CN113012473B - Low-cost wave glider marine navigation collision avoidance method - Google Patents
Low-cost wave glider marine navigation collision avoidance method Download PDFInfo
- Publication number
- CN113012473B CN113012473B CN202110177489.XA CN202110177489A CN113012473B CN 113012473 B CN113012473 B CN 113012473B CN 202110177489 A CN202110177489 A CN 202110177489A CN 113012473 B CN113012473 B CN 113012473B
- Authority
- CN
- China
- Prior art keywords
- ship
- wave glider
- collision
- collision avoidance
- glider
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of wave glider collision avoidance, in particular to a low-cost wave glider maritime navigation collision avoidance method, wherein a wave glider is communicated with a ground station through a satellite, the ground station receives information returned by the wave glider, and S1: acquiring AIS information transmitted to the Internet by ships in a preset area; s2: according to ship information and wave glider coordinates, dividing the ship into a safe ship and a ship with collision danger; s3: and according to the AIS information of the ship with the collision danger, collision avoidance is carried out according to preset avoidance operation. The method does not need to install collision avoidance equipment on the glider, reduces the power consumption of the glider, and the wave glider can avoid collision on ships in a long distance.
Description
Technical Field
The invention relates to the technical field of wave glider collision prevention, in particular to a low-cost wave glider sea navigation collision prevention method.
Background
The wave glider is a novel offshore unmanned platform which converts wave energy into forward kinetic energy by utilizing wave fluctuation. The wave glider needs to operate in a marine environment for a long time and in a large range, and needs to have certain collision prevention capacity to avoid collision with other aircrafts in the sailing process, but the wave glider is limited by space and energy, and has certain difficulty in carrying radar, laser and other collision prevention equipment.
In order to solve the above problems, publication nos.: chinese patent CN111591404A discloses a collision avoidance method for wave gliders. The method comprises a collision prevention detection system, wherein an AIS receiver is arranged in the collision prevention detection system, and an AIS-started aircraft is used: the AIS receiver of the wave glider can find a target within a range of 5 kilometers, information such as the position, the course and the navigation speed of the target is analyzed through the navigation system, the navigation system judges whether collision danger exists according to the navigation state of the target, if no collision danger exists, navigation is continued according to a set path, and if collision probability exists, the path is planned again.
For the invention patent, although the wave glider has certain detection capability, the AIS has limited action distance because the wave glider transmitting-receiving antenna is close to the sea level, and only about hundreds of meters exist under severe sea conditions, when a target is found, the target cannot be avoided due to too close distance, and the success rate of collision avoidance is low. The process of analyzing and processing the target ship and making collision avoidance decisions is complex in algorithm and large in calculation amount, and hardware cost and power consumption can be increased when the method is implemented on the wave glider.
Disclosure of Invention
The invention solves the technical problem of providing a low-cost wave glider sea navigation collision avoidance method, which does not need to install collision avoidance equipment on the glider, reduces the cost and the power consumption of the glider, and the wave glider can avoid collision on ships at a long distance.
The basic scheme provided by the invention is as follows:
a low-cost wave glider sea navigation collision avoidance method, the wave glider is communicated with a ground station through a satellite, the ground station receives information returned by the wave glider, S1: acquiring AIS information transmitted to the Internet by ships in a preset area; s2: according to ship information and wave glider coordinates, dividing the ship into a safe ship and a ship with collision danger; s3: and according to the AIS information of the ship with the collision danger, collision avoidance is carried out according to preset avoidance operation.
The principle and the advantages of the invention are as follows: utilize ground station to acquire the AIS information that predetermines regional interior ship conveying to the internet, combine ship information and wave glider coordinate analysis wave glider and ship collision's possibility, according to the possibility that the two bumps, divide into safe ship with the ship that has the collision danger with the ship, according to the AIS information that has the dangerous ship of collision, avoid bumping according to the operation of dodging of predetermineeing. Therefore, according to the technical scheme, AIS information is directly obtained through the Internet, collision avoidance equipment such as a radar and a laser detector do not need to be installed on the glider, the cost and the power consumption of the glider are reduced, and the wave glider can avoid collision of ships in a long distance.
