CN113012474B - Wave glider collision avoidance method for fishing boat operation area - Google Patents
Wave glider collision avoidance method for fishing boat operation area Download PDFInfo
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- CN113012474B CN113012474B CN202110179521.8A CN202110179521A CN113012474B CN 113012474 B CN113012474 B CN 113012474B CN 202110179521 A CN202110179521 A CN 202110179521A CN 113012474 B CN113012474 B CN 113012474B
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- wave glider
- fishing boat
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
Abstract
The invention relates to the field of wave gliders, in particular to a collision prevention method for a wave glider in a fishing boat operation area, which comprises the following steps: s1) judging whether a fishing boat exists around the wave glider through AIS information on the Internet; s2) when a fishing boat exists around the wave glider, acquiring the historical track of the fishing boat around through AIS information on the Internet, and determining the range of the fishing boat operation area; s3) the wave glider regards the fishing boat operation area as an obstacle area to avoid collision. The wave glider collision avoidance method for the fishing vessel operation area can remotely detect the fishing vessel operation area through AIS information on the Internet and avoid collision, and solves the problems that the wave glider in the prior art is short in detection distance and low in collision avoidance success rate.
Description
Technical Field
The invention relates to the field of wave gliders, in particular to a collision prevention method for a wave glider in a fishing boat operation area.
Background
The wave glider is a novel offshore unmanned platform taking ocean waves as power. The marine life navigation system has the advantages of long navigation time, long navigation distance, suitability for high sea conditions and the like, and can be applied to the fields of marine meteorological monitoring, marine biological monitoring, marine environment monitoring and the like. Although the wave glider has the advantages, the wave glider has low advancing speed, generally 0.5-1.5 knots, and sometimes the ocean current speed is even higher than the wave glider speed because the wave glider takes wave energy as power. In order to utilize wave energy as much as possible, the wave glider is small in size, generally 2-3 meters long, and space and height for installing collision avoidance equipment are limited. Due to the influences of the size, the power consumption and the height, the traditional collision avoidance equipment such as radar, laser, vision equipment and the like has a short working distance on the wave glider, and the wave glider is too close to avoid collision when finding a target ship. The wave glider speed is slower especially when the ocean current speed and the collision avoidance direction are not consistent.
The wave glider collision avoidance method with the publication number of CN111591404A provides a scheme for solving the problem of wave glider collision avoidance, and an AIS receiver on the wave glider receives an AIS signal sent by a ship within 5km, so that the position, the course, the speed and other information of the ship can be known, and collision avoidance can be further carried out.
The fishing boats in the sea area of China are numerous, fishermen have strong curiosity, and once the fishing boats find the fishing boats, the fishing boats can be salvaged or damaged. The speed, course change are great when the operation of general fishing boat, it is difficult to predict, perhaps arrange the fishing tackle of several hundred meters or even several kilometers around the ship like trawl boat, net boat, etc. the AIS receiver can accept the distance range of AIS signal limited in the solution that prior art provided, can predict the scope of fishing boat only 5km (only several hundred meters under the adverse sea condition), its detection distance is short, when wave glider passes through the AIS receiver and discovers the fishing boat, thereby the fishing tackle very easily twines with wave glider and causes equipment to damage. And many fishing boats can be operated in groups, they can be operated back and forth in a certain area, the sailing direction has great randomness, and even if the wave glider successfully avoids one of the fishing boats and the fishing gear, the wave glider is difficult to avoid all the fishing boats and the fishing gear.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a wave glider collision avoidance method which can remotely detect a fishing boat through AIS information on the Internet, calculate an operation area of the fishing boat through a historical track of the fishing boat and then carry out collision avoidance operation.
The basic scheme provided by the invention is as follows: a wave glider collision avoidance method for a fishing boat operation area comprises the following steps:
s1) judging whether a fishing boat exists around the wave glider through AIS information on the Internet;
s2) when a fishing boat exists around the wave glider, acquiring the historical track of the fishing boat around through AIS information on the Internet, and determining the range of a fishing boat operation area according to the historical track of the fishing boat;
s3) the wave glider regards the fishing boat operation area as an obstacle area to avoid collision.
