fuel consumption data of ship, including the number such as accommodation report in all previous navigation
According to, and initial data is cleaned, the data of mistake or the data of inaccuracy are removed, it is big to establish the instantaneous oil consumption navigation of ship
Database；The large database concept both includes marine main engine, the main fuel consumption values of ship ancillary equipment and other equipment, while including shadow
Ring the navigation condition of oil consumption, Ship Types and structure, charging burden, route speed, ship status, sea area wind, wave, flow data
Deng.
In data acquisition, in order to guarantee the instantaneity of oil consumption monitoring data, using the sensor device net based on zigbee
Network, the difference of acquisition precision and frequency for various monitoring parameters, in each acquisition node temperature collection, pressure, flow etc.
When signal gathering is to gateway node, the consistency of node time ensure that using the Time synchronization technique of ad hoc network, make instantaneous oil
The monitoring of consumption is gone on smoothly.
2) the attribute reduction theory and dependency degree algorithm in rough set, or cluster and decision tree analysis method are utilized, from
In the affecting parameters such as wind, wave, stream, finding influences most important correlated variables to oil consumption；
For the stronger variable of effect that influences each other in above-mentioned variable, further according to the interaction building group between variable
Variable is closed, including combination water (i.e. the product of the depth of water and flow velocity), projection wind (i.e. the wind speed projection components upward in ship) etc., thus
Obtaining influences bigger variable parameter on oil consumption.
3) extract ship instantaneous oil consumption model, find the navigation environments such as ship oil consumption and wind, wave, stream, ship's speed parameter it
Between relationship.
According to ship, machine, paddle matching relationship, engine speed and oil consumption are corresponding relationships three times, therefore, extract ship oil
When consuming model, model is established based on cubic fit, into other navigation environment factors are introduced, it is instantaneous to establish accurate ship
Oil consumption model.
In order to further increase ship oil consumption model accuracy, on the basis of extracting host oil consumption model, further consider
The stronger parameters of the degrees of association such as the influence of the environmental factor and other factors of navigation, including engine speed, the speed of a ship or plane, suitable contrary wind,
It simultaneously also include that parameters, these parameters such as the little course of the degree of association, air pressure, temperature, weather, wind direction wind scale, unrestrained grade are counted together
Enter the instantaneous oil consumption model of ship.
4) according to sea chart situation, marine environment is modeled using Grid Method, environmental information is evenly dividing into certain
Barrier on sea chart and navigable waters are encoded with 0 and 1 and are defined grid attribute, and then completed by the two-dimensional grid of size
Marine environment modeling.
5) Raster Data Model in sea area is modified in the influence according to factors such as wind, waves to ship's navigation oil consumption.In each grid
The wave amplitude of the wave of storage, the flow velocity of ocean current, the wind speed of sea wind and the information such as their direction and obstruction position are as grid
The attribute of lattice；These attributes, which are updated to, can be obtained the oil consumption appraising model that ship passes through the grid in instantaneous oil consumption model
(model is corrected on the corresponding relationship three times in engine speed and oil consumption)；Ship motion mathematical model is recycled,
The ship speed and fuel consumption values under the conditions of grid stormy waves can be obtained；Consider navigation environment to the void of energy consumption to obtain
Quasi- Raster Data Model, is a kind of dynamic grid.
6) the dummy grid model based on sea area utilizes improved ant colony algorithm for optimization design track.In the information of ant group algorithm
The influences of the factors to ship's navigation oil consumption such as wind, wave are added in updating in element；In the iteration of algorithm, consumption information element is carried out excellent
Change selection, the pheromones maximum path left can represent the optimal ship path of energy consumption.
In the sea area grid of foundation, the attribute of the speed and direction of wind as grid is stored inside each grid, when
When ship is by capable so far grid, real-time ship's navigation operating condition grid is obtained in conjunction with itself navigational parameter and grid attribute, into
And influence of the operating condition factor to ship's navigation oil consumption is added in Path Planning.
The rule of each iteration of ant group algorithm is operated to pheromones, after algorithm, leaves a pheromones most
Operating condition dynamic oil consumption model Y is added in big path that is, in the update of pheromonesm, in t moment, the initialization and work of pheromones
Condition association, for having on any grid i to the path of grid j:
τij(t)=1- μj(t)
Wherein μjIt (t) is influence degree of the t moment grid j by operating condition, with YmIt is proportional, due to YmThere are threshold values, because
This μj(t) there are the upper limitsThat is τijThere are lower limits, work as τijOur regulation grid j are operating condition grids when less than lower limit, at this time from grid
Lattice j is by being excessive fuel consumption, therefore operating condition grid j is from allowkIt is deleted in set.