Further, the preset area is as follows: the radius of the wave glider is 8-15 km.
The normal speed of a ship is about 16 to 30 km per hour, 8 to 15 km corresponding to half an hour of travel. The wave glider and the ground station use satellite communication, normally with a delay of several minutes. The wave glider navigation speed is slow, and the preset region undersize will probably lead to the wave glider not to reach and avoid colliding, and the preset region oversize will lead to having too much ship, makes to dodge the operation and become complicated, still can lead to the wave glider to carry out unnecessary and avoid colliding. The radius of the preset area is 8-15 kilometers, so that the avoidance operation of the wave glider can be reduced as far as possible, and the avoidance success is guaranteed.
Further, the ship information comprises the coordinates, the course and the course of the ship.
The coordinates, the course and the route of the ship are obtained, and the following navigation route of the ship can be accurately calculated, so that the ship is avoided.
Further, the S2 includes: and setting a dangerous area according to the ship course, wherein the dangerous area comprises distance ranges of 1 kilometer for each of the left width and the right width of the ship course.
Under general conditions, the wave glider can sail for 1 kilometer within half an hour, the distance ranges of the left width and the right width of the ship course are respectively 1 kilometer and are taken as dangerous areas, so that the wave glider can safely drive away from the dangerous areas within half an hour when being located in the dangerous areas, and collision avoidance success is guaranteed.
Further, when the wave glider is located in the dangerous area and the wave glider is located in the clockwise direction (0-90 degrees) or (270-360 degrees) of the ship heading, the ship is a ship with collision danger.
When the wave glider is in the area, the wave glider is located in the dangerous area and in front of the ship course, the sailing speed of the ship is higher than that of the wave glider, and the danger that the ship catches up with the wave glider and collides exists. The ship with collision danger is prevented from collision, and the complexity of avoidance operation is reduced.
Further, the vessel is a safe vessel when the wave glider is located within a clockwise (90 ° -270 °) direction of the vessel heading.
When the wave glider is in the area, the wave glider is behind the ship course, the sailing speed of the wave glider is far lower than that of the ship, and the danger that the wave glider overtakes the ship and collides does not exist. Ships without collision danger in the preset area are eliminated, the avoidance operation complexity is reduced, and the avoidance scheme is obtained quickly.
Furthermore, when the wave glider is positioned outside the dangerous area and the course of the wave glider does not have an intersection point with the dangerous area, the ship is a safe ship.
The ship and the wave glider do not have collision possibility, the ship without collision danger in a preset area is eliminated, the complexity of avoidance operation is reduced, and an avoidance scheme is rapidly obtained.
Furthermore, when the wave glider is located outside the dangerous area and the course of the wave glider has an intersection point with the dangerous area, the ship is a ship with collision danger.
When there is the nodical with the danger area in wave glider course, show that wave glider is traveling to the direction that is close to the ship, and the ship is for having collision danger's ship, needs to keep away the collision to this ship.
Further, the S3 includes:
s301: according to the division of the ships, collision avoidance is carried out on the ships with collision danger;
s302: setting a range in which avoidance operation is required according to the motion state of the ship with collision danger;
s3021: when the ship is in a sailing state, the operation range for avoiding is a dangerous area;
s3022: when the ship is in a static state, the range for avoiding operation is the coordinate point of the ship.
Ships without collision danger in a preset area are eliminated, the complexity of avoidance operation is reduced, and an avoidance scheme is obtained quickly; according to the motion state of the ship, different avoidance ranges of the ship in a sailing state and a static state are distinguished.
