CN111090278A - Automatic navigation system based on ocean weather forecast - Google Patents
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- 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
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Abstract
The invention provides an automatic navigation system based on ocean weather forecast, which comprises: the weather early warning evasion module is used for synchronizing the ocean weather forecast of a weather bureau, generating a severe weather grade marking image of a main channel route, and judging the severe weather grade resistance of the ship according to the performance and the structure of the ship and the draught depth of the ship; judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route. The automatic navigation system based on the ocean weather forecast realizes automatic planning of navigation routes, avoids navigation risks caused by weather, automatically carries out storm alarm, judges that navigation states are influenced to generate dangers after GPS positioning when weather such as storm and the like occurs, changes a channel, waits for approaching to a port, and retrieves information of nearby ports.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an automatic navigation system based on ocean weather forecast.
Background
The automation of the ship is realized, computers are widely applied to ships in the 70 th 20 th century, and the automation of the ship cabin becomes a trend from the situation that a centralized control room is arranged in a cabin of the ship to the remote control and remote measurement of a host by an unmanned cabin and a driving platform. In 1970, the completion of "starlight pill" in japan created a new era of the integration of driving and driving, and was called "super-automatic ship" at that time. The automation of the ship enables the personnel to be approximately halved, and the operation cost is reduced. The new ships built in the last 10 years are basically called automated ships, and some of the ships with high automation degree are called "high technology ships". Ship automation goes from cabin automation to driving automation.
The forecasting and alarming of major dangerous weather such as wind direction, wind speed, visibility, weather phenomenon, sky condition, sea surface condition, typhoon and the like are important contents of offshore shipping meteorological service. Not only the port administration and the shipping administration need but also the general fishermen need
Weather navigation services for ships are carried out by combining weather forecasts according to the performances and the structures of the ships, the draught depths of the ships, the wind, rain, fog and wave which are possibly encountered on different routes, and the like, so that the method is not only an important guarantee for ocean-going shipping safety, but also has great significance for selecting routes, shortening the voyage and saving the shipping cost.
However, in the process of automatic navigation, the existing ship is influenced by wind power and ocean current, and the navigation direction is easy to deviate, so that the side length of a course is long, and time and resources are wasted.
And when weather such as storm occurs, the navigation state can be influenced to cause danger, and the experienced captain needs to navigate according to the experience and the weather condition.
Disclosure of Invention
According to the technical problem that the navigation state is influenced to cause danger when weather such as storm occurs, and an experienced captain needs to navigate according to the weather conditions and experience, the automatic navigation system based on the ocean weather forecast is provided. The method mainly utilizes a weather early warning evading module to synchronize the marine weather forecast of a weather bureau, generates a severe weather grade marking image of a main channel route, and judges the severe weather grade resistance of the ship according to the performance and the structure of the ship and the draught depth of the ship; judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route; when weather suddenly breaks out, the ship enters the overturning danger level, the air route is planned again, and the ship enters an intermediate channel port or a safe navigation stopping position, so that the automatic planning of the navigation route is realized, and the navigation danger caused by weather is avoided.
The technical means adopted by the invention are as follows:
an automatic navigation system based on marine weather forecasts, comprising: and the channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main channel route and sending the main channel route to the route planning module.
And the navigation section route planning module acquires information of a submerged reef sea area and an unknown sea area around the main channel route, avoids the submerged reef sea area and the unknown sea area to divide the main channel route into a plurality of navigation sections according to a straight line navigation principle, enables each navigation section to keep straight line navigation, and sends navigation section planning information to the navigation module.
The navigation module adjusts the navigation direction to start navigation based on the first flight segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first flight segment, judges whether the flight path deviates, sends an instruction to adjust a steering rudder if the flight path deviates, and replans the flight segment route, so that the flight path can be connected with the flight path initial segment of the second flight segment, and the corrected navigation of the second flight segment, the third flight segment to the final flight segment is realized in sequence.
The navigation section butt joint turns to the monitoring module, and when the last navigation section is about to finish navigating, the navigation of entering next navigation section, according to the navigation section course planning, judge whether there is a big turn angle bend, if not, then continue navigating, if, then plan and turn to the strategy, control the steering rudder of hull, begin to turn to in advance, turn to with certain radius of turning to, the smooth steering enters the navigation of next navigation section.
The navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b; when b is less than or equal to 0.7a, normally navigating according to the original route; when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display; and when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, at the moment, the channel planning module modifies the main channel route, replans the main channel route according to the supply condition and the route distance of the middle channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information.
The weather early warning evasion module is used for synchronizing the ocean weather forecast of a weather bureau, generating a severe weather grade marking image of a main channel route, and judging the severe weather grade resistance of the ship according to the performance and the structure of the ship and the draught depth of the ship; judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route; when weather suddenly breaks out, the ship enters an overturning danger level, and a course is re-planned to enter a middle channel port or a safe navigation stopping position.
Further, a channel planning module acquires dangerous sea area information around the route according to the position information of the navigation starting port and the navigation destination port, avoids the dangerous sea area and generates a primary main channel route; judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel; and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation.
Further, the dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
Further, the remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port; when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
Compared with the prior art, the automatic navigation system based on the marine weather forecast, disclosed by the invention, comprises a weather early warning evading module, a weather early warning module and a weather early warning module, wherein the weather early warning module is used for synchronizing the marine weather forecast of a weather bureau, generating a severe weather grade marking image of a main channel route, and judging the severe weather grade resistance of a ship according to the performance and the structure of the ship and; judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route; when weather suddenly breaks out, a ship enters an overturning danger level, a course is planned again, the ship enters an intermediate channel port or a safe navigation stop position, automatic navigation route planning is achieved, navigation danger caused by weather is avoided, storm alarm is automatically carried out, after weather such as storm occurs and GPS positioning is carried out, the situation that the navigation state is influenced to cause danger is judged, the channel is changed, the ship is close to the port to wait, information of a nearby port is retrieved, or the ship directly waits on the sea.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic navigation system based on ocean weather forecast according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the present invention provides an automatic navigation system based on marine weather forecast, comprising: and the channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main channel route and sending the main channel route to the route planning module.
And the navigation section route planning module acquires information of a submerged reef sea area and an unknown sea area around the main channel route, avoids the submerged reef sea area and the unknown sea area to divide the main channel route into a plurality of navigation sections according to a straight line navigation principle, enables each navigation section to keep straight line navigation, and sends navigation section planning information to the navigation module.
The navigation module adjusts the navigation direction to start navigation based on the first flight segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first flight segment, judges whether the flight path deviates, sends an instruction to adjust a steering rudder if the flight path deviates, and replans the flight segment route, so that the flight path can be connected with the flight path initial segment of the second flight segment, and the corrected navigation of the second flight segment, the third flight segment to the final flight segment is realized in sequence.
The navigation section butt joint turns to the monitoring module, and when the last navigation section is about to finish navigating, the navigation of entering next navigation section, according to the navigation section course planning, judge whether there is a big turn angle bend, if not, then continue navigating, if, then plan and turn to the strategy, control the steering rudder of hull, begin to turn to in advance, turn to with certain radius of turning to, the smooth steering enters the navigation of next navigation section.
The navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b; when b is less than or equal to 0.7a, normally navigating according to the original route; when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display; and when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, at the moment, the channel planning module modifies the main channel route, replans the main channel route according to the supply condition and the route distance of the middle channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information.
The weather early warning evasion module is used for synchronizing the ocean weather forecast of a weather bureau, generating a severe weather grade marking image of a main channel route, and judging the severe weather grade resistance of the ship according to the performance and the structure of the ship and the draught depth of the ship; judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route; when weather suddenly breaks out, the ship enters an overturning danger level, and a course is re-planned to enter a middle channel port or a safe navigation stopping position.