Operating condition dynamic oil consumption model Y is introduced based on above-mentionedm, therefore in the algorithm, it also to be done from transition probability between grid
Modification, and then Ship's Optimum Route is planned based on ant group algorithm, guarantee that ship navigates by water under relatively high efficiency.The track optimization is calculated
Method process is as shown in Figure 2.
Compared with prior art the beneficial effects obtained by the present invention are as follows being:
1. route optimization method proposed by the present invention had both considered safety of ship avoidance, also comprehensive marine main engine, marine auxiliary
Etc. the operating condition of equipment and sea going environment influence to consider the energy conservation etc. of ship, guarantee that ship farthest adapts to
Complicated sea situation and navigation environment.
2. it is based on the instantaneous fuel consumption data of ship, be extracted dynamic oil consumption model and is applied in steamer line optimization, it can root
Optimize track according to the variation of maritime environment, achievees the effect that real-time optimization.
3. in trajectory planning, influence according to factors such as wind, waves to ship's navigation oil consumption, constructing a kind of has dynamic
The sea area Raster Data Model of oil consumption attribute, improves the function of trajectory planning.
Detailed description of the invention
Fig. 1 is ship track oil consumption program schematic diagram；
Fig. 2 is ant group algorithm programme diagram；
Fig. 3 is sea area Raster Data Model schematic diagram.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Global path planning methods most of at present be one is searched out in global context model being capable of avoidance and voyage
Shortest track, influence of few analysis energy consumptions to global trajectory planning.It to be designed most in complicated marine environment for ship
Ship motion mathematical model and Ship dynamic situation oil consumption model can be established or be extracted in the ship path of low energy consumption, thus from voyage
The angle most short, energy consumption is minimum optimizes global track problem.
1) system is monitored using ship oil consumption, collects the instantaneous fuel consumption data of ship, including the number such as accommodation report in all previous navigation
According to, and initial data is cleaned, the data of mistake or the data of inaccuracy are removed, it is big to establish the instantaneous oil consumption navigation of ship
Database；The large database concept both includes marine main engine, the main fuel consumption values of ship ancillary equipment and other equipment, while including shadow
Ring the navigation condition of oil consumption, Ship Types and structure, charging burden, route speed, ship status, sea area wind, wave, flow data
Deng.
In data acquisition, in order to guarantee the instantaneity of oil consumption monitoring data, using the sensor device net based on zigbee
Network, the difference of acquisition precision and frequency for various monitoring parameters, in each acquisition node temperature collection, pressure, flow etc.
When signal gathering is to gateway node, the consistency of node time ensure that using the Time synchronization technique of ad hoc network, make instantaneous oil
The monitoring of consumption is gone on smoothly.
2) the attribute reduction theory and dependency degree algorithm in rough set, or cluster and decision tree analysis method are utilized, from
In the affecting parameters such as wind, wave, stream, finding influences most important correlated variables to oil consumption；
For the stronger variable of effect that influences each other in above-mentioned variable, further according to the interaction building group between variable
Variable is closed, including combination water (i.e. the product of the depth of water and flow velocity), projection wind (i.e. the wind speed projection components upward in ship) etc., thus
Obtaining influences bigger variable parameter on oil consumption.
3) extract ship instantaneous oil consumption model, find the navigation environments such as ship oil consumption and wind, wave, stream, ship's speed parameter it
Between relationship.
According to ship, machine, paddle matching relationship, engine speed and oil consumption are corresponding relationships three times, therefore, extract ship oil
When consuming model, model is established based on cubic fit, into other navigation environment factors are introduced, it is instantaneous to establish accurate ship
Oil consumption model.
4) according to sea chart situation, marine environment is modeled using Grid Method, environmental information is evenly dividing into certain
The two-dimensional grid of size, and space environment modeling is completed by defining grid.
Marine environment is modeled using Grid Method according to geographical sea chart, Environmental Map Information is evenly dividing into certain
The two-dimensional grid of size, and space environment modeling is completed by defining grid.Ship need round-trip position 1. with position 2..In
Rasterizing processing is carried out on the basis of this marine environment, the square matrix grid of 50*50 is established and rasterizing obtains 2500 grids, is advised
If it is island, then the grid is obstacle grid to each fixed grid center of a lattice, is then free grid, free grid if it is sea area
Lattice become operating condition grid under the influence of operating condition.Fig. 3 is the example of sea area grid, and Fig. 3 a is sea chart geographical environment, and Fig. 3 b is
Sea area geography grid, Fig. 3 c are the models for being added to operating condition grid.