Further, the avoidance operation includes:
A) collision avoidance is carried out on the dangerous area:
A1) when the ship is a ship with collision danger, calculating the relative hydrostatic speed of the wave glider and new actual absolute speeds when the original actual absolute speed is 90 degrees, 180 degrees and 270 degrees clockwise according to the ocean current speed;
A2) when the direction of the new actual absolute speed deviates from the ship course, adjusting the course to enable the actual absolute speed of the wave glider to be the new actual absolute speed; when the new actual absolute speed direction crosses the ship course, calculating the position of the crossing point, and adjusting the heading to enable the actual absolute speed of the wave glider to enable the ship to reach the position of the crossing point, wherein the position of the glider is farthest away from the ship;
B) collision avoidance is carried out on ship coordinate points:
B1) calculating the distance from the ship to the course direction of the wave glider, and if the distance is more than 1-3 kilometers, avoiding collision is not needed; if the distance is less than 1-3 km, executing B2;
B2) calculating new actual absolute speeds when the relative hydrostatic speed of the wave glider and the original actual absolute speed are 90 degrees and 270 degrees clockwise according to the ocean current speed; and calculating the distance between the ship and the new actual absolute speed, and selecting the condition with the maximum distance to adjust the heading for collision avoidance.
Calculating course junction points of the ship and the wave gliders in different sailing directions, and adjusting the heading direction of the wave gliders under the condition that the ship is farthest away from the wave gliders when the ship arrives at the junction points, thereby adjusting the actual absolute speed (the speed of the wave gliders in the actual sailing direction) of the wave gliders.
Drawings
FIG. 1 is a flow chart of a method for collision avoidance in marine navigation of a low-cost wave glider in an embodiment of the present invention.
Fig. 2 is a schematic diagram of a preset area of the marine navigation collision avoidance method for the low-cost wave glider according to the embodiment of the invention.
Fig. 3 is a schematic view of a dangerous area of the low-cost wave glider sea navigation collision avoidance method according to the embodiment of the present invention.
Fig. 4 is a schematic view of a wave glider in the method for preventing collision of the wave glider during sea navigation according to the embodiment of the present invention.
FIG. 5 is a schematic view of the course velocity synthesis of a wave glider in the method for preventing collision of the wave glider during sea voyage according to the embodiment of the present invention.
Fig. 6 is a schematic view of a collision avoidance method of a wave glider when a ship is stationary according to the low-cost wave glider marine navigation collision avoidance method of the embodiment of the present invention.
Fig. 7 is a schematic view of a wave glider in a dangerous area according to the method for preventing collision of the wave glider during sea navigation according to the embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example 1 is substantially as shown in figure 1:
the collision avoidance steps are divided into S1, S2, and S3.
S1: acquiring AIS information transmitted to the Internet by ships in a preset area;
wave glider communicates with the satellite through satellite communication device when navigation, ground station is through communicating with the satellite, the information of real-time reception wave glider passback, the information of passback includes the real-time position information of wave glider, ground station is according to the real-time position information of wave glider, obtain other ships on the internet and convey the AIS information to the internet, note wave glider radius 8 kilometers interior ship information, ship information includes the coordinate of ship, course and airline.
The process of acquiring the ship information is as follows, as shown in fig. 2, a circle is made with the coordinate point of the wave glider as the center of the circle and R as the radius (in this embodiment, R is 8 km), and the area is a preset area, and ships in the preset area are searched. And d represents the distance between the ship and the wave glider, and when d is less than R, the ship is positioned in the preset area, and the coordinates, the course and the course of the ship positioned in the preset area are obtained.
S2: according to ship information and wave glider coordinates, dividing the ship into a safe ship and a ship with collision danger;
when the wave glider is located in the dangerous area and the wave glider is located in the ship course clockwise (0-90) or (270-360), the ship is a ship with collision danger. When the wave glider is positioned in the clockwise direction (90-270 degrees) of the ship heading, the ship is a safe ship. When the wave glider is positioned outside the dangerous area and the course of the wave glider does not have an intersection point with the dangerous area, the ship is a safe ship. When the wave glider is positioned outside the dangerous area and the course of the wave glider has an intersection point with the dangerous area, the ship is a ship with collision danger.