The principle and the advantages of the invention are as follows: the invention detects whether a fishing boat exists around the wave glider by using AIS data information on the Internet. As AIS information on the Internet is utilized, the collision prevention range is not limited by the action distance of hardware collision prevention equipment, and long-distance fishing boat detection and collision prevention can be realized. As the AIS historical data are stored on the Internet, the historical track of the fishing boat can be analyzed, the historical activity track of the fishing boat is determined, the activity range of the fishing boat for the next few days is deduced, the possible activity range of the fishing boat is marked, the whole activity range of the fishing boat is regarded as an obstacle area to avoid collision, and collision risks caused by uncertain course and track and the like when the fishing boat carries fishing gear and works on the fishing boat are avoided.
Further, the step S2) includes the step S201) of obtaining the historical track of the fishing boat in the previous X days, taking the center point P of the two track points M, N which are farthest away as the center of a circle, and taking Y times of the distance between the two points M, N as the diameter of the circle, wherein the circle is the range of the fishing boat operation area. The historical track of the fishing boat in a period of time is obtained, the range of the fishing boat operation area is generated, the range of the fishing boat operation area is expanded or reduced according to different requirements, and the success rate of collision avoidance can be improved.
Further, the value range of Y is 1 to 1.5. The time cost that wave glider kept away from can be saved when the scope in fishing boat operation district sets up to 1 time of MN distance, can promote the success rate that wave glider kept away from fishing boat operation district when setting up the scope in fishing boat operation district to 1.5 times of MN distance.
Further, the value of the X day ranges from one day to five days. The track repetition possibility of the fishing boat operation area within one to five days is high, the historical track of the fishing boat in the time period is obtained, and the fishing boat operation area can be determined more accurately.
Further, the S3) includes:
s301) calculating the distance between the wave glider and a fishing boat operation area;
s302) calculating the safe distance between the wave glider and the fishing boat operation area;
s303) judging whether the distance between the wave glider and the fishing boat operation area is smaller than a safe distance or not, and when the distance between the wave glider and the fishing boat operation area is smaller than the safe distance, avoiding collision. This scheme can be through calculation operation, and the safe distance that wave glider and fishing boat operation district were set up to developments makes safe distance set up more accurately.
Further, S302) the calculation formula of the safe distance is Ds ≦ nR, Ds is the safe distance, n is a constant, R is the radius of the fishing boat working area, where n depends on the magnitude of the velocity component | Vcp | of the ocean current pointing to the obstacle area and the magnitude of the wave glider hydrostatic velocity | Vs |, n is 2 when | Vcp ≦ Vs |, n is 3 when | Vs ≦ Vcp | <2| Vs |, and n is 4 when 2| Vs ≦ Vcp |. When the ocean current velocity component pointing to the obstacle area is larger, the corresponding safe collision avoidance distance is larger, and the safe collision avoidance distance is respectively 2 times, 3 times and 4 times of the radius of the obstacle area. Because the ocean current speed is not more than 3 times of the speed of the wave glider per se under the general condition, the safe collision avoidance distance of 4 times of the radius of the obstacle area can avoid the obstacle area under most conditions.
Further, the step S303) includes a substep a), when the heading angle is within the safe heading angle, the navigation continues with the original heading, and when the heading angle is not within the safe heading angle, the heading is adjusted to avoid collision. When the course angle is not safe, the scheme can avoid collision by adjusting the heading direction.
Further, the safe course angle is as follows: theta-arcsin (1/n), theta is the safe course angle. Compared with the scheme of setting a fixed safe course angle, the scheme has the advantage that the safe course angle is adjusted more flexibly.
Further, when the heading angle is not within the safe heading angle, the heading is adjusted to the same direction of the ocean current component Vcv. The scheme utilizes the same direction of the heading and the Vcv, so that the ocean current can drive the wave glider to keep away from the fishing boat operation area and simultaneously continue to advance, the collision avoiding time is saved, the collision avoiding power consumption is reduced, and the collision avoiding success rate is improved.
Further: and s4) detecting the marine floating object by adopting the millimeter wave radar, and avoiding according to the detection result of the millimeter wave radar. The offshore floater does not have an AIS transmitting device, and the data of the position, the course and the navigation speed of the offshore floater cannot be found on the Internet. This scheme utilizes millimeter wave radar to survey marine floater for wave glider can not only dodge the fishing boat operation area, can also dodge marine floater.
Drawings
FIG. 1 is a flow chart of the wave glider collision avoidance method of the present invention for a fishing vessel work area.
FIG. 2 is a schematic view of the safe collision avoidance distance and the safe course angle of the wave glider of the present invention.