5) Raster Data Model in sea area is modified in the influence according to factors such as wind, waves to ship's navigation oil consumption, in each grid
The wave amplitude of the wave of storage, the flow velocity of ocean current, the wind speed of sea wind and the information such as their direction and obstruction position are as grid
The attribute of lattice；These attributes, which are updated to, can be obtained the oil consumption appraising model that ship passes through the grid in instantaneous oil consumption model；
Ship motion mathematical model is recycled, the ship speed and fuel consumption values under the conditions of grid stormy waves can be obtained；It is examined to obtain
Navigation environment is considered to the dummy grid model of energy consumption, is a kind of dynamic grid, is a kind of dynamic grid model.
In Raster Data Model, stored in each grid wave wave amplitude, ocean current flow velocity, sea wind wind speed and their direction with
And attribute of the information such as obstruction position as grid.By taking wind factor as an example, certain letter is first carried out to ship dynamics model
Change, the affecting laws of wind factor are established based on ship motion mathematical model.
The influences of the factors to ship's navigation oil consumption such as wind, wave are added, obtain the Raster Data Model for considering stormy waves, and then
Navigation energy consumption model is established according to the influence degree of the navigation environment factor.
In oil consumption dynamic model, it is to correspond to empirical equation three times based on the speed of a ship or plane and oil consumption, environmental factor is further added
Influence modify model to reaching close to true purpose, influence relationship is quantified and is added to the expression formula of oil consumption model
In:
Yi=f (xi)+β2Pi+β3Ri+β4Ii+β5Wi+β6Bi+εiI=1,2,3 ...
Y in formulamIndicate oil consumption, S is speed of the ship in metres per second；α is the influence coefficient of wind factor, and W is projection wind；γ is the pitch factor
Influence coefficient, P is pitch；ξ is the influence coefficient of the rudder angle factor, and R is rudder angle；η is the influence coefficient of the draft factor, I
For draft.Due to introducing operating condition dynamic oil consumption model Ym, therefore ant goes to the probability of grid j from grid i
It makes an amendment.It is modifiedAre as follows:
6) based on the Raster Data Model in sea area, it is based on improved ant colony algorithm for optimization design track.I.e. in the pheromones of ant group algorithm
The influences of the factors to ship's navigation oil consumption such as wind, wave are added in update；In the iteration of algorithm, consumption information element is optimized
Selection, the pheromones maximum path left can represent the optimal ship path of energy consumption.
Due to YmThere are a threshold values, threshold values will be exceeded when operating condition reaches a certain degree, there are when this operating condition
Other course lines will be sought in the hope of changing operating condition to reduce oil consumption.Therefore, it in ant group algorithm, is added and introduces operating condition influence
The oil consumption model of coefficient, YmRegard a dynamic obstacle grid as, when there are operating conditions to exceed YmThreshold values when, trigger obstacle grid
The generation of lattice forces ant to change route, i.e. ship changes track.
It is associated in the initialization of t moment, pheromones with operating condition, for having on any grid i to the path of grid j:
τij(t)=1- μj(t)
Wherein μjIt (t) is influence degree of the t moment grid j by operating condition, with YmIt is proportional, due to YmThere are threshold values, because
This μj(t) there are the upper limitsThat is τijThere are lower limits, work as τijOur regulation grid j are operating condition grids when less than lower limit, at this time from grid
Lattice j is by being excessive fuel consumption, therefore operating condition grid j is from allowkIt is deleted in set.
Operating condition dynamic oil consumption model Y is introduced based on above-mentionedm, therefore in the algorithm, it also to be done from transition probability between grid
Modification, and then Ship's Optimum Route is planned based on ant group algorithm, guarantee that ship navigates by water under relatively high efficiency.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of ship track speed of a ship or plane integrated planning method, which is characterized in that include the following steps,
1) system is monitored using ship oil consumption, collects the instantaneous fuel consumption data of ship, including the data such as accommodation report in all previous navigation, and
Initial data is cleaned, the data of mistake or the data of inaccuracy are removed, establishes the instantaneous oil consumption navigation big data of ship
Library；
2) using the attribute reduction theory and dependency degree algorithm in rough set, or cluster and decision tree analysis method, from wind,
In the affecting parameters such as wave, stream, finding influences most important correlated variables to oil consumption；
For the stronger variable of effect that influences each other in above-mentioned variable, further become according to the interaction building combination between variable
Amount, including combination water (i.e. the product of the depth of water and flow velocity), projection wind (i.e. the wind speed projection components upward in ship) etc., to obtain
Bigger variable parameter is influenced on oil consumption.