S3: and according to the AIS information of the ship with the collision danger, collision avoidance is carried out according to preset avoidance operation.
In fig. 5, velocity Vg represents the actual absolute velocity of the wave glider, Vs represents the relative hydrostatic velocity of the wave glider, the heading direction of the wave glider is shown, and Vc represents the ocean current velocity. Since the velocity is a vector, Vg is the vector sum of Vs and Vc, and the magnitude and direction of Vc can be estimated from the information of Vs and Vg. The magnitude of the wave glider velocity Vs cannot be changed artificially depending on sea conditions, but the direction of Vs can be controlled by controlling the rudder of the underwater part of the wave glider, and the direction and magnitude of the ocean current velocity Vc cannot be changed artificially, so that Vg can be changed only indirectly by changing the direction of Vs.
When the ship is in a sailing state:
the operation range for avoiding is a dangerous area, and the distance range of each M (M is 1 kilometer) of the left and right width of the ship in the course direction is set as the dangerous area. As shown in fig. 3, Vb is the vessel heading and N is the distance from the wave glider to the vessel heading. Theta is an included angle between the ship heading Vb and the wave glider heading Vg, phi is an included angle between the ship heading Vb and a connecting line between the ship and the wave glider, and the two angles are based on Vb, range from 0 degrees to 360 degrees, and direction is clockwise direction. The wave glider is positioned on the left side of the ship course or on the same straight line (phi is more than or equal to 180 degrees and less than or equal to 360 degrees) and the collision avoidance method on the right side (phi is more than 0 degrees and less than 180 degrees) is the same, so the left side is only listed.
When 180 DEG & ltoreq phi & ltoreq 270 DEG, the wave glider is already surpassed by the ship. Because the speed of the wave glider is far lower than that of the ship, the wave glider cannot surpass the ship, collision possibility does not exist at the moment, collision avoidance is not needed, and the ship is a safe ship. When 270 DEG & ltoreq phi & lt 360 DEG, two conditions are divided according to whether the wave glider is located in the dangerous area:
1) when N is larger than or equal to M (the wave glider is positioned outside the dangerous area), the course relation between the wave glider and the ship needs to be combined, and whether the collision possibility exists between the wave glider and the ship is further analyzed:
when theta is larger than or equal to 180 degrees and smaller than or equal to 360 degrees (the wave glider is positioned outside the dangerous area, and the course deviates from or is parallel to the course of the ship, namely Vg and Vb do not intersect), the wave glider keeps the original course without carrying out next collision avoidance operation.
When theta is larger than or equal to 0 degree and smaller than or equal to 180 degrees (the wave glider is positioned outside the dangerous area, but the course is intersected with the ship course, namely Vg is intersected with Vb), the wave glider needs to perform the next collision avoidance operation. As shown in fig. 4, Vc is estimated from Vs and Vg, and values at 90 °, 180 °, and 270 ° of the estimated Vs and the original Vg direction are denoted as Vg1, Vg2, and Vg 3. When Vg1, Vg2 and Vg3 deviate from Vb, adjusting Vs to enable Vg to be in the direction; when Vg1, Vg2 and Vg3 do not deviate from Vb, respectively calculating the convergence points P, P1, P2 and P3 of Vg, Vg1, Vg2 and Vg3 and the ship heading Vb, calculating the time t, t1, t2 and t3 required by the ship to reach the convergence points P, P1, P2 and P3, and calculating the positions Q, Q1, Q2 and Q3 of the wave glider according to the time t, t1, t2 and t3 (in the figure 4, the Vg3 deviates from Vb, and the intersection point P3 and the corresponding Q3 do not exist). And (3) calculating the distances between the wave glider and the ship course Vb under different conditions, namely the distances from the points Q, Q1, Q2 and Q3 to the Vb, and selecting the condition with the maximum distance for collision avoidance.