FIG. 3 is a schematic view of the wave glider course velocity synthesis of the present invention.
Detailed Description
Example one
In this embodiment, a flow of a wave glider collision avoidance method for a fishing vessel operation area is shown in fig. 1, and includes:
s1) judging whether a fishing boat exists around the wave glider through AIS information on the Internet;
s2) when a fishing boat exists around the wave glider, acquiring the historical track of the fishing boat around through AIS information on the Internet, and determining the range of the fishing boat operation area;
s3) the wave glider regards the fishing boat operation area as an obstacle area to avoid collision.
The specific implementation process is as follows:
the wave glider communicates with the ground station through a satellite when sailing, the ground station receives information returned by the wave glider in real time, the information comprises real-time position information of the glider, and the ground station reads AIS information on the Internet according to the real-time position information of the wave glider to judge whether fishing boats exist around the wave glider (within the range of 50-100 kilometers, preferably 50 kilometers in the embodiment). And when the fishing boats are determined to exist around, acquiring historical tracks of all fishing boats around the wave glider in the past X days through Internet AIS information, wherein X is preferably 1 day, judging whether the fishing boats are in a fishing boat operation area, and when the fishing boats are judged to be in the fishing boat operation area, avoiding collision by taking the fishing boat operation area as an obstacle area. At the moment, a ground station issues a collision avoidance instruction to the wave glider for collision avoidance.
When fishing boats are found around the wave glider, the historical tracks of all fishing boats around the wave glider in the past 1 day are obtained through the Internet AIS information. As shown in fig. 2, two trace points M, N farthest apart are obtained, and the two trace points are obtained through a formula
And (5) calculating the distance M, N, and making a circle by taking the central point P of the MN as the center and taking Y times of the length of the MN as the diameter. The wave glider takes the area in the circle as an obstacle area to avoid collision.
Then the position coordinates of the circle centers of the wave glider and the fishing boat operation area are obtained through AIS information on the Internet, the coordinates are two-dimensional coordinates, and then the position coordinates are obtained through a formula
And calculating the distance Dg between the wave glider and the circle center P of the fishing boat operation area, and connecting the current point O of the wave glider and the circle center P to form a line OP, wherein the Dg is the distance between two points OP.
And then calculating the safe distance between the wave glider and the fishing boat operation area, wherein the specific mode is as follows:
when the wave glider sails, the ground station calculates the distance Dg between the wave glider and the central point of an obstacle area, then the ground station calculates the safe collision distance according to a formula Ds (total mean) nR, wherein n is determined by estimating the hydrostatic velocity Vs of the wave glider according to the current sea condition, and the direction of the ocean current velocity Vc and the directions of the components Vcp and Vcv are estimated according to the Vs and the current velocity Vg of the wave glider. N is 2 when | Vcp | < | Vs |, n is 3 when | Vs | ≦ | Vcp | <2| Vs |, and n is 4 when 2| Vs | ≦ | Vcp |.
An estimate of Vc is shown in fig. 3, where velocity Vg represents the wave glider actual velocity, Vs represents the wave glider hydrostatic velocity, which is the heading direction of the wave glider, and Vc represents the ocean current velocity. Since velocity is a vector, Vg is the vector sum of Vs and Vc. The magnitude and direction of Vc can be estimated from the information of Vs and Vg.
When the wave glider reaches the safe collision avoidance distance, the ground station is needed to judge whether the course of the wave glider is safe. As shown in fig. 2, the tangent of the obstacle area circle is taken as the O point (the coordinate point of the wave glider), the included angle between the tangent and the OP is θ, where θ is recorded as the safe heading angle, the included angle between Vg and OP is Φ, both are negative in the clockwise direction and positive in the counterclockwise direction. And then judging the relation between the included angle phi of the wave gliders Vg and OP and the safe heading angle theta, wherein the angle theta is arcsin (1/n). When phi is not less than phi and not more than theta, the course of the wave glider points to the obstacle area, the course of the wave glider is unsafe, and the course needs to be adjusted to avoid collision. When phi is larger than or equal to theta or smaller than or equal to minus theta, the course of the wave glider is safe without collision avoidance.
The collision prevention method comprises the following steps:
the ground station sends an instruction to the wave glider through the satellite, and the heading of the wave glider is adjusted to the same direction of the ocean current component Vcv, so that the ocean current can drive the wave glider to keep away from a fishing boat operation area and continue to advance, and the collision avoidance time is saved.