The navigation channel planning module is used for acquiring dangerous sea area information around a navigation route according to the position information of a navigation starting port and a navigation destination port, and avoiding the dangerous sea area to generate a primary main navigation channel route; judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel; and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation. The dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
The remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port; when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
The automatic navigation system based on the ocean weather forecast realizes automatic planning of a navigation route, avoids navigation danger caused by weather, automatically carries out storm alarm, judges that the navigation state is influenced to generate danger after GPS positioning when weather such as storm and the like occurs, changes a channel, waits near a harbor, retrieves information of the nearby harbor, or directly waits at sea.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. An automatic navigation system based on marine weather forecasts, comprising:
the navigation channel planning module is used for acquiring a navigation starting port and a navigation destination port, generating a main navigation channel route and sending the main navigation channel route to the navigation section route planning module;
the navigation section route planning module is used for acquiring information of a submerged reef sea area and an unknown sea area around a main channel route, avoiding the submerged reef sea area and the unknown sea area according to a straight line navigation principle, dividing the main channel route into a plurality of navigation sections, enabling each navigation section to keep straight line navigation, and sending navigation section planning information to the navigation module;
the navigation module adjusts the navigation direction to start navigation based on the first navigation segment, synchronizes GPS positioning information once every 10 minutes of navigation, compares the navigation state of the first navigation segment, judges whether the navigation deviates from the route, sends an instruction to adjust a steering rudder if the navigation deviates, and replans the route of the navigation segment, so that the route can be connected with the route initial segment of the second navigation segment, and the corrected navigation from the second navigation segment, the third navigation segment to the final navigation segment is realized in sequence;
the navigation section butt joint steering monitoring module enters the next navigation section for navigation when the previous navigation section is about to finish navigation, judges whether a curve with a large steering angle exists according to the navigation section route planning, continues navigation if the curve does not exist, plans a steering strategy if the curve exists, controls a steering rudder of a ship body, starts steering in advance, performs steering with a certain steering radius, and smoothly steers to enter the next navigation section for navigation;
the navigation early warning module synchronizes GPS positioning information, judges the navigation progress of the air route, judges the residual supply reserve a and predicts the navigation time of the residual air route and the required supply quantity b;
when b is less than or equal to 0.7a, normally navigating according to the original route;
when b is more than 0.7a and less than or equal to 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, and at the moment, the channel planning module replans and remedies the channel route according to the supply condition and transmits the channel route to the captain room for display;
and when b is larger than 0.85a, the navigation early warning module starts early warning and sends early warning information to the captain room for display, at the moment, the channel planning module modifies the main channel route, replans the main channel route according to the supply condition and the route distance of the middle channel port, navigates according to the replanned main channel route under the condition of saving the navigation distance, transmits the route to the route planning module of the navigation section, and regenerates the route planning information.
The weather early warning evasion module is used for synchronizing the ocean weather forecast of a weather bureau, generating a severe weather grade marking image of a main channel route, and judging the severe weather grade resistance of the ship according to the performance and the structure of the ship and the draught depth of the ship;
judging whether the air route needs to be avoided or not according to the predicted air route and the navigation time, if so, judging the adverse weather influence time period of the air route, and judging whether the air route needs to be changed or whether the air route needs to be accelerated or slowly navigated according to the navigation cost and the supply condition so as to avoid the adverse weather influence time period of the air route;
when weather suddenly breaks out, the ship enters an overturning danger level, and a course is re-planned to enter a middle channel port or a safe navigation stopping position.
2. The marine weather forecast based automatic navigation system of claim 1,
the navigation channel planning module is used for acquiring dangerous sea area information around a navigation route according to the position information of a navigation starting port and a navigation destination port, and avoiding the dangerous sea area to generate a primary main navigation channel route;
judging whether the ship supply amount can be directly continued to finish sailing or not, and if not, acquiring port information of an intermediate channel;
and (4) giving various channel routes according to the port information of the middle channel and the replenishment continuation of the journey, and taking the shortest channel route to generate a main channel route after calculation.
3. The marine weather forecast based automatic navigation system of claim 2,
the dangerous sea area information at least comprises a reef area and a mystery sea area; the makeup includes at least heavy oil and food.
4. The marine weather forecast based automatic navigation system of claim 1,
the remedial channel route is a standby channel route which lists a plurality of route information of the rest routes and the middle channel port;
when the adjacent two routes are far apart, the route information in front is displayed in orange for the captain to pay attention to and refer to.
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