2) When N < M (wave glider is located in the dangerous area, and there is collision risk in wave glider and ship), no matter theta size, wave glider all needs to carry out next step and keeps away the collision operation this moment. As shown in fig. 7, Vc is estimated from Vs and Vg, and values at 90 °, 180 °, and 270 ° of the estimated Vs and the original Vg direction are denoted as Vg1, Vg2, and Vg 3. When Vg1, Vg2 and Vg3 deviate from Vb, adjusting Vs to enable Vg to be in the direction; when Vg1, Vg2 and Vg3 do not deviate from Vb, respectively calculating the intersection points P, P1, P2 and P3 of Vg, Vg1, Vg2 and Vg3 and the ship heading Vb, calculating the time t, t1, t2 and t3 required by the ship to reach the intersection points P, P1, P2 and P3, and calculating the positions Q, Q1, Q2 and Q3 of the wave glider according to the time t, t1, t2 and t 3. As shown in fig. 7, Vg3 and Vb have no intersection, Q3 is the position of the wave glider after time t3, and t3 is the time required for the vessel to reach the foot P3 in the Vb direction of the current position of the wave glider. And selecting the point which is farthest from Vb from Q, Q1, Q2 and Q3 for collision avoidance.
When the ship is in a static state:
the range of avoiding operation is the coordinate point of the ship, as shown in fig. 6, the distance from the ship to the heading direction of the wave glider is calculated, if the distance is greater than 1 kilometer, collision avoidance is not needed, if the distance is less than 1 kilometer, collision avoidance operation is needed, Vc is estimated according to Vs and Vg, values when the Vs and the original Vg direction form 90 degrees and 270 degrees are estimated according to Vc and are recorded as Vg1 and Vg2, the distance between the ship and Vg1 and Vg2 is estimated, and the condition with the largest distance is selected for collision avoidance.
The radius R of the collision-prevention circle and the width M of the dangerous area can be adjusted according to actual conditions, and R and M can be set to be larger values for reducing collision-prevention probability. However, too large R and M will result in too many vessels, complicating the avoidance operation, and also result in time and resources being wasted performing unnecessary avoidance operations. Too small R and M will likely cause the wave glider to be out of the way to avoid collisions, especially in the presence of delays in satellite communications and AIS signals.
Example 2 is substantially as shown in figure 1:
the basic principle of the embodiment 2 is the same as that of the embodiment 1, and the difference is that R is equal to 15 kilometers in the embodiment 2, so that the ship information in a larger area is acquired, collision avoidance is performed on ships in a larger range, and the collision avoidance success rate is improved.
Example 3 is substantially as shown in figure 1:
the basic principle of the embodiment 3 is the same as that of the embodiment 1, and the difference is that when the collision avoidance is performed on the coordinate points of the ship in the embodiment 3, when the distance from the ship to the heading direction of the wave glider is more than 3 kilometers, the collision avoidance operation is not performed, and when the distance is less than 3 kilometers, the collision avoidance operation is performed. This has the advantage of being as far away from the stationary vessel as possible, reducing the likelihood of collisions with the stationary vessel.
The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. A low-cost wave glider sea navigation collision avoidance method comprises the following steps: wave glider passes through satellite and ground station communication, and the information that wave glider passbacked is received to the ground station, its characterized in that: further comprising:
s1: acquiring AIS information transmitted to the Internet by ships in a preset area;
s2: according to ship information and wave glider coordinates, dividing the ship into a safe ship and a ship with collision danger;
s3: according to AIS information of a ship with collision danger, collision avoidance is carried out according to preset avoidance operation;
the avoidance operation includes:
A) collision avoidance is carried out on the dangerous area:
A1) when the ship is a ship with collision danger, calculating the relative hydrostatic speed of the wave glider and new actual absolute speeds when the original actual absolute speed is 90 degrees, 180 degrees and 270 degrees clockwise according to the ocean current speed;
A2) when the direction of the new actual absolute speed deviates from the ship course, adjusting the course to enable the actual absolute speed of the wave glider to be the new actual absolute speed; when the new actual absolute speed direction crosses the ship course, calculating the position of the crossing point, and adjusting the heading to enable the actual absolute speed of the wave glider to enable the ship to reach the position of the crossing point, wherein the position of the glider is farthest away from the ship;
B) collision avoidance is carried out on ship coordinate points:
B1) calculating the distance from the ship to the course direction of the wave glider, and if the distance is more than 3 kilometers, avoiding collision is not needed; if the distance is less than 3 km, execute B2;
B2) calculating new actual absolute speeds when the relative hydrostatic speed of the wave glider and the original actual absolute speed are 90 degrees and 270 degrees clockwise according to the ocean current speed; and calculating the distance between the ship and the new actual absolute speed, and selecting the condition with the maximum distance to adjust the heading for collision avoidance.
2. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: the preset area is as follows: the radius of the wave glider is 8-15 km.
3. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: the ship information comprises coordinates, course and course of the ship.
4. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: the S2 includes: and setting a dangerous area according to the ship course, wherein the dangerous area comprises the distance ranges of the left width and the right width of the ship course of 1 kilometer respectively.
5. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: when the wave glider is located in the dangerous area and is located in the clockwise direction (0-90 degrees) or (270-360 degrees) of the ship course, the ship is a ship with collision danger.
6. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: when the wave glider is positioned in the ship course clockwise direction (90-270 degrees), the ship is a safe ship.
7. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: when the wave glider is positioned outside the dangerous area and the course of the wave glider does not have an intersection point with the dangerous area, the ship is a safe ship.
8. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: when the wave glider is positioned outside the dangerous area and the course of the wave glider has an intersection point with the dangerous area, the ship is a ship with collision danger.
9. The low-cost wave glider maritime navigation collision avoidance method according to claim 1, characterized in that: the S3 includes:
s301: according to the division of the ships, collision avoidance is carried out on the ships with collision danger;
s302: setting a range in which avoidance operation is required according to the motion state of the ship with collision danger;
s3021: when the ship is in a sailing state, the operation range for avoiding is a dangerous area;
s3022: when the ship is in a static state, the range for avoiding operation is the coordinate point of the ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110177489.XA CN113012473B (en) | 2021-02-07 | 2021-02-07 | Low-cost wave glider marine navigation collision avoidance method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110177489.XA CN113012473B (en) | 2021-02-07 | 2021-02-07 | Low-cost wave glider marine navigation collision avoidance method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113012473A CN113012473A (en) | 2021-06-22 |
| CN113012473B true CN113012473B (en) | 2022-04-19 |
Family
ID=76384331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110177489.XA Active CN113012473B (en) | 2021-02-07 | 2021-02-07 | Low-cost wave glider marine navigation collision avoidance method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113012473B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779163B (en) * | 2022-06-17 | 2022-09-09 | 青岛海舟科技有限公司 | Underwater sound detection, identification and obstacle avoidance method and system based on wave glider |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2070068A2 (en) * | 2006-09-13 | 2009-06-17 | Marine & Remote Sensing Solutions (MARSS) | Manoeuvre and safety system for a marine vessel |
| CN102137485A (en) * | 2010-01-27 | 2011-07-27 | 鼎桥通信技术有限公司 | Maritime affairs approaching alarm method and system |
| CN203698637U (en) * | 2014-01-23 | 2014-07-09 | 于佳弘 | Autarkic ocean monitoring platform and propelling plant |
| CN105022270A (en) * | 2015-03-20 | 2015-11-04 | 武汉理工大学 | Automatic ship collision avoidance method based on velocity vector coordinate system |
| CN108287018A (en) * | 2018-01-25 | 2018-07-17 | 国家海洋技术中心 | Ambient sea noise measuring device based on wave glider |
