CN113689740A - Control river reach ship position judgment method based on grids - Google Patents

Control river reach ship position judgment method based on grids Download PDF

Info

Publication number
CN113689740A
CN113689740A CN202110976177.5A CN202110976177A CN113689740A CN 113689740 A CN113689740 A CN 113689740A CN 202110976177 A CN202110976177 A CN 202110976177A CN 113689740 A CN113689740 A CN 113689740A
Authority
CN
China
Prior art keywords
grid
river reach
latitude
longitude
channel
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.)
Pending
Application number
CN202110976177.5A
Other languages
Chinese (zh)
Inventor
梁山
王德军
吴非
蔡章利
刘康路
张中建
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing University
Original Assignee
Chongqing University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN202110976177.5A priority Critical patent/CN113689740A/en
Publication of CN113689740A publication Critical patent/CN113689740A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a method for judging the position of a ship at a controlled river reach based on grids, and belongs to the field of application of intelligent shipping and ship navigation. The method comprises the following steps: based on the calculation range of the control river reach and the channel mileage line coordinates, the control river reach is gridded and an index is established by combining the actual situation of the control river reach and the two-dimensional array advantages, and meanwhile, the position of the grid distance close to the channel mileage line is calculated by taking the grid center point as the coordinate, so that the specific position in the control river reach is obtained. By the method, the grid index can be obtained by changing the coordinates of the longitude and the latitude of the ship AIS in the control river reach, so that the specific position of the ship in the control river reach is obtained, powerful basis is provided for ship command in a channel, the working efficiency and the accuracy of a command system are improved, and the safe navigation of the ship is guaranteed.

Description

Control river reach ship position judgment method based on grids
Technical Field
The invention belongs to the field of application of intelligent shipping and ship navigation, and particularly relates to a method for judging the position of a ship at a controlled river reach based on grids.
Background
The Yangtze river is the first big river in China and is called a 'golden waterway'. The overall structure of the whole river basin is formed by radiating the whole river basin on the basis of the main national port as the backbone and the important regional port as the basis, and the well-prepared river and sea transportation systems such as containers, iron ores, coal and the like and the specialized transportation systems such as automobile rolling and liquefied products are formed, so that the water-way transportation channel is the only water-way transportation channel running through the east, middle and west regions in China, and is also the core of the Yangtze river transportation channel of the national comprehensive transportation system, and the important support for the construction of the Yangtze economic zone is formed.
As the Yangtze river has a narrow river reach with a large beach and a large water-jet, the part of the river reach only allows ships to pass in one direction, and therefore, the ships need to participate in command manually. The current command mode is based on a mode of assisting a signaler for controlling an intelligent traffic command system of a signal station at a river reach, so that intelligent command is carried out on passing ships. The intelligent auxiliary command mode can actively master the passing ship dynamics and automatically generate the passing command record.
In intelligent command, the judgment of the position of a ship at a controlled river reach is an important ring, and the whole command is disordered due to the wrong or inaccurate judgment of the position of the ship. The judgment of the existing intelligent command system is carried out based on the channel center line, and the basic idea of the judgment method is that points are continuously marked in a navigable area of an electronic channel map of Yangtze river, a channel center line is formed by the continuous points, and after a ship enters the range, the closest point to the current ship is found, so that the position of the ship in a control river reach is determined. At present, the method for manually drawing the center line of the channel is to draw according to the direction of a river channel, errors are easy to occur in drawing, the whole set of the center points of the channel is required to be traversed when the center point of the channel closest to a ship is obtained, and the wrong center point of the channel is possibly matched, so that the method for judging the position of the ship by using the center line of the channel has low speed and low accuracy.
The invention aims to provide a method for judging the position of a ship at a controlled river reach based on a grid, which is based on the calculation range of the controlled river reach and the coordinates of the mileage line of a channel, combines the actual condition of the controlled river reach and the advantages of a two-dimensional array, grids the controlled river reach and establishes an index, and calculates the position relation between the grid and the mileage line of the channel by taking the central point of the grid as the coordinate. By the method, the grid index can be obtained by carrying out coordinate transformation on the longitude and latitude of the ship AIS in the control river reach, and then the specific position of the ship in the control river reach is obtained and provided for a command system for commanding, so that powerful basis is provided for commanding the ship in the channel, the working efficiency and accuracy of the command system are improved, and the guarantee is provided for safe navigation of the ship.
Disclosure of Invention
In order to solve the problems in the prior art and achieve the purpose, the invention provides a method for judging the position of a ship at a controlled river reach based on a grid. The technical scheme is as follows:
step 1: reading a calculation range of the control river reach, wherein the data comprises the maximum longitude, the minimum longitude, the maximum latitude and the minimum latitude of the calculation range;
step 2: reading channel mileage line data in a controlled river reach, wherein the data comprises channel mileage kilometer number, channel mileage line left side point longitude and latitude (according to the water flow direction), and channel mileage line right side point longitude and latitude (according to the water flow direction);
and step 3: and (4) gridding the controlled river reach and establishing an index by combining the artificially determined grid spacing according to the calculation range obtained in the step (1). Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range of the control river reach as an origin, taking longitude as an X axis and latitude as a Y axis, and establishing a coordinate system index by taking grid spacing as a unit variable;
and 4, step 4: calculating the specific position of the controlled river reach of each grid according to the channel mileage line coordinates obtained in the step 2 and by combining the coordinates of the central point of each grid;
and 5: and converting the longitude and latitude of the ship into a grid index, and solving the position of the control river reach where the ship is located.
In step 3, the model for establishing the index for the grid is as follows:
Figure BDA0003227368520000021
the grid index is (x, y), the lon represents grid center longitude, the lat represents grid center latitude, and the lon represents grid center latitudeminRepresenting the minimum longitude of the calculation range, said latminRepresents the minimum latitude and the interval represents the grid spacing.
In step 4, the specific position of the controlled river reach where the grid is located is obtained as follows:
step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;
step 4.2: calculating the distance from the grid in the rectangular range formed By the adjacent channel mileage lines to the previous channel mileage line, and if the longitude and latitude of the center point of the grid is (lon, lat), and the linear equation of the channel mileage line is Ax + By + C-0, then the distance d is1The calculation formula of (2) is as follows:
Figure BDA0003227368520000022
step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel2；
Step 4.4: calculating the specific position of the grid in the control river section in the rectangular range formed by the mileage lines of the adjacent channels, and if the current grid is in the ranges of the mileage lines of the channels n KM and (n-1) KM, the specific position of the control river section where the grid is located is d ═ n-d1/(d1+d2))；
In step 5, the specific position of the ship is obtained as follows:
step 5.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:
Figure BDA0003227368520000023
step 5.2: and obtaining the specific position of the controlled river reach of the ship by using the grid index.
The technical scheme of the invention has the following beneficial effects:
the invention provides a method for judging the position of a ship at a control river reach based on grids, which is characterized in that the control river reach is gridded and an index is established on the basis of a topographic map of a channel of the control river reach, the coordinates of mileage lines of the channel are read, grids in a rectangular range formed by the mileage lines of adjacent channels are set as navigable areas, and the specific position of the grids in the control river reach is calculated and stored.
Drawings
FIG. 1 is a flow chart of a method for determining a position of a vessel at a controlled river reach based on a grid according to an embodiment of the present invention
Detailed Description
The following detailed description of preferred embodiments of the invention refers to the accompanying drawings in which:
in this embodiment, a Yangtze river channel