CN112419787A - Ship inland river navigation early warning and auxiliary collision prevention method and device - Google Patents
Ship inland river navigation early warning and auxiliary collision prevention method and device Download PDFInfo
- Publication number
- CN112419787A CN112419787A CN202011276758.XA CN202011276758A CN112419787A CN 112419787 A CN112419787 A CN 112419787A CN 202011276758 A CN202011276758 A CN 202011276758A CN 112419787 A CN112419787 A CN 112419787A
- Authority
- CN
- China
- Prior art keywords
- ship
- data
- navigation
- collision avoidance
- section
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method for early warning and auxiliary collision prevention in inland navigation of ships, which comprises the following steps: acquiring channel boundary data and obstacle data, dividing a channel into a plurality of segments, and associating the segment boundary data and the obstacle data corresponding to each segment with the corresponding segment; acquiring position data and course data of the ship; acquiring a navigation section where the ship is located as a current navigation section according to the position data of the ship and the navigation section boundary data of each navigation section; judging whether the ship runs along a channel, if so, acquiring yaw data according to the flight segment boundary data of the current flight segment, acquiring collision avoidance data according to the obstacle data of the current flight segment, and acquiring auxiliary decision data corresponding to the collision avoidance data based on an inland river collision avoidance rule; and outputting yaw early warning information based on the yaw data, and outputting auxiliary collision avoidance decision information based on the auxiliary decision data. The invention can realize effective early danger early warning and navigation aid function.
Description
Technical Field
The invention relates to the technical field of navigation collision prevention, in particular to a method, a device, a system and a computer storage medium for early warning and auxiliary collision prevention of ship inland river navigation.
Background
In recent years, the country has accelerated the construction of inland river shipping centers. Because the inland waterway is narrow and is multi-bent, the quantity of inland ships is large, the navigation density is high, and even if the inland navigation environment is improved, the quantity of inland ships is gradually reduced, and the ship collision accidents still frequently occur. According to statistics, in the ship traffic accident of 2019, the inland water area accounts for 49.3%, and inland ships account for 59.9%. In the process of water transportation, potential accident potential exists in people, machines and environments, and once a water traffic accident happens, serious economic loss, casualties and environmental pollution are caused.
Accurate and reliable navigation aid equipment is the premise for guaranteeing safe navigation of inland ships. The ship driver can obtain dynamic and static information near the ship through various navigation aid equipment, and the ship can safely navigate by combining the good craft of the ship driver.
The navigation aid equipment can accurately and effectively acquire the ship and environment data in a certain range, and can assist a ship driver in making a navigation decision. However, there are two problems: the existing navigation aid equipment does not have effective navigation early warning and collision avoidance aid decision making functions, can only digitally display dynamic and static information around a ship, is not integrated into inland navigation rules, and cannot provide regular prompts for sailors.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a device for early warning and auxiliary collision avoidance in inland navigation of a ship, so as to solve the problem that the conventional inland ship navigation aid does not have effective early warning of danger and navigation aid decision function.
The invention provides a ship inland river navigation early warning and auxiliary collision prevention method, which comprises the following steps:
acquiring channel boundary data and obstacle data, dividing a channel into a plurality of segments, and associating the segment boundary data and the obstacle data corresponding to each segment with the corresponding segment;
acquiring position data and course data of the ship;
acquiring a navigation section where the ship is located as a current navigation section according to the real-time position data of the ship and the navigation section boundary data of each navigation section;
comparing course data of the ship with trend data of a current flight segment, judging whether the ship runs along a channel, if so, acquiring yaw data according to flight segment boundary data of the current flight segment, acquiring collision avoidance data according to obstructive object data of the current flight segment, and acquiring auxiliary decision data corresponding to the collision avoidance data based on an inland river collision avoidance rule;
and outputting yaw early warning information based on the yaw data, and outputting auxiliary collision avoidance decision information based on the auxiliary decision data.
Further, acquiring the position data and the course data of the ship specifically comprises:
acquiring a radar signal and an AIS signal of a ship, and respectively performing data analysis on the radar signal and the AIS signal;
and fusing the analyzed radar signal and the AIS signal by adopting a weighted fusion algorithm to obtain fusion data serving as the position data and the course data.
Further, according to the real-time position data of the ship and the leg boundary data of each leg, acquiring the leg where the ship is located as the current leg, specifically:
sequentially judging whether the ship is positioned in each flight section according to the flight section boundary data of each flight section to obtain the current flight section;
judging whether the ship is positioned in a corresponding navigation segment according to the navigation segment boundary data, specifically:
the flight segment boundary data comprises coordinate positions of four vertexes of a flight segment, connecting lines between the four vertexes and the position of the ship are obtained according to the coordinate positions of the four vertexes, and the sum of included angles between every two adjacent connecting lines is calculated;
judging whether the sum of the included angles is in the interval [360-C ]0,360+C0]Within, C0And if so, judging that the ship is positioned in the corresponding navigation section, otherwise, judging that the ship is not positioned in the corresponding navigation section.
Further, the course data of the ship and the trend data of the current flight segment are compared, whether the ship runs along the channel is judged, and the method specifically comprises the following steps:
and calculating an angle difference value between the course of the ship and the current navigation section according to the course data of the ship and the trend data of the current navigation section, judging whether the angle difference value is within a set angle, if so, judging that the ship runs along the navigation channel, and otherwise, judging that the ship does not run along the navigation channel.