| CN207902717U (en) * | 2017-12-27 | 2018-09-25 | 中电科（宁波）海洋电子研究院有限公司 | A kind of underwater gliding propeller |
| CN108820157A (en) * | 2018-04-25 | 2018-11-16 | 武汉理工大学 | A kind of Ship Intelligent Collision Avoidance method based on intensified learning |
| CN109358615A (en) * | 2018-09-07 | 2019-02-19 | 上海大学 | Unmanned water surface ship VO barrier-avoiding method based on sensor detection barrier velocity error |
| CN109916419A (en) * | 2019-03-12 | 2019-06-21 | 哈尔滨工程大学 | A kind of hybrid genetic algorithm unmanned boat real-time route planing method of object-oriented |
| CN110197598A (en) * | 2019-05-31 | 2019-09-03 | 中国船舶重工集团公司第七0七研究所 | A kind of dynamic object collision prevention method merging maritime affairs rule |
| CN110262482A (en) * | 2019-06-10 | 2019-09-20 | 华东师范大学 | A kind of unmanned boat speed of a ship or plane control method and unmanned boat |
| CN111028546A (en) * | 2019-11-20 | 2020-04-17 | 智慧航海（青岛）科技有限公司 | Multi-ship cooperative collision prevention system and method for intelligent ship based on shore-based radar |
| CN111366962A (en) * | 2020-03-12 | 2020-07-03 | 国家深海基地管理中心 | Deep open sea low-cost long-endurance collaborative navigation positioning system |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
| CN111971726A (en) * | 2018-03-22 | 2020-11-20 | 东京计器株式会社 | Ship navigation support device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140064026A1 (en) * | 2012-09-04 | 2014-03-06 | Apache Corporation | Wave glider with streamer orientation sensor |
| US10431099B2 (en) * | 2014-02-21 | 2019-10-01 | FLIR Belgium BVBA | Collision avoidance systems and methods |
| CN107016879B (en) * | 2017-05-19 | 2019-11-26 | 武汉理工大学 | Virtually guard against mark system and method in construction ship operation area based on AIS/GPRS |
| CN108922247B (en) * | 2018-07-25 | 2020-11-06 | 重庆大学 | Ship-navigation mark collision risk degree estimation method based on AIS |
-
2021
- 2021-02-07 CN CN202110177489.XA patent/CN113012473B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2070068A2 (en) * | 2006-09-13 | 2009-06-17 | Marine & Remote Sensing Solutions (MARSS) | Manoeuvre and safety system for a marine vessel |
| CN102137485A (en) * | 2010-01-27 | 2011-07-27 | 鼎桥通信技术有限公司 | Maritime affairs approaching alarm method and system |
| CN203698637U (en) * | 2014-01-23 | 2014-07-09 | 于佳弘 | Autarkic ocean monitoring platform and propelling plant |
| CN105022270A (en) * | 2015-03-20 | 2015-11-04 | 武汉理工大学 | Automatic ship collision avoidance method based on velocity vector coordinate system |
| CN207902717U (en) * | 2017-12-27 | 2018-09-25 | 中电科（宁波）海洋电子研究院有限公司 | A kind of underwater gliding propeller |
| CN108287018A (en) * | 2018-01-25 | 2018-07-17 | 国家海洋技术中心 | Ambient sea noise measuring device based on wave glider |
| CN111971726A (en) * | 2018-03-22 | 2020-11-20 | 东京计器株式会社 | Ship navigation support device |
| CN108820157A (en) * | 2018-04-25 | 2018-11-16 | 武汉理工大学 | A kind of Ship Intelligent Collision Avoidance method based on intensified learning |
| CN109358615A (en) * | 2018-09-07 | 2019-02-19 | 上海大学 | Unmanned water surface ship VO barrier-avoiding method based on sensor detection barrier velocity error |
| CN109916419A (en) * | 2019-03-12 | 2019-06-21 | 哈尔滨工程大学 | A kind of hybrid genetic algorithm unmanned boat real-time route planing method of object-oriented |
| CN110197598A (en) * | 2019-05-31 | 2019-09-03 | 中国船舶重工集团公司第七0七研究所 | A kind of dynamic object collision prevention method merging maritime affairs rule |
| CN110262482A (en) * | 2019-06-10 | 2019-09-20 | 华东师范大学 | A kind of unmanned boat speed of a ship or plane control method and unmanned boat |