The scheme can be further optimized by installing a millimeter wave radar detector at the front end of the wave glider, AIS information on the Internet cannot acquire the position information of the marine floater, and the position information of the marine floater within the range of 200M can be acquired through a radar.
Example two:
the only difference from the first embodiment is that: after the fishing boat is determined to be around the wave glider, all track information of the fishing boat around the wave glider in the past 5 days is obtained through AIS information on the Internet.
Example three:
the only difference from the first embodiment is that: taking two trace points M, N farthest from each other to calculate the distance Dmn to be | MN |, taking the central point P of MN as the center of the circle, leaving a safety margin, taking 1.5 times of the length of MN as the diameter to make a circle, and taking the circle as an obstacle area. The advantage of doing so is that can promote the success rate that wave glider keeps away from bumping in fishing boat operation area when setting up the scope in fishing boat operation area as maximum distance 1.5 times.
Example four:
the only difference from the first embodiment is that: the way of adjusting the heading angle is different, and in the fourth embodiment, as described below, if the ocean current component Vcv is in the direction of 90 ° clockwise from the straight line OP, the rudder of the wave glider is controlled to turn right, and Vs is adjusted to the direction of Vcv. If the ocean current component Vcv is in the direction of 90 degrees anticlockwise on the straight line OP, the wave glider is controlled to steer to the left rudder to adjust Vs to the direction of the ocean current component Vcv, and the wave glider is far away from an obstacle area as soon as possible by utilizing the ocean current speed component Vcv.
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 wave glider collision avoidance method for a fishing boat operation area is characterized by comprising the following steps:
s1) judging whether a fishing boat exists around the wave glider through AIS information on the Internet;
s2) when a fishing boat exists around the wave glider, acquiring the historical track of the fishing boat around through AIS information on the Internet, and determining the range of the fishing boat operation area;
s3) the wave glider takes the fishing boat operation area as an obstacle area to avoid collision;
the S2) includes:
s201), acquiring the historical track of the fishing boat in the previous X days, and making a circle by taking the center point P of the two track points M, N which are farthest away as the center of the circle and the Y times of the distance between M, N two points as the diameter, wherein the circle is the range of the fishing boat operation area.
2. The wave glider collision avoidance method for a fishing vessel work area according to claim 1, wherein: the value range of Y is 1 to 1.5.
3. The wave glider collision avoidance method for a fishing vessel work area according to claim 2, wherein: and the historical track of the fishing boat in the previous X days, wherein the value range of the X days is from one day to five days.
4. The wave glider collision avoidance method for a fishing vessel work area according to claim 3, wherein: the S3) includes:
s301), calculating the distance between the wave glider and the fishing boat operation area;
s302), calculating the safe distance between the wave glider and the fishing boat operation area;
s303), judging whether the distance between the wave glider and the fishing boat operation area is smaller than a safe distance, and avoiding collision when the distance between the wave glider and the fishing boat operation area is smaller than the safe distance.
5. The wave glider collision avoidance method for a fishing vessel work area according to claim 4, wherein: s302) the calculation formula of the safe distance is Ds-nR, Ds is the safe distance, n is a constant, R is the radius of the fishing boat operation area, wherein n depends on the magnitude of the velocity component of the ocean current in the obstacle area
And wave glider hydrostatic velocity magnitude | Vs |, n is 2 when | Vcp | < | Vs |, n is 3 when | Vs | ≦ | Vcp | <2| Vs |, and n is 4 when 2| Vs | ≦ | Vcp |.
6. The wave glider collision avoidance method for a fishing vessel work area of claim 5, wherein: and the step S303) comprises a substep a), when the course angle is within the safe course angle, the navigation is continued by the original course, and when the course angle is not within the safe course angle, the heading is adjusted to avoid collision.
7. The wave glider collision avoidance method for a fishing vessel work area of claim 6, wherein: the safe course angle is as follows: theta-arcsln (1/n), theta is the safe heading angle.
8. The wave glider collision avoidance method for a fishing vessel work area of claim 6, wherein: and when the course angle of the wave glider is not within the safe course angle, adjusting the heading of the wave glider to the same direction of the ocean current component Vcv.
9. The wave glider collision avoidance method for a fishing vessel work area according to claim 1, wherein: and s4) detecting the marine floating object by adopting the millimeter wave radar, and avoiding according to the detection result of the millimeter wave radar.
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