3) the instantaneous oil consumption model for extracting ship, finds between the navigation environments parameter such as ship oil consumption and wind, wave, stream, ship's speed
Relationship；
4) according to sea chart situation, marine environment is modeled using Grid Method, environmental information is evenly dividing into certain size
Two-dimensional grid, and by define grid attribute come complete space environment modeling；
5) Raster Data Model in sea area is modified in the influence according to factors such as wind, waves to ship's navigation oil consumption, is stored in each grid
The wave amplitude of wave, the flow velocity of ocean current, the wind speed of sea wind and the information such as their direction and obstruction position as grid
Attribute；These attributes, which are updated to, can be obtained the oil consumption appraising model that ship passes through the grid in instantaneous oil consumption model；It is sharp again
With ship motion mathematical model, ship speed and fuel consumption values under the conditions of grid stormy waves can be obtained；To show that consideration is logical
Environment navigate to the dummy grid model of energy consumption, is a kind of dynamic grid, is a kind of dynamic grid model.
6) based on the Raster Data Model in sea area, it is based on improved ant colony algorithm for optimization design track, i.e., in the Pheromone update of ant group algorithm
The influences of the factors to ship's navigation oil consumption such as middle addition wind, wave；In the iteration of algorithm, choosing is optimized to consumption information element
It selects, the pheromones maximum path left can represent the optimal ship path of energy consumption.
2. ship track speed of a ship or plane integrated planning method as described in claim 1, which is characterized in that acquired in the data of step 1)
In, in order to guarantee the instantaneity of oil consumption monitoring data, using the sensor device network based on zigbee, for various monitoring parameters
Acquisition precision and frequency difference, in signal gatherings such as each acquisition node temperature collection, pressure, flows to gateway node
When, it ensure that the consistency of node time using the Time synchronization technique of ad hoc network, go on smoothly the monitoring of instantaneous oil consumption.
3. ship track speed of a ship or plane integrated planning method as described in claim 1, which is characterized in that in the instantaneous of step 3) ship
Oil consumption method for establishing model is as follows: according to ship, machine, paddle matching relationship, engine speed and oil consumption are corresponding relationships three times, because
This establishes model based on cubic fit when extracting ship oil consumption model, into other navigation environment factors are introduced, establishes more
The instantaneous oil consumption model of accurate ship.
4. ship track speed of a ship or plane integrated planning method as described in claim 1, which is characterized in that use grid described in step 4)
The method that method models marine environment is as follows:
Marine environment is modeled using Grid Method according to geographical sea chart, Environmental Map Information is evenly dividing into certain size
Two-dimensional grid, and by define grid come complete space environment modeling.Ship need round-trip position 1. with position 2..It is extra large herein
On the basis of the environment of domain carry out rasterizing processing, establish 50 × 50 square matrix grid and rasterizing obtain 2500 grids, it is specified that
If it is island, then the grid is obstacle grid to each grid center of a lattice, is then free grid, free grid if it is sea area
Operating condition grid is become under the influence of operating condition.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111829524A (en) * | 2020-07-16 | 2020-10-27 | 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） | Navigation task planning method and device and electronic equipment |
| CN111914051A (en) * | 2020-08-03 | 2020-11-10 | 中国电子科技集团公司第二十八研究所 | Flight path text description generation method based on geographical grid and neural network |
| CN112254720A (en) * | 2020-10-15 | 2021-01-22 | 哈尔滨工程大学 | Natural energy driven robot route planning method considering wind energy capture |
| CN112550592A (en) * | 2020-11-20 | 2021-03-26 | 哈尔滨工程大学 | Data-driven ship energy consumption prediction method |
| CN113433934A (en) * | 2021-04-27 | 2021-09-24 | 武汉海兰鲸科技有限公司 | Method for optimizing navigational speed of commercial ship |
| CN115660137A (en) * | 2022-09-07 | 2023-01-31 | 中远海运科技股份有限公司 | Method for accurately estimating wind wave navigation energy consumption of ship |
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| CN113433934A (en) * | 2021-04-27 | 2021-09-24 | 武汉海兰鲸科技有限公司 | Method for optimizing navigational speed of commercial ship |
| CN113433934B (en) * | 2021-04-27 | 2022-04-12 | 武汉海兰鲸科技有限公司 | Method for optimizing navigational speed of commercial ship |
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| CN115660137B (en) * | 2022-09-07 | 2023-08-11 | 中远海运科技股份有限公司 | Accurate estimation method for wind wave navigation energy consumption of ship |
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