| CN111028546A (en) * | 2019-11-20 | 2020-04-17 | 智慧航海（青岛）科技有限公司 | Multi-ship cooperative collision prevention system and method for intelligent ship based on shore-based radar |
| CN111366962A (en) * | 2020-03-12 | 2020-07-03 | 国家深海基地管理中心 | Deep open sea low-cost long-endurance collaborative navigation positioning system |
| CN111591404A (en) * | 2020-06-01 | 2020-08-28 | 青岛海舟科技有限公司 | Wave glider collision avoidance method |
Non-Patent Citations (7)
| Title |
|---|
| Internet of Underwater Things and Big Marine Data Analytics—A Comprehensive Survey;Mohammad Jahanbakht等;《 IEEE Communications Surveys & Tutorials》;20210120;全文 * |
| Ship collision avoidance on the basis of 3-d model;Yilei Chen等;《2017 2nd IEEE International Conference on Intelligent Transportation Engineering (ICITE)》;20171005;全文 * |
| 基于修正导航向量场的AUV自主避障方法;姚鹏等;《 自动化学报》;20190219(第08期);全文 * |
| 基于改进势场蚁群算法的波浪动力滑翔器路径规划算法研究;赵红;《中国优秀硕士学位论文全文数据库 基础科学辑》;20170315(第03期);全文 * |
| 基于航向控制系统的船舶动态避碰机理;贺益雄等;《西南交通大学学报》;20181207(第05期);全文 * |
| 波浪滑翔器总体技术研究;卢旭;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20180615(第06期);全文 * |
| 海上无人波浪滑翔机的应用与发展;郑皆倞等;《科技导报》;20201113(第21期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113012473A (en) | 2021-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109460035B (en) | Secondary autonomous obstacle avoidance method for unmanned ship in high-speed state | |
| CN112327885B (en) | Unmanned ship self-adaptive global-local mixed path planning method | |
| US4403220A (en) | Radar system for collision avoidance | |
| KR101764600B1 (en) | Uav-guided ship cruise method and system | |
| WO2021230356A1 (en) | Method for autonomously guiding vessel, program for autonomously guiding vessel, system for autonomously guiding vessel, and vessel | |
| CN110837255B (en) | Autonomous danger avoiding method suitable for high-speed water surface unmanned ship | |
| Schuster et al. | Collision avoidance for vessels using a low-cost radar sensor | |
| Kufoalor et al. | Autonomous COLREGs-compliant decision making using maritime radar tracking and model predictive control | |
| CN111966106B (en) | Intelligent ship formation berthing method based on ship-ship cooperation | |
| Johansen et al. | Unmanned aerial surveillance system for hazard collision avoidance in autonomous shipping | |
| JPH06325300A (en) | Navigation supporting system of vessel | |
| CN113124864A (en) | Water surface navigation method adopting machine vision and inertial navigation fusion | |
| CN113012473B (en) | Low-cost wave glider marine navigation collision avoidance method | |
| CN111591404A (en) | Wave glider collision avoidance method | |
| US20090069962A1 (en) | Guidance of marine vessels | |
| CN114061565B (en) | Unmanned ship SLAM and application method thereof | |
| Calvert | Manoeuvres to ensure the avoidance of collision | |
| US20230410667A1 (en) | Autonomous air taxi separation system and method | |
| CN110414042B (en) | Ship cluster situation analysis method under conflict meeting situation | |
| KR102255865B1 (en) | Evaluation of Automatic Anti-Collision for a Boat using Collision Risk Zone | |
| CN207758971U (en) | Mixed display equipment for navigating by water collision prevention | |
| CN113380072B (en) | Ship safety protection method | |
| CN113625723B (en) | Unmanned ship dynamic collision avoidance control system | |
| KR102617981B1 (en) | Collision avoidance system for autonomous ships | |
| CN111984006B (en) | Unmanned ship multi-target meeting collision avoidance method integrating ocean current and scale difference influences |
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 |