Further, acquiring yaw data according to the flight segment boundary data of the current flight segment specifically comprises:
the yaw data comprise the distance and time from the ship to the next turning point, the distance from the ship to the boundary of the flight section and the distance from the ship to the center line of the flight section;
calculating the distance from the ship to the next turning point, specifically:
wherein S is the distance from the ship to the next turning point, (X)0,Y0) Is the position coordinate (X) of the ship1,Y1) Is (X)2,Y2)、(X3,Y3)、(X4,Y4) Coordinates of four vertexes of the current navigation section are respectively, and TC is the course angle of the ship;
calculating the time of the ship from the next turning point, specifically:
wherein t is the time from the next turning point of the ship, VoThe ship speed is the ship speed;
calculating the distance between the ship and the current flight section boundary, specifically:
D＝min(Du,Dd)；
wherein D is the shipDistance from the current leg boundary, min () represents the minimum value, DuThe distance of the ship from the boundary on one side of the current voyage section, DdThe distance from the ship to the boundary at the other side of the current voyage section;
calculating the distance from the current ship to the center line of the current navigation section, specifically:
acquiring a center line linear equation of the center line of the current navigation section, and calculating the distance between the ship and the center line of the current navigation section according to the center line equation:
wherein A, B, C is the coefficient of the central line equation, DyawThe distance from the current ship to the center line of the current flight section.
Further, according to the obstacle data of the current flight segment, collision avoidance data is acquired, which specifically comprises the following steps:
calculating a virtual ship position coordinate as an ellipse center of the left eccentric ellipse model, and establishing a left eccentric ellipse model describing the ship field of the ship based on the ellipse center:
calculating relative speed vectors of other ships relative to the ship based on the data of the obstructive objects;
calculating a vector linear equation of a straight line where the relative velocity vector is located;
judging whether the relative vector straight line is intersected with the left eccentric ellipse or not according to the vector straight line equation and the left eccentric ellipse model, if so, judging that other ships and the ship have collision risks in space, and otherwise, judging that other ships and the ship do not have collision risks in space;
and combining the collision danger judgment results of all other ships and the ship to obtain the collision avoidance data.
Further, the method also comprises the following steps:
respectively calculating the entering time of all dangerous ships which have collision danger with the ship and enter the ship field of the ship;
screening out the dangerous ship with the minimum entering time as the most dangerous ship;
and establishing an inland river collision avoidance rule, and searching a collision avoidance decision corresponding to the most dangerous ship from the inland river collision avoidance rule to obtain the collision avoidance data.
The invention also provides a device for early warning and auxiliary collision prevention for the navigation of the ship in the inland river, which comprises a processor and a memory, wherein the memory is stored with a computer program, and the computer program is executed by the processor to realize the method for early warning and auxiliary collision prevention for the navigation of the ship in the inland river.
The invention also provides a system for early warning and auxiliary collision prevention for inland navigation of ships, which comprises the device for early warning and auxiliary collision prevention for inland navigation of ships, a collecting device and a display device;
the acquisition device is used for acquiring position data and course data of the ship, and the display device is used for displaying the yaw early warning information and the auxiliary collision avoidance decision information.
The invention also provides a computer storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for the inland navigation early warning and the auxiliary collision avoidance of the ship is realized.
Has the advantages that: the method comprises the steps of firstly extracting channel boundary data and obstacle data and storing the channel boundary data and the obstacle data into a basic database, wherein the channel data are stored in a segmented mode. And then acquiring position data and course data of the ship, and judging which flight section the ship is currently located in according to the real-time position data of the ship and the flight section boundary data of each flight section to obtain the current flight section. And extracting relevant data of the current navigation section from the basic database, comparing the course data of the ship with the trend data of the current navigation section, namely judging whether the ship runs along the navigation channel, and if so, further calculating specific yaw data and collision avoidance data to realize yaw early warning and auxiliary collision avoidance. The invention can effectively realize navigation yaw early warning and auxiliary collision avoidance decision, fully considers the inland river collision avoidance rule, and the output early warning information and the given auxiliary decision meet the requirements of the inland river collision avoidance rule, thereby ensuring the safe navigation of the ship.
Drawings
Fig. 1 is a flowchart of a first embodiment of a method for early warning and auxiliary collision avoidance during inland navigation of a ship according to the present invention;
FIG. 2a is a schematic diagram illustrating the channel boundary data extraction and segmentation in step S1 of FIG. 1;
FIG. 2b is a schematic diagram illustrating an embodiment of the storage form of the data of the lane boundary in step S1 in FIG. 1;
fig. 3a is a schematic diagram illustrating the extraction of the obstacle data in step S1 in fig. 1 according to an embodiment;
FIG. 3b is a schematic view illustrating the operation of storing the obstacle data in step S1 in FIG. 1;
fig. 4 is a data diagram of channel boundary data and obstacle data of the first embodiment of the method for early warning and auxiliary collision avoidance for inland river navigation of a ship provided by the invention;
fig. 5 is a data diagram of radar signals and AIS signals of a first embodiment of the method for early warning and assisting collision avoidance for inland navigation of ships according to the present invention;
FIG. 6 is a diagram illustrating the effect of data fusion between the radar signal and the AIS signal shown in FIG. 5;
FIG. 7 is a schematic diagram of a calculation of a sum of included angles according to a first embodiment of the method for early warning and auxiliary collision avoidance for inland river navigation of a ship provided by the present invention;
fig. 8a is an early warning information diagram of a ship running outside a channel according to a first embodiment of the inland river navigation early warning and auxiliary collision avoidance method for the ship provided by the invention;
fig. 8b is a diagram of the early warning information when the ship runs in the channel but is deflected according to the first embodiment of the method for early warning and auxiliary collision avoidance for inland river navigation provided by the present invention;
fig. 8c is a diagram of the early warning information when the ship runs in the channel and runs along the channel according to the first embodiment of the method for early warning and auxiliary collision avoidance for inland river navigation;
FIG. 9 is a left eccentric elliptical model diagram of a first embodiment of a method for early warning and auxiliary collision avoidance for inland navigation of a ship according to the present invention;
FIG. 10 is a schematic diagram of a first embodiment of a method for early warning and auxiliary collision avoidance for inland navigation of a ship, which is provided by the present invention, for determining collision risk based on a left eccentric ellipse model;
fig. 11 is a view of a situation recognition model of a first embodiment of a method for early warning and auxiliary collision avoidance for inland navigation of a ship according to the present invention;
fig. 12 is a display diagram of the navigation early warning and collision avoidance aid decision of the first embodiment of the method for the ship inland navigation early warning and collision avoidance aid decision making provided by the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a method for early warning and auxiliary collision avoidance during inland navigation of a ship, including the following steps:
s1, acquiring channel boundary data and obstacle data, dividing the channel into a plurality of segments, associating the segment boundary data and the obstacle data corresponding to each segment with the corresponding segment, and establishing a basic database;
s2, acquiring the position data and the heading data of the ship;
s3, acquiring a navigation section where the ship is located as a current navigation section according to the real-time position data of the ship and the navigation section boundary data of each navigation section;
s4, comparing the course data of the ship with the trend data of the current navigation section, judging whether the ship runs along the navigation channel, if so, acquiring yaw data according to the navigation section boundary data of the current navigation section, acquiring collision avoidance data according to the obstacle data of the current navigation section, and acquiring auxiliary decision data corresponding to the collision avoidance data based on the inland river collision avoidance rule;
and S5, outputting yaw early warning information based on the yaw data, and outputting auxiliary collision avoidance decision information based on the auxiliary decision data.
