CN110764080B - Pilot-follow ship formation target detection method in ship lock based on millimeter-wave radar - Google Patents
Pilot-follow ship formation target detection method in ship lock based on millimeter-wave radar Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于水路交通领域，具体涉及一种基于毫米波雷达的船闸内领航-跟随船舶编队目标检测方法。The invention belongs to the field of waterway traffic, and in particular relates to a detection method for a pilot-following ship formation target in a ship lock based on a millimeter-wave radar.
背景技术Background technique
自三峡船闸通航以来，随着我国经济的高速高质量发展，水运货运量急速增长，过闸货运量持续增加，过闸船舶积压越来越普遍，平均船舶待闸时间也在逐年增加。领航-跟随船舶编队协同过闸是提升船舶过闸效率的重要举措，而如何获取编队内船舶之间的运动状态(相对运动速度和方向)是实现编队控制的基础。三峡-葛洲坝船舶闸室最大水位落差通常能达到20多米，低水位时GNSS信号十分微弱，很难通过GNSS定位实现船舶间的运动状态感知；采用室内定位技术又存在信号遮挡和高成本问题。Since the opening of the Three Gorges Ship Lock, with the high-speed and high-quality development of my country's economy, the volume of waterborne freight has increased rapidly, and the volume of freight passing the lock has continued to increase. The backlog of ships passing the lock has become more and more common, and the average waiting time of ships is also increasing year by year. Piloting-following the formation of ships to pass through the locks is an important measure to improve the efficiency of ships passing through the locks, and how to obtain the state of motion (relative speed and direction) between ships in the formation is the basis for realizing formation control. The maximum water level drop of the Three Gorges-Gezhouba ship lock chamber can usually reach more than 20 meters. When the water level is low, the GNSS signal is very weak, and it is difficult to realize the movement state perception between ships through GNSS positioning; indoor positioning technology also has problems of signal blocking and high cost.
发明内容Contents of the invention
本发明要解决的技术问题是：提供一种基于毫米波雷达的船闸内领航-跟随船舶编队目标检测方法，能够对船闸内跟随船前方领航船进行准确追踪。The technical problem to be solved by the present invention is to provide a millimeter-wave radar-based detection method for the pilot-following ship formation target in the lock, which can accurately track the leading ship in front of the follow-up ship in the lock.
本发明为解决上述技术问题所采取的技术方案为：一种基于毫米波雷达的船闸内领航-跟随船舶编队目标检测方法，其特征在于：用于跟随船，包括以下步骤：The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a pilot-following ship formation target detection method in a ship lock based on millimeter-wave radar, which is characterized in that: it is used to follow the ship, comprising the following steps:
S1、信息获取：S1. Information acquisition:
1个长距离毫米波雷达获取船舶正前方的障碍物信息；3个短距离毫米波雷达分别安装在船头左侧、船头右侧和船尾中线位置，获取船舶左右两侧及后方的障碍物信息；获取船舶首向与闸室方向的夹角；One long-range millimeter-wave radar obtains obstacle information directly in front of the ship; three short-range millimeter-wave radars are installed on the left side of the bow, the right side of the bow, and the midline of the stern to obtain obstacle information on the left, right and rear of the ship Information; obtain the angle between the heading of the ship and the direction of the lock chamber;
S2、障碍物区分：S2. Obstacle distinction:
根据不同材质反射率不同这一特性，区分毫米波雷达接收到的目标是闸壁、领航船、跟随船或其它干扰物；According to the characteristic of different reflectivity of different materials, it is distinguished that the target received by the millimeter-wave radar is the lock wall, the pilot ship, the follower ship or other interference objects;
S3、对没有探测到领航船的雷达进行约束角度处理；S3. Perform constraint angle processing on radars that do not detect the pilot ship;
S4、根据S1获取的信息，识别不同情境，计算出前方领航船与本船的相对距离、本船距离左右两侧闸壁的距离、本船距离后方障碍物的距离；S4. According to the information obtained in S1, different situations are identified, and the relative distance between the leading ship in front and the own ship, the distance between the own ship and the gate walls on the left and right sides, and the distance between the own ship and the rear obstacle are calculated;
S5、根据S4得到的结果，判断继续航行是否有碰撞的危险或者出现丢失目标的可能性。S5. According to the result obtained in S4, it is judged whether there is a danger of collision or a possibility of losing the target in the continuation of the voyage.
按上述方案，S1具体通过罗经获取船舶首向与闸室方向的夹角。According to the above scheme, S1 obtains the included angle between the heading of the ship and the direction of the lock chamber through the compass.
按上述方案，S1在用毫米波雷达获取障碍物信息时，采取最大探测角度的策略探知周围的目标，分析每个毫米波雷达返回的目标信息。According to the above scheme, when S1 uses the millimeter-wave radar to obtain obstacle information, it adopts the strategy of maximum detection angle to detect the surrounding targets, and analyzes the target information returned by each millimeter-wave radar.
按上述方案，S2中，通过对比反射率和反射面积，来区分接收到的目标。According to the above solution, in S2, the received targets are distinguished by comparing the reflectivity and reflective area.
按上述方案，S4中，所述的不同情境包括：According to the above scheme, in S4, the different scenarios described include:
情景1：本船前进方向与闸壁方向一致，即船舶相对于闸室的前进方向的夹角为0°；装在船头的长距离毫米波雷达监测到前船的距离为d1角度为到两边闸壁的距离为d2、d3，到后方闸室的距离为d4；参数计算如下：Scenario 1: The forward direction of the ship is consistent with the direction of the lock wall, that is, the angle between the ship and the forward direction of the lock chamber is 0°; the long-distance millimeter-wave radar installed on the bow monitors the distance to the forward ship is d 1 angle is The distance to the two sides of the gate wall is d 2 , d 3 , and the distance to the rear lock chamber is d 4 ; the parameters are calculated as follows:
式中，c1为本船到领航船的相对距离，即本船与领航船的直线距离在船舶编队整体前进方向的投影；In the formula, c1 is the relative distance from the own ship to the pilot ship, that is, the projection of the straight-line distance between the own ship and the pilot ship in the overall forward direction of the ship formation;
情景2：本船航线发生较大偏移，即领航船处于跟随船船头的长距离毫米波雷达检测的盲区，但被一侧的短距离毫米波雷达所检测到，且其前进方向与闸壁方向不一致，船舶相对于闸室的前进方向的夹角为ψ，装在船左侧的短距离毫米波雷达监测到前船的距离为d2、角度为右侧的短距离毫米波雷达测得的障碍物距离为d3，后方障碍物距离为d4；参数计算如下：Scenario 2: The course of the own ship deviates greatly, that is, the pilot ship is in the blind spot detected by the long-distance millimeter-wave radar following the bow of the ship, but it is detected by the short-distance millimeter-wave radar on one side, and its heading direction is the same as that of the lock wall. The direction is inconsistent, the angle between the ship and the forward direction of the lock chamber is ψ, the distance from the short-range millimeter-wave radar installed on the left side of the ship to the ship in front is d 2 , and the angle is The obstacle distance measured by the short-range millimeter-wave radar on the right is d 3 , and the rear obstacle distance is d 4 ; the parameters are calculated as follows:
b2＝d3cosψ (4)b 2 =d 3 cosψ (4)
b4＝b2+lsinψ (5)b 4 =b 2 +lsinψ (5)
b1＝W-b2-wcosψ (6)b 1 =Wb 2 -wcosψ (6)
b3＝W-b4-wcosψ (7)b 3 =Wb 4 -wcosψ (7)
式中，c1为本船到领航船的相对距离，c2为本船到后面跟随船的相对距离，b1为本船左前端到左端闸壁的距离，b2为本船右前端到右端闸壁的距离，b3为本船左后端到左端闸壁的距离，b4为本船右后端到左端闸壁的距离，W为闸室的宽度，w、l分别为本船的宽度和长度；In the formula, c 1 is the relative distance from the own ship to the pilot ship, c 2 is the relative distance from the own ship to the following ship, b 1 is the distance from the left front end of the own ship to the left lock wall, b 2 is the distance from the right front end of the own ship to the right lock wall distance, b 3 is the distance from the left rear end of the own ship to the left end lock wall, b 4 is the distance from the right rear end of the own ship to the left end lock wall, W is the width of the lock chamber, w and l are the width and length of the own ship respectively;
情景3：本船航线发生较大偏移，前进方向与闸壁方向不一致，船舶相对于闸室的前进方向的夹角为ψ，装在船右侧的短距离毫米波雷达监测到前船的距离为d3角度为左侧的短距离毫米波雷达测得的障碍物距离为d2，后方障碍物距离为d4；参数计算如下：Scenario 3: The course of the ship has a large deviation, and the direction of advancement is inconsistent with the direction of the lock wall. The angle between the direction of the ship and the direction of the lock chamber is ψ. The short-range millimeter-wave radar installed on the right side of the ship monitors the distance to the ship in front. is d 3 angles are The obstacle distance measured by the short-range millimeter-wave radar on the left is d 2 , and the rear obstacle distance is d 4 ; the parameters are calculated as follows:
b1＝d2cosψ (10)b 1 =d 2 cosψ (10)
b3＝b1+lsinψ (11)b 3 =b 1 +lsinψ (11)
b2＝W-b1-wcosψ (12)b 2 =Wb 1 -wcosψ (12)
b4＝W-b3-wcosψ (13)b 4 =Wb 3 -wcosψ (13)
式中，c1、c2、b1、b2、b3、b4、W、w、l参数定义与情景2相同；In the formula, the definitions of c 1 , c 2 , b 1 , b 2 , b 3 , b 4 , W, w, l are the same as those in Scenario 2;
情景4：本船航线发生少量偏移，即领航船可以被跟随船船头的长距离毫米波雷达检测到，但其前进方向与闸壁方向不一致，装在船正中的罗经显示船舶相对于闸室的前进方向的夹角为ψ，装在船正前方的长距离毫米波雷达监测到前船的距离为d1角度为右侧的短距离毫米波雷达测得的障碍物距离为d3，后方障碍物距离为d4；参数计算如下：Scenario 4: There is a small deviation in the course of the ship, that is, the pilot ship can be detected by the long-distance millimeter-wave radar at the bow of the following ship, but its advancing direction is inconsistent with the direction of the lock wall, and the compass installed in the middle of the ship shows that the ship is relative to the lock chamber The angle between the forward direction of the ship is ψ, the distance from the long-distance millimeter-wave radar installed directly in front of the ship to the ship in front is d, and the angle of 1 is The obstacle distance measured by the short-range millimeter-wave radar on the right is d 3 , and the rear obstacle distance is d 4 ; the parameters are calculated as follows:
b2＝d3cosψ (16)b 2 =d 3 cosψ (16)
b4＝b2-lsinψ (17)b 4 =b 2 -lsinψ (17)
b1＝W-b2-wcosψ (18)b 1 =Wb 2 -wcosψ (18)
b3＝W-b4-wcosψ (19)b 3 =Wb 4 -wcosψ (19)
式中，c1、c2、b1、b2、b3、b4、W、w、l参数与情景2相同。In the formula, the c 1 , c 2 , b 1 , b 2 , b 3 , b 4 , W, w, l parameters are the same as in Scenario 2.
按上述方案，本方法还包括S7：若未检测到领航船目标，则重新进行S1-S6。According to the above scheme, the method also includes S7: if no pilot ship target is detected, re-execute S1-S6.
按上述方案，本方法还包括S8：如果多次重复检测均不能发现领航船目标，则定义为目标追踪失败，根据船舶首向与闸室方向的夹角矫正船舶的航行角度，然后再检测。According to the above scheme, this method also includes S8: If the pilot ship target cannot be found after repeated detection, it is defined as target tracking failure, and the navigation angle of the ship is corrected according to the angle between the ship's heading and the direction of the lock chamber, and then the detection is performed.
本发明的有益效果为：采用毫米波雷达，适用于闸室内船舶编队目标检测，具有成本低、可靠性高等优势，避免了使用传统定位装置(如GPS、北斗等)在闸室特殊环境内出现定位不准和室内定位成本高的缺点；采用的通过区分反射率判断障碍物类别的方式，结合毫米波雷达的探测模式，可以较好的区分测得的障碍物是来自船舶还是来自闸壁；通过雷达探测角度约束的方式，可以排除其他障碍物信息，减少识别难度；所使用的坐标变换公式较为简单，不会造成较大的误差。The beneficial effects of the present invention are: the use of millimeter-wave radar is suitable for ship formation target detection in the lock room, and has the advantages of low cost and high reliability, and avoids the use of traditional positioning devices (such as GPS, Beidou, etc.) in the special environment of the lock room. The shortcomings of inaccurate positioning and high cost of indoor positioning; the method of judging the obstacle type by distinguishing the reflectivity, combined with the detection mode of the millimeter-wave radar, can better distinguish whether the measured obstacle is from the ship or from the lock wall; Through radar detection angle constraints, other obstacle information can be excluded, reducing the difficulty of identification; the coordinate transformation formula used is relatively simple and will not cause large errors.
附图说明Description of drawings
图1为本发明一实施例安装结构及雷达测量区域示意图。FIG. 1 is a schematic diagram of an installation structure and a radar measurement area according to an embodiment of the present invention.
图2为毫米波雷达测量视角盲区类型一示意图。Fig. 2 is a schematic diagram of the measurement angle blind zone type 1 of the millimeter-wave radar.
图3为毫米波雷达测量视角盲区类型二示意图。Fig. 3 is a schematic diagram of the second type of blind area of the measurement angle of view of the millimeter-wave radar.
图4为本发明实际使用中出现情景1示意图。FIG. 4 is a schematic diagram of Scenario 1 in the actual use of the present invention.
图5为本发明实际使用中出现情景2示意图。FIG. 5 is a schematic diagram of Scenario 2 in the actual use of the present invention.
图6为本发明实际使用中出现情景3示意图。Fig. 6 is a schematic diagram of scenario 3 in the actual use of the present invention.
图7为本发明实际使用中出现情景4示意图。FIG. 7 is a schematic diagram of Scenario 4 in the actual use of the present invention.
图中：1-领航船，2-本船，3-长距离毫米波雷达，4-短距毫米波雷达，5-罗经。In the figure: 1-pilot ship, 2-own ship, 3-long-range millimeter-wave radar, 4-short-range millimeter-wave radar, 5-compass.
具体实施方式Detailed ways
下面结合具体实例和附图对本发明做进一步说明。The present invention will be further described below in conjunction with specific examples and accompanying drawings.
本发明提供一种基于毫米波雷达的船闸内领航-跟随船舶编队目标检测方法，如图1所示，用于跟随船，包括以下步骤：The present invention provides a pilot-following ship formation target detection method in a ship lock based on millimeter-wave radar, as shown in Figure 1, for following the ship, comprising the following steps:
S1、信息获取：S1. Information acquisition:
1个长距离毫米波雷达3获取船舶正前方的障碍物信息；3个短距离毫米波雷达4分别安装在船头左侧、船头右侧和船尾中线位置，获取船舶左右两侧及后方的障碍物信息；通过设置在本船2正中间的罗经5获取船舶首向与闸室方向的夹角。One long-distance millimeter-wave radar 3 obtains obstacle information directly in front of the ship; three short-distance millimeter-wave radars 4 are respectively installed on the left side of the bow, the right side of the bow, and the midline of the stern to obtain information on the left, right, and rear sides of the ship. Obstacle information: Obtain the angle between the heading of the ship and the direction of the lock chamber through the compass 5 arranged in the middle of the own ship 2 .
其中各个毫米波雷达的返回信息包括：目标的反射面积、目标反射率、目标相对速度、目标角度、目标相对距离等信息，通过判断反射率的不同可以有效区分不同类别的目标(如闸室的水泥墙壁和船舶的金属拆料反射率不同，在雷达上的显示也不同)。The return information of each millimeter-wave radar includes: target reflection area, target reflectivity, target relative velocity, target angle, target relative distance and other information. By judging the difference in reflectivity, different types of targets can be effectively distinguished (such as lock chambers). Concrete walls and ships have different reflectivity of scrap metal and show up differently on radar).
图1颜色较深的阴影部分为雷达的短距探测区域(增大雷达发射角)，颜色较浅的区域为长距探测区域。领航-跟随编队中，可能会出现的跟随船无法追踪领航船的情况，即领航船处于跟随船雷达扫描的“视角盲区”内，如图1、图2所示。其中颜色较深的阴影部分为雷达的短距探测区域(增大雷达发射角)，颜色较浅的区域为长距探测区域。The darker shaded part in Figure 1 is the short-range detection area of the radar (increasing the radar launch angle), and the lighter-colored area is the long-range detection area. In the leading-following formation, there may be a situation where the following ship cannot track the leading ship, that is, the leading ship is in the "blind spot" of the radar scanning of the following ship, as shown in Figure 1 and Figure 2. Among them, the darker shaded area is the short-range detection area of the radar (increasing the radar emission angle), and the lighter-colored area is the long-range detection area.
当领航船处于跟随船的“视角盲区”内时，跟随船无法通过雷达判别领航船的具体位置和速度。如果如图2所示的情况跟随船可能会丢失目标从而航行发生一定的偏差；如果情况如图3所示，跟随船如继续航行可能会发生碰撞的情况，造成较大的损失。When the leading ship is in the "view blind zone" of the following ship, the following ship cannot determine the specific position and speed of the leading ship through radar. If the following ship may lose the target as shown in Figure 2, a certain deviation will occur in navigation; if the situation is shown in Figure 3, the following ship may collide if it continues to sail, causing greater losses.
不约束各个毫米波雷达的发射角度，采取最大探测角度的策略探知周围的目标，分析每个雷达返回的目标信息。如图1所示，当毫米波雷达的发射角度不约束时，可以获得较大的探测角度，其中短距离毫米波雷达的探测角度为±28°，长距离毫米波雷达的探测角度为±60°，这样不约束发射角度可以获得更大的探测区域面积，从而更好的检测到船舶周围的各个目标。The launch angle of each millimeter-wave radar is not restricted, and the strategy of maximum detection angle is adopted to detect the surrounding targets, and the target information returned by each radar is analyzed. As shown in Figure 1, when the emission angle of the millimeter-wave radar is not constrained, a larger detection angle can be obtained. The detection angle of the short-range millimeter-wave radar is ±28°, and the detection angle of the long-distance millimeter-wave radar is ±60°. °, so that the emission angle is not constrained to obtain a larger detection area, so as to better detect various targets around the ship.
S2、障碍物区分：S2. Obstacle distinction:
根据不同材质反射率不同这一特性，区分毫米波雷达接收到的目标是闸壁、领航船、跟随船或其它干扰物。According to the characteristic of different reflectivity of different materials, it is possible to distinguish whether the target received by the millimeter-wave radar is the lock wall, the pilot ship, the follower ship or other interference objects.
本发明主要运用在船闸内部编队检测中，主要出现的雷达反射目标有：领航船(材质主要为钢铁，反射面积较大)、后方跟随船(材质、反射面积同上)、闸壁(材质为水泥，反射面积最大)、其他干扰物(水面垃圾、其他障碍物等，材质不一，反射面积较小)。通过对比反射率和反射面积可以有效区分毫米波雷达感知到的目标是什么。The present invention is mainly used in the internal formation detection of ship locks. The main radar reflection targets are: pilot ship (mainly made of steel, larger reflection area), rear follower ship (material and reflection area are the same as above), lock wall (material is cement , with the largest reflection area), other disturbances (garbage on the water surface, other obstacles, etc., with different materials and smaller reflection areas). By comparing the reflectivity and reflection area, it is possible to effectively distinguish what the target perceived by the millimeter-wave radar is.
S3、对没有探测到领航船1的雷达进行约束角度处理，可以有效降低雷达的探测面积，减少其他障碍物对雷达探测的影响，进而提高雷达的探测精度，让测量结果更加可靠。根据毫米波雷达的测量特性可以得知，在毫米波雷达进行集束探测的时候，其测量距离和测量精度都有显著提升，探测角度越小，其探测距离越远。而且探测角度越小，其能探测到的目标也越少，大大降低了其他干扰项。S3. Performing constraint angle processing on the radar that does not detect the pilot ship 1 can effectively reduce the detection area of the radar and reduce the influence of other obstacles on the radar detection, thereby improving the detection accuracy of the radar and making the measurement results more reliable. According to the measurement characteristics of the millimeter-wave radar, it can be known that when the millimeter-wave radar performs cluster detection, its measurement distance and measurement accuracy are significantly improved. The smaller the detection angle, the longer the detection distance. Moreover, the smaller the detection angle, the fewer targets it can detect, which greatly reduces other interference items.
S4、将各个雷达获得的目标信息及罗经所测得船舶相对于闸室的前进方向的夹角信息发送至船载计算机，根据S1获取的信息，识别不同情境，计算出前方领航船1与本船2的相对距离、本船2距离左右两侧闸壁的距离、本船2距离后方障碍物的距离。S4. Send the target information obtained by each radar and the included angle information of the ship's direction of progress relative to the lock chamber measured by the compass to the onboard computer. Based on the information obtained by S1, identify different situations and calculate the distance between the leading ship 1 and the ship in front. 2, the distance between own ship 2 and the lock walls on the left and right sides, and the distance between own ship 2 and the rear obstacle.
下面列举了在闸室中可能出现的几种情况，并对各个情况进行了定位分析。Several situations that may occur in the lock chamber are listed below, and the positioning analysis of each situation is carried out.
情景1：跟随船前进方向与闸壁方向近似一致(即船舶相对于闸室的前进方向的夹角近似为0°)装在船头的长距离毫米波雷达监测到前船的距离为d1角度为到两边闸壁的距离为d2、d3(直接读取船头两侧毫米波雷达测得的距离)，到后方闸室的距离为d4。如图4所示。Scenario 1: The forward direction of the following ship is approximately the same as that of the lock wall (that is, the angle between the ship and the forward direction of the lock chamber is approximately 0°). The long-distance millimeter-wave radar installed on the bow monitors the distance to the preceding ship as d 1 angle is The distance to the lock walls on both sides is d 2 and d 3 (directly read the distance measured by the millimeter-wave radar on both sides of the bow), and the distance to the rear lock chamber is d 4 . As shown in Figure 4.
参数计算如下：The parameters are calculated as follows:
式中，c1为跟随船到领航船的相对距离(两船直线距离在船舶编队整体前进方向的投影)。In the formula, c1 is the relative distance from the following ship to the leading ship (the projection of the straight-line distance between the two ships in the overall forward direction of the ship formation).
情景2：跟随船航线发生较大偏移(即领航船处于跟随船船头的长距离毫米波雷达检测的盲区，但可以被一侧的短距离毫米波雷达所检测到，且其前进方向于闸壁方向不一致)，装在船正中的罗经显示船舶相对于闸室的前进方向的夹角为ψ，装在船左侧的短距离毫米波雷达监测到前船的距离为d2，角度为右侧的短距离毫米波雷达测得的障碍物距离为d3，后方障碍物距离为d4。如图5所示。参数计算如下：Scenario 2: The course of the following ship deviates greatly (that is, the leading ship is in the blind spot detected by the long-distance millimeter-wave radar at the bow of the following ship, but can be detected by the short-distance millimeter-wave radar on one side, and its heading direction is at The direction of the lock wall is inconsistent), the compass installed in the middle of the ship shows that the included angle of the ship relative to the direction of the lock chamber is ψ, and the short-distance millimeter-wave radar installed on the left side of the ship monitors the distance to the front ship as d 2 , and the angle is The obstacle distance measured by the short-range millimeter-wave radar on the right is d 3 , and the rear obstacle distance is d 4 . As shown in Figure 5. The parameters are calculated as follows:
b2＝d3cosψ (4)b 2 =d 3 cosψ (4)
b4＝b2+lsinψ (5)b 4 =b 2 +lsinψ (5)
b1＝W-b2-wcosψ (6)b 1 =Wb 2 -wcosψ (6)
b3＝W-b4-wcosψ (7)b 3 =Wb 4 -wcosψ (7)
式中，c1为跟随船到领航船的相对距离，c2为跟随船到后面跟随船的相对距离，b1为跟随船左前端到左端闸壁的距离，b2为跟随船右前端到右端闸壁的距离，b3为跟随船左后端到左端闸壁的距离，b4为跟随船右后端到左端闸壁的距离，W为闸室的宽度，w、l分别为本船的宽度和长度。In the formula, c 1 is the relative distance from the following ship to the leading ship, c 2 is the relative distance from the following ship to the following ship, b 1 is the distance from the left front end of the following ship to the left lock wall, b 2 is the distance from the right front end of the following ship to the The distance from the right end lock wall, b 3 is the distance from the left rear end of the following ship to the left end lock wall, b 4 is the distance from the right rear end of the following ship to the left end lock wall, W is the width of the lock chamber, w and l are the ship’s width and length.
情景3：跟随船航线发生较大偏移，其前进方向于闸壁方向不一致，装在船正中的罗经显示船舶相对于闸室的前进方向的夹角为ψ，装在船右侧的短距离毫米波雷达监测到前船的距离为d3角度为左侧的短距离毫米波雷达测得的障碍物距离为d2，后方障碍物距离为d4。如图6所示。参数计算如下：Scenario 3: The course of the following ship deviates greatly, and its forward direction is inconsistent with the direction of the lock wall. The compass installed in the middle of the ship shows that the angle between the ship’s forward direction relative to the lock chamber is ψ, and the short distance installed on the right side of the ship The distance from the millimeter wave radar to the front ship is d and the angle is The obstacle distance measured by the short-range millimeter-wave radar on the left is d 2 , and the rear obstacle distance is d 4 . As shown in Figure 6. The parameters are calculated as follows:
b1＝d2cosψ (10)b 1 =d 2 cosψ (10)
b3＝b1+lsinψ (11)b 3 =b 1 +lsinψ (11)
b2＝W-b1-wcosψ (12)b 2 =Wb 1 -wcosψ (12)
b4＝W-b3-wcosψ (13)b 4 =Wb 3 -wcosψ (13)
式中，c1、c2、b1、b2、b3、b4、W、w、l参数定义与情景2相同。In the formula, the parameter definitions of c 1 , c 2 , b 1 , b 2 , b 3 , b 4 , W, w, l are the same as those in Scenario 2.
情景4：跟随船航线发生少量偏移(即领航船可以被跟随船船头的长距离毫米波雷达检测到，但其前进方向于闸壁方向不一致)，装在船正中的罗经显示船舶相对于闸室的前进方向的夹角为ψ，装在船正前方的长距离毫米波雷达监测到前船的距离为d1角度为右侧的短距离毫米波雷达测得的障碍物距离为d3，后方障碍物距离为d4。如图7所示。参数计算如下：Scenario 4: There is a slight deviation in the course of the following ship (that is, the leading ship can be detected by the long-distance millimeter-wave radar at the bow of the following ship, but its heading direction is inconsistent with the direction of the lock wall), and the compass installed in the middle of the ship shows that the ship is relatively The angle between the forward direction of the lock chamber is ψ, the distance from the long-distance millimeter-wave radar installed directly in front of the ship to the ship in front is d 1 angle is The obstacle distance measured by the short-range millimeter-wave radar on the right is d 3 , and the rear obstacle distance is d 4 . As shown in Figure 7. The parameters are calculated as follows:
b2＝d3cosψ (16)b 2 =d 3 cosψ (16)
b4＝b2-lsinψ (17)b 4 =b 2 -lsinψ (17)
b1＝W-b2-wcosψ (18)b 1 =Wb 2 -wcosψ (18)
b3＝W-b4-wcosψ (19)b 3 =Wb 4 -wcosψ (19)
式中，c1、c2、b1、b2、b3、b4、W、w、l参数与情景2相同。In the formula, the c 1 , c 2 , b 1 , b 2 , b 3 , b 4 , W, w, l parameters are the same as in Scenario 2.
S5、根据S4得到的结果，判断继续航行是否有碰撞的危险或者出现丢失目标的可能性。本发明可以根据不同情景设置不同的安全距离，来判定不同场合船舶跟随航线是否安全，如果不安全应当如何调节航线。S5. According to the result obtained in S4, it is judged whether there is a danger of collision or a possibility of losing the target in the continuation of the voyage. The present invention can set different safety distances according to different scenarios to determine whether it is safe for ships to follow the route in different situations, and how to adjust the route if it is not safe.
可选的，本方法还包括S7：若未检测到领航船目标，则重新进行S1-S6。Optionally, the method further includes S7: if the pilot ship target is not detected, repeat S1-S6.
本方法还可以包括S8：如果多次重复检测均不能发现领航船目标，则可以定义为目标追踪失败，可以根据罗经的角度信息矫正船舶的航行角度(本发明可以有效感知船舶前方半径20米夹角约为236°扇形区域的各种障碍物，可以有效避免在船舶姿态矫正过程中会出现的一些碰撞问题)，矫正船舶姿态后前方的长距毫米波雷达可以有效监测前方领航船的信息。The method may also include S8: if the pilot ship target cannot be found through multiple repeated detections, it can be defined as target tracking failure, and the navigation angle of the ship can be corrected according to the angle information of the compass (the present invention can effectively perceive the ship with a radius of 20 meters in front of the ship. Various obstacles in the fan-shaped area with an angle of about 236° can effectively avoid some collision problems that will occur in the process of ship attitude correction), and the long-range millimeter-wave radar in front can effectively monitor the information of the leading ship in front after correcting the ship's attitude.
本发明利用毫米波雷达作为感知手段，跟随船可以实时获取周围目标距离和相对运动速度，通过设计算法可以准确得到前方领航船与跟随船的相对运动状态，实现对前方领航船目标的可靠与精确检测。The invention uses millimeter-wave radar as a sensing means, and the following ship can obtain the surrounding target distance and relative motion speed in real time, and can accurately obtain the relative motion state of the leading ship in front and the following ship through the design algorithm, so as to realize the reliability and accuracy of the target of the leading ship ahead detection.
以上实施例仅用于说明本发明的设计思想和特点，其目的在于使本领域内的技术人员能够了解本发明的内容并据以实施，本发明的保护范围不限于上述实施例。所以，凡依据本发明所揭示的原理、设计思路所作的等同变化或修饰，均在本发明的保护范围之内。The above embodiments are only used to illustrate the design concept and characteristics of the present invention, and its purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications based on the principles and design ideas disclosed in the present invention are within the protection scope of the present invention.
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