The embodiment first extracts the channel boundary data and the obstacle data on the electronic chart, as shown in fig. 2a and fig. 3 a. Storing channel boundary data and obstructive object data extracted from the electronic chart into a basic database, wherein the channel data is stored in a segmented form, and comprises a channel section number, longitude and latitude information of four vertexes of the channel section and channel trend information as shown in fig. 2 b; the obstacle data storage form is shown in fig. 3b, which includes the obstacle center point and the radius of the hazard area.
Specifically, the dashed line in fig. 2a is a channel boundary, and fig. 2a shows three divided legs, which are a leg i, a leg i +1, and a leg i + 2. Fig. 2b shows a storage form of the leg boundary data channel _ date, which includes a leg number id _ channel, a right upper vertex longitude lon _ Topright, a right upper vertex latitude lat _ Topright, a left upper vertex longitude lon _ toplet, a left upper vertex latitude lat _ toplet, a right lower vertex lon _ lowerrright, a right lower vertex latitude lat _ Lowerright, a left lower vertex longitude lat _ Lowerleft, a left lower vertex latitude lon _ Lowerleft, and leg trend information C _ trend. The segment number is expressed in an integer int form, the longitude and latitude of each vertex and the segment trend information are expressed in a decimal Default form, and the initial Default Default sets NULL value NULL. Five obstacles are shown in fig. 3a, identified by circles, and obstacle data obstacle _ date, including the Center point longitude lon _ Center, the Center point dimension lat _ Center, and the radius of danger area r _ Dangercircle, all represented in fractional decimal form, with the initial Default Default all set to NULL.
After the channel boundary data and the obstacle data are stored according to the data formats in fig. 2b and fig. 3b, a basic database is obtained, and the channel boundary data and the obstacle data in the basic database are shown in fig. 4. After the basic database is established, the environmental conditions around the ship can be obtained from the basic database in real time when the ship navigates, so that subsequent yaw early warning and auxiliary collision avoidance are realized. Specifically, position data and course data of the ship are firstly acquired, and the current navigation section is judged according to the real-time position data of the ship and the navigation section boundary data of each navigation section, so that the current navigation section is obtained. And extracting relevant data of the current navigation section from the basic database, comparing the course data of the ship with the trend data of the current navigation section, namely judging whether the ship runs along the navigation channel, and if so, further calculating specific yaw data and collision avoidance data to realize yaw early warning and auxiliary collision avoidance. Specifically, the specific yaw data can be obtained by calculating the flight segment boundary data of the current flight segment and the course data of the ship, and the collision avoidance data can be obtained according to the obstacle data of the current flight segment, the position data of the ship and the course data. And after the collision avoidance data are obtained, calculating navigation aid decision data corresponding to the collision avoidance data based on the inland river collision avoidance rule. And finally, outputting yaw early warning information and auxiliary collision avoidance decision information according to the yaw data and the auxiliary decision data, wherein the forms of the yaw early warning information and the auxiliary collision avoidance decision information can be embodied in the forms of pictures, tables, characters, voice, videos and the like.
The invention can effectively realize navigation yaw early warning and auxiliary collision avoidance decision, fully considers the inland river collision avoidance rule, and the output early warning information and the given auxiliary decision meet the requirements of the inland river collision avoidance rule, thereby ensuring the safe navigation of the ship.
Preferably, the acquiring of the position data and the heading data of the ship specifically includes:
acquiring a radar signal and an AIS signal of a ship, and respectively performing data analysis on the radar signal and the AIS signal;
and fusing the analyzed radar signal and the AIS signal by adopting a weighted fusion algorithm to obtain fusion data serving as the position data and the course data.
The raw radar/ARPA signals and the raw AIS signals are acquired in real time by the marine radar and AIS equipment as shown in fig. 5. The radar/ARPA signals and the AIS signals are in a standard NMEA0183 protocol format, required radar/ARPA data and AIS data are extracted by analyzing the format, preprocessing, track association and data fusion are carried out on the radar and the AIS data by adopting a weighting fusion algorithm, and data which are more accurate, stronger in anti-interference capability and wider in monitoring range are obtained, so that safe navigation of a ship is guaranteed. Fig. 6 is a schematic diagram of the effect after fusion by using a weighted fusion algorithm, and it can be seen from fig. 6 that the fused track is closer to the real track.
Specifically, before acquiring the current leg of the ship from the real-time position data of the ship and the leg boundary data of each leg, the method further includes:
and converting the position data, the flight section boundary data and the obstacle data into coordinates in the same coordinate system.
Before yaw early warning and auxiliary collision avoidance decision making, position information required to be used is converted into the same fixed coordinate system, and subsequent calculation is facilitated. The position information that needs to be unified specifically includes: the fused ship position data, the fused course data, and the channel boundary data and the navigation obstacle data extracted from the basic database are represented by longitude lambda and latitude
In order to facilitate calculation, longitude and latitude information needs to be converted into (X, Y) in a fixed coordinate system XOY, in order to avoid symbol inconsistency in the conversion process, all object objects are placed in a first quadrant in the fixed coordinate system XOY, and the longitude and latitude of an origin point selected from the fixed coordinate system XOY are assumed to be the longitude and latitude of the origin point
Let the longitude and latitude be
Converted into coordinates (X) in a fixed coordinate systemt,Yt) The conversion formula is shown as follows:
preferably, the method for acquiring the current leg of the ship according to the real-time position data of the ship and the leg boundary data of each leg includes the following steps:
sequentially judging whether the ship is positioned in each flight section according to the flight section boundary data of each flight section to obtain the current flight section;
judging whether the ship is positioned in a corresponding navigation segment according to the navigation segment boundary data, specifically:
the flight segment boundary data comprises coordinate positions of four vertexes of the flight segment, connecting lines between the four vertexes and the ship position are obtained according to the coordinate positions of the four vertexes, and the sum of included angles between every two adjacent connecting lines is calculated:
Ct＝C1+C2+C3+C4；
wherein, CtIs the sum of the included angles C1Is the angle between the line of the first vertex and the line of the second vertex, C2Is the angle between the line of the second vertex and the line of the third vertex, C3Is the angle between the line of the third vertex and the line of the fourth vertex, C4Is the included angle between the connecting line of the fourth vertex and the connecting line of the first vertex;
judging whether the sum of the included angles is in the interval [360-C ]0,360+C0]Within, C0And if so, judging that the ship is positioned in the corresponding navigation section, otherwise, judging that the ship is not positioned in the corresponding navigation section.
Specifically, as shown in fig. 7, the four vertexes of the leg form a quadrilateral leg boundary, and if the ship is located in the leg, that is, in the quadrilateral, the sum of the included angles is theoretically 360 degrees, and if the ship is not located in the leg, the sum of the included angles is less than 360 degrees. The present implementation therefore takes advantage of this by first calculating the sum of the included angles and then taking into account the errors in the measurement and calculation to determine whether the sum of the included angles lies within the interval 360-C0,360+C0]Within, C0And (4) taking values according to the error estimation, and judging to obtain whether the ship is positioned in the corresponding navigation section. And sequentially judging each navigation section to find the current navigation section where the ship is located.
Specifically, the calculation of the included angle between each two adjacent connecting lines specifically includes:
wherein (X)0,Y0) As the position coordinates of the vessel, (X)1,Y1) Is the coordinate of the first vertex, (X)2,Y2) Is the coordinate of the second vertex, (X)3,Y3) Is the coordinate of the third vertex, (X)4,Y4) Is the coordinate of the fourth vertex.
Preferably, the course data of the ship and the trend data of the current navigation section are compared to judge whether the ship runs along the navigation channel, specifically:
and calculating an angle difference value between the course of the ship and the current navigation section according to the course data of the ship and the trend data of the current navigation section, judging whether the angle difference value is within a set angle, if so, judging that the ship runs along the navigation channel, and otherwise, judging that the ship does not run along the navigation channel.
And judging whether the ship runs along the channel or not after the current navigation section of the ship is judged. The current voyage direction is set as C, and the true course of the ship is set as TC0If the difference between the two is within a set angle, for example, 10 degrees, the ship is considered to be running along the channel, otherwise, the ship is considered not to be running along the channel, and the position relation between the ship and the channel is already obtained.
Specifically, still include: and if the ship does not drive along the channel, outputting the driving prompt information along the channel.
After the judgment, if the ship is outside the channel or in the channel but does not run along the channel, subsequent yaw early warning and auxiliary collision avoidance decision are not carried out, and the navigation early warning information outputs prompt information such as 'please enter the recommended channel' or 'please run along the channel', and a driver is prompted to run into the channel and run along the channel. The early warning information of the ship outside the channel is shown in fig. 8a, the early warning information of the ship in the channel but not running along the channel is shown in fig. 8b,
if the ship is in the channel and runs along the channel, the steering point prompt, the channel boundary prompt and the yaw prompt information need to be calculated, and the specific calculation is as follows.
Preferably, the yaw data are acquired according to the leg boundary data of the current leg, specifically:
the yaw data comprise the distance and time from the ship to the next turning point, the distance from the ship to the boundary of the flight section and the distance from the ship to the center line of the flight section;
calculating the distance from the ship to the next turning point, specifically:
wherein S is the distance from the ship to the next turning point, (X)0,Y0) Is the position coordinate (X) of the ship1,Y1) Is (X)2,Y2)、(X3,Y3)、(X4,Y4) Coordinates of four vertexes of the current navigation section are respectively, and TC is the course angle of the ship;
calculating the time of the ship from the next turning point, specifically:
wherein t is the time from the next turning point of the ship, VoThe ship speed is the ship speed;
calculating the distance between the ship and the current flight section boundary, specifically:
D＝min(Du,Dd)；
wherein D is the distance from the current section boundary to the ship, min () represents the minimum value, and DuThe distance of the ship from the boundary on one side of the current voyage section, DdThe distance from the ship to the boundary at the other side of the current voyage section;
calculating the distance from the current ship to the center line of the current navigation section, specifically:
acquiring a linear equation of the central line of the current flight segment:
wherein A, B, C is the coefficient of the center line linear equation, x is the independent variable of the center line linear equation, and y is the dependent variable of the center line linear equation;
the distance from the ship to the center line of the current flight section is as follows:
wherein D isyawThe distance from the current ship to the center line of the current flight section.
If the distance D from the current section boundary of the ship to the current section boundary is less than a set value DsetAnd then, the ship is prompted to approach the boundary of the navigation section, and the safe navigation is noticed. If D is greater than DyawAnd prompting the ship to deviate from the recommended route and paying attention to safe navigation. After the yaw data are acquired, yaw early warning information as shown in fig. 8c is displayed on an sailing early warning prompt interface.
Preferably, the collision avoidance data is acquired according to the obstacle data of the current flight segment, and specifically comprises the following steps:
establishing a left eccentric ellipse model describing the ship field of the ship:
calculating a virtual ship position coordinate as an ellipse center of the left eccentric ellipse model;
establishing the left eccentric ellipse model based on the ellipse center;
calculating relative speed vectors of other ships relative to the ship based on the data of the obstructive objects;
calculating a vector linear equation of a straight line where the relative velocity vector is located;
judging whether the straight line of the relative velocity vector is intersected with the left eccentric elliptical model, if so, judging that other ships and the ship have collision danger in space, otherwise, judging that other ships and the ship do not have collision danger in space;
and obtaining the collision avoidance data according to the collision danger judgment result of the ship and all other ships.
In the embodiment, a left eccentric elliptic ship field model conforming to the characteristics of inland river is firstly established, the major semi-axis and the minor semi-axis of the ellipse can be valued according to actual conditions, and the model established in the embodiment is shown in fig. 9. In fig. 9, there are two ship positions, a virtual ship position is shown by a dotted line at the center of the ellipse, a real ship position is shown by a solid line at the lower left of the virtual ship, the real ship position deviates from the center of the ellipse by an angle theta at the rear left, and is at a distance R from the center, and R is the distance from the center of the ellipse to the boundary of the ellipse along the direction of the real ship position. In the space coordinate system XOY, the coordinate calculation formula of the virtual ship position (i.e. the ellipse center) is shown as the following formula:
Xinv＝Xact-rsin(TC+θ)；
Yinv＝Yact-rcos(TC+θ)；
wherein (X)act,Yact) Is the position coordinate (X) of the shipinv,Yinv) Is a virtual position coordinate, theta is the angle of the ship position deviating from the center of the ellipse, R is the distance from the ship position to the center of the ellipse, R is 4/R, R is the distance from the center of the ellipse to the boundary of the ellipse along the theta direction, a is the length of the major semiaxis of the ellipse, b is the length of the minor semiaxis of the ellipse, R is the length of the major semiaxis of the ellipse, and R is the length of the minor semiaxis of the ellipse2＝a2b2/(a2sin2θ+b2cos2Theta), TC is the ship heading angle.
The left eccentric ellipse model established by calculating the ellipse center is as follows:
wherein w is the anticlockwise rotation angle of the ship, and w is 360-TC.
Calculating whether other ships have collision risk with the ship by using a speed obstacle method, wherein FIG. 10 is a schematic diagram for judging whether the obstacle safely passes outside the ship field of the ship, and the ship field in FIG. 10 adopts the left eccentric elliptic ship field model established above, V0Is the ship velocity vector, V1For other vessel velocity vectors, VpFor the velocity vectors of other vessels relative to the vessel, AC is VpExtension of vector direction, velocity vector VpThe die length and direction of (d) can be found by:
wherein, VpU is the combined speed of the ship and other ships in the X-axis direction, V is the combined speed of the ship and other ships in the Y-axis direction, and V is the speed of other ships relative to the ship1For other vessel speeds, V0Is the ship speed, TC1For other vessel course, TC0The ship course is the ship course; TC (tungsten carbide)pThe direction of other ships relative to the ship;
the velocity vector V of other ship relative to the ship can be obtained by combining the upper formulapIf the coordinates (X) of other vessels are knowntar,Ytar) Then can pass throughThe equation for the line AC in FIG. 10 is calculated as follows:
wherein (X)tar,Ytar) The coordinates of other ships are shown, x is an independent variable of a vector linear equation, and y is a dependent variable of the vector linear equation;
if the straight line AC intersects with the ship field of the ship, collision danger exists between other ships and the ship in space, if the straight line AC intersects with the ship field of the ship, collision danger does not exist in space if the straight line AC is tangent or does not intersect with the ship field of the ship, and whether the vector straight line intersects with the ship field of the ship can be judged by solving an equation of the simultaneous left eccentric elliptical model and a straight line equation of the straight line AC. If the result of simultaneous solution has two roots, other ships have collision danger to the ship in space under the condition that the two ships keep the current motion state, and if the two ships have one root or no solution, other ships do not form collision danger to the ship.
Preferably, the method further comprises the following steps:
respectively calculating the entering time of all dangerous ships which have collision danger with the ship and enter the ship field of the ship;
screening out the dangerous ship with the minimum entering time as the most dangerous ship;
establishing an inland river collision avoidance rule, searching a collision avoidance decision corresponding to the most dangerous ship from the inland river collision avoidance rule, and pushing the corresponding collision avoidance decision.
The roots obtained by the simultaneous solution can obtain the points (X) of other ships entering the ship field of the shipin,Yin) Then time t of entering the ship field of the shipinCan be calculated by the following formula:
wherein, tinFor the time of entry of a dangerous vessel into the vessel field of the vessel, (X)tar,Ytar) As coordinates of a dangerous ship, (X)in,Yin) Is the point of the dangerous ship entering the ship field of the ship, namely the intersection point of the straight line of the relative speed vectors of the dangerous ship and the left eccentric elliptic ship field model, V1Is the speed of the hazardous vessel;
respectively calculating the time t of all dangerous ships entering the ship field of the shipinThe least dangerous vessel is the most dangerous vessel.
According to the inland river collision avoidance rule and the good ship craft of the crew, an inland river ship meeting situation identification model is established, the situation of the most dangerous ship and the ship is identified, and the situation identification model is shown in fig. 11. Specifically, the situation of ship meeting in the inland river collision avoidance rules is divided into three major categories: the method comprises the following steps of overtaking, crossing and encounter, wherein overtaking comprises overtaking and overtaking, the crossing comprises a port crossing and a starboard crossing, the port crossing comprises a port small-angle crossing and a port large-angle crossing, and the starboard crossing comprises a starboard small-angle crossing and a starboard large-angle crossing. In fig. 11, the angle distribution of various situations is divided, and the corresponding situation can be determined according to the angle of the ship when meeting.
And quantifying the inland river collision avoidance rule to obtain the inland river collision avoidance rule, proposing possible collision avoidance action principles in different places, and calculating collision avoidance aid decisions which meet the rules and good ship art requirements based on the places where the most dangerous ships and the ship are located. The quantitative inland river collision avoidance rule established in the embodiment is shown in the following table:
TABLE 1 principles of possible collision avoidance behavior in different situations
And acquiring corresponding collision avoidance actions from the upper table according to the situation of the most dangerous ship and the ship, and finally outputting and displaying the corresponding decision assistance data, as shown in fig. 12.
The ship continuously acquires and calculates ship position data and course data in real time, so that real-time early warning and real-time collision avoidance aid decision making of inland ship navigation are realized.
Example 2
The device for early warning and auxiliary collision avoidance of inland navigation of a ship provided by the embodiment of the invention is used for realizing the method for early warning and auxiliary collision avoidance of inland navigation of a ship, so that the technical effects of the method for early warning and auxiliary collision avoidance of inland navigation of a ship are the same as those of the device for early warning and auxiliary collision avoidance of an inland navigation of a ship, and the details are not repeated herein.
Example 3
the acquisition device is used for acquiring position data and course data of the ship, and the display device is used for displaying the yaw early warning information and the auxiliary collision avoidance decision information.
Specifically, the collecting device in the embodiment comprises a ship radar and a set of AIS equipment; the device for early warning and auxiliary collision prevention of the inland navigation of the ship adopts a computer, and the computer adopts a method for early warning and auxiliary collision prevention of the inland navigation of the ship to realize data processing calculation and the like; the display device comprises an information transmission device and a display platform, wherein the information transmission device is used for receiving the processing result of the computer, and the display platform displays the processing result.
Example 4
The computer storage medium provided by the embodiment of the invention is used for realizing the inland navigation early warning and auxiliary collision prevention method for the ship, so that the inland navigation early warning and auxiliary collision prevention method for the ship has the technical effects, and the computer storage medium also has the technical effects, and is not described herein again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A ship inland river navigation early warning and auxiliary collision prevention method is characterized by comprising the following steps:
acquiring channel boundary data and obstacle data, dividing a channel into a plurality of segments, and associating the segment boundary data and the obstacle data corresponding to each segment with the corresponding segment;
acquiring position data and course data of the ship;
acquiring a navigation section where the ship is located as a current navigation section according to the real-time position data of the ship and the navigation section boundary data of each navigation section;
comparing course data of the ship with trend data of a current flight segment, judging whether the ship runs along a channel, if so, acquiring yaw data according to flight segment boundary data of the current flight segment, acquiring collision avoidance data according to obstructive object data of the current flight segment, and acquiring auxiliary decision data corresponding to the collision avoidance data based on an inland river collision avoidance rule;
and outputting yaw early warning information based on the yaw data, and outputting auxiliary collision avoidance decision information based on the auxiliary decision data.
2. The inland navigation early warning and auxiliary collision avoidance method for the ship according to claim 1, wherein the position data and the course data of the ship are acquired, and the method specifically comprises the following steps:
acquiring a radar signal and an AIS signal of a ship, and respectively performing data analysis on the radar signal and the AIS signal;
and fusing the analyzed radar signal and the AIS signal by adopting a weighted fusion algorithm to obtain fusion data serving as the position data and the course data.
3. The inland navigation early warning and auxiliary collision avoidance method of the ship according to claim 1, wherein the current navigation section is obtained by acquiring the navigation section where the ship is located according to the real-time position data of the ship and the navigation section boundary data of each navigation section, and specifically comprises the following steps:
sequentially judging whether the ship is positioned in each flight section according to the flight section boundary data of each flight section to obtain the current flight section;
judging whether the ship is positioned in a corresponding navigation segment according to the navigation segment boundary data, specifically:
the flight segment boundary data comprises coordinate positions of four vertexes of a flight segment, connecting lines between the four vertexes and the position of the ship are obtained according to the coordinate positions of the four vertexes, and the sum of included angles between every two adjacent connecting lines is calculated;
judging whether the sum of the included angles is in the interval [360-C ]0,360+C0]Within, C0And if so, judging that the ship is positioned in the corresponding navigation section, otherwise, judging that the ship is not positioned in the corresponding navigation section.
4. The inland navigation early warning and auxiliary collision avoidance method for the ship according to claim 1, wherein the course data of the ship and the trend data of the current navigation section are compared to judge whether the ship runs along the navigation channel, and the method specifically comprises the following steps:
and calculating an angle difference value between the course of the ship and the current navigation section according to the course data of the ship and the trend data of the current navigation section, judging whether the angle difference value is within a set angle, if so, judging that the ship runs along the navigation channel, and otherwise, judging that the ship does not run along the navigation channel.
5. The inland ship navigation early warning and auxiliary collision avoidance method according to claim 1, wherein yaw data are obtained according to the current flight segment boundary data, and specifically the method comprises the following steps:
the yaw data comprise the distance and time from the ship to the next turning point, the distance from the ship to the boundary of the flight section and the distance from the ship to the center line of the flight section;
calculating the distance from the ship to the next turning point, specifically:
wherein S is the distance from the ship to the next turning point, (X)0,Y0) Is the position coordinate (X) of the ship1,Y1) Is (X)2,Y2)、(X3,Y3)、(X4,Y4) Coordinates of four vertexes of the current navigation section are respectively, and TC is the course angle of the ship;
calculating the time of the ship from the next turning point, specifically:
wherein t is the time from the next turning point of the ship, VoThe ship speed is the ship speed;
calculating the distance between the ship and the current flight section boundary, specifically:
D＝min(Du,Dd)；
wherein D is the distance from the current section boundary to the ship, min () represents the minimum value, and DuThe distance of the ship from the boundary on one side of the current voyage section, DdThe distance from the ship to the boundary at the other side of the current voyage section;
calculating the distance from the current ship to the center line of the current navigation section, specifically:
acquiring a center line linear equation of the center line of the current navigation section, and calculating the distance between the ship and the center line of the current navigation section according to the center line equation:
wherein A, B, C is the coefficient of the central line equation, DyawThe distance from the current ship to the center line of the current flight section.
6. The inland ship navigation early warning and auxiliary collision avoidance method according to claim 1, characterized in that collision avoidance data is obtained according to the obstacle data of the current navigation section, specifically:
calculating a virtual ship position coordinate as an ellipse center of the left eccentric ellipse model, and establishing a left eccentric ellipse model describing the ship field of the ship based on the ellipse center:
calculating relative speed vectors of other ships relative to the ship based on the data of the obstructive objects;
calculating a vector linear equation of a straight line where the relative velocity vector is located;
judging whether the relative vector straight line is intersected with the left eccentric ellipse or not according to the vector straight line equation and the left eccentric ellipse model, if so, judging that other ships and the ship have collision risks in space, and otherwise, judging that other ships and the ship do not have collision risks in space;
and combining the collision danger judgment results of all other ships and the ship to obtain the collision avoidance data.
7. The inland ship navigation early warning and auxiliary collision avoidance method according to claim 6, further comprising:
respectively calculating the entering time of all dangerous ships which have collision danger with the ship and enter the ship field of the ship;
screening out the dangerous ship with the minimum entering time as the most dangerous ship;
and establishing an inland river collision avoidance rule, and searching a collision avoidance decision corresponding to the most dangerous ship from the inland river collision avoidance rule to obtain the collision avoidance data.
8. An inland ship navigation early warning and auxiliary collision avoidance device, which is characterized by comprising a processor and a memory, wherein the memory is stored with a computer program, and when the computer program is executed by the processor, the inland ship navigation early warning and auxiliary collision avoidance method according to any one of claims 1 to 7 is realized.
9. A ship inland river navigation early warning and auxiliary collision prevention system is characterized by comprising the ship inland river navigation early warning and auxiliary collision prevention device as claimed in claim 8, and further comprising a collecting device and a display device;
the acquisition device is used for acquiring position data and course data of the ship, and the display device is used for displaying the yaw early warning information and the auxiliary collision avoidance decision information.
10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for early warning and auxiliary collision avoidance for inland navigation of a ship according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011276758.XA CN112419787B (en) | 2020-11-16 | 2020-11-16 | Ship inland river navigation early warning and auxiliary collision prevention method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011276758.XA CN112419787B (en) | 2020-11-16 | 2020-11-16 | Ship inland river navigation early warning and auxiliary collision prevention method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112419787A true CN112419787A (en) | 2021-02-26 |
| CN112419787B CN112419787B (en) | 2022-04-19 |
Family
ID=74831244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011276758.XA Active CN112419787B (en) | 2020-11-16 | 2020-11-16 | Ship inland river navigation early warning and auxiliary collision prevention method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112419787B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113689739A (en) * | 2021-08-24 | 2021-11-23 | 重庆大学 | Historical data-based judgment method for controlling river reach ship to enter or exit water |
| CN114383546A (en) * | 2022-01-11 | 2022-04-22 | 王乐廷 | Channel scale detection and ship navigation monitoring system based on sonar technology |
| CN116312063A (en) * | 2023-05-23 | 2023-06-23 | 中国船舶集团有限公司第七〇七研究所 | Ship avoidance decision method, device, equipment and medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101751796A (en) * | 2009-12-31 | 2010-06-23 | 大连海事大学 | Ship navigation guidance system |
| CN103531043A (en) * | 2013-09-27 | 2014-01-22 | 重庆大学 | Point-to-point ship sailing time estimation method based on ship route matching |
| CN103714718A (en) * | 2013-12-31 | 2014-04-09 | 武汉理工大学 | Inland river bridge area ship safe navigation precontrol system |
| CN103730031A (en) * | 2014-01-14 | 2014-04-16 | 武汉理工大学 | System and method for inland river bridge zone shipborne sailing active collision prevention |
| CN108061893A (en) * | 2017-12-15 | 2018-05-22 | 南京朝焱智能科技有限公司 | One kind is based on targetpath yaw collision prevention method for early warning and device |
| CN108333605A (en) * | 2017-12-29 | 2018-07-27 | 武汉理工大学 | A kind of ship navigation shunting judgment method and system based on Differential positioning |
| CN109405831A (en) * | 2018-09-27 | 2019-03-01 | 大连海事大学 | A kind of inland river network of rivers flight course planning method |
| CN111240334A (en) * | 2020-01-18 | 2020-06-05 | 山东交通学院 | Automatic collision avoidance route planning method and model for ship navigation |
| CN111415534A (en) * | 2019-01-08 | 2020-07-14 | 上海雷罗智能科技有限公司 | Method for dynamically avoiding collision of moving object marks |
| KR20200109687A (en) * | 2019-03-14 | 2020-09-23 | 목포해양대학교 산학협력단 | Communication Systems for Cooperative Navigation between Unmanned Surface Vehicle and Manned Ship |
-
2020
- 2020-11-16 CN CN202011276758.XA patent/CN112419787B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101751796A (en) * | 2009-12-31 | 2010-06-23 | 大连海事大学 | Ship navigation guidance system |
| CN103531043A (en) * | 2013-09-27 | 2014-01-22 | 重庆大学 | Point-to-point ship sailing time estimation method based on ship route matching |
| CN103714718A (en) * | 2013-12-31 | 2014-04-09 | 武汉理工大学 | Inland river bridge area ship safe navigation precontrol system |
| CN103730031A (en) * | 2014-01-14 | 2014-04-16 | 武汉理工大学 | System and method for inland river bridge zone shipborne sailing active collision prevention |
| CN108061893A (en) * | 2017-12-15 | 2018-05-22 | 南京朝焱智能科技有限公司 | One kind is based on targetpath yaw collision prevention method for early warning and device |
| CN108333605A (en) * | 2017-12-29 | 2018-07-27 | 武汉理工大学 | A kind of ship navigation shunting judgment method and system based on Differential positioning |
| CN109405831A (en) * | 2018-09-27 | 2019-03-01 | 大连海事大学 | A kind of inland river network of rivers flight course planning method |
| CN111415534A (en) * | 2019-01-08 | 2020-07-14 | 上海雷罗智能科技有限公司 | Method for dynamically avoiding collision of moving object marks |
| KR20200109687A (en) * | 2019-03-14 | 2020-09-23 | 목포해양대학교 산학협력단 | Communication Systems for Cooperative Navigation between Unmanned Surface Vehicle and Manned Ship |
| CN111240334A (en) * | 2020-01-18 | 2020-06-05 | 山东交通学院 | Automatic collision avoidance route planning method and model for ship navigation |
Non-Patent Citations (5)
| Title |
|---|
| TAK C V: "A model for calculating a maritime risk criterion number", 《JOURNAL OF NAVIGATION》 * |
| 张嘉琪等: "船舶避碰系统研究综述", 《科学技术与工程》 * |
| 施平安等: "珠江航道中船舶航行与避碰专家系统", 《航海技术》 * |
| 李健: "内河桥梁通航安全管理工作初探", 《科技信息(科学教研)》 * |
| 王垒等: "内河航道船舶避碰轨迹规划与预测", 《湖北工业大学学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113689739A (en) * | 2021-08-24 | 2021-11-23 | 重庆大学 | Historical data-based judgment method for controlling river reach ship to enter or exit water |
| CN114383546A (en) * | 2022-01-11 | 2022-04-22 | 王乐廷 | Channel scale detection and ship navigation monitoring system based on sonar technology |
| CN116312063A (en) * | 2023-05-23 | 2023-06-23 | 中国船舶集团有限公司第七〇七研究所 | Ship avoidance decision method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112419787B (en) | 2022-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112419787B (en) | Ship inland river navigation early warning and auxiliary collision prevention method and device | |
| US11688285B2 (en) | Dynamic collision avoidance method for unmanned surface vessel based on route replanning | |
| US4313115A (en) | Collision avoidance apparatus | |
| CN111260962B (en) | Ship marine collision avoidance early warning method and system and chart machine | |
| CN111861155B (en) | Ship collision risk detection method, system, computer device and storage medium | |
| JPS59159080A (en) | Collision-avoidance system | |
| CN113012472B (en) | Ship early warning method and equipment suitable for VTS system and storage medium | |
| CN111536962B (en) | Route planning method and device for intelligent ship, storage medium and computer equipment | |
| CN113050121A (en) | Ship navigation system and ship navigation method | |
| CN115147594A (en) | Ship image trajectory tracking and predicting method based on ship bow direction identification | |
| CN113821031B (en) | Unmanned ship autonomous navigation capability assessment method | |
| Degre et al. | A collision avoidance system | |
| Pedersen et al. | Simulator studies on a collision avoidance display that facilitates efficient and precise assessment of evasive manoeuvres in congested waterways | |
| CN111833657A (en) | Ship collision avoidance method, system and storage medium | |
| CN115723919A (en) | Auxiliary navigation method and device for ship yaw | |
| Jincan et al. | Based on ECDIS and AIS ship collision avoidance warning system research | |
| CN114387824A (en) | Collision-prevention steering judgment method conforming to international maritime collision-prevention rule | |
| CN111899567B (en) | Ship anti-collision optimization method and system based on positioning | |
| CN110618685A (en) | Unmanned surface vessel obstacle detection error correction and safe collision avoidance method | |
| Lu et al. | Preliminary study for motion pose of inshore ships based on point cloud: Estimation of ship berthing angle | |
| CN116029554B (en) | Risk assessment method based on parameter correction of limited water area ship risk assessment model | |
| CN102435161B (en) | Method for marking depth of water on electronic channel chart | |
| CN111830972A (en) | Ship autonomous berthing and departing control method, system and device and storage medium | |
| CN107367279B (en) | High-precision navigation and berthing method for large ship | |
| CN110648557B (en) | Relative field acquisition method based on ship cluster situation for limited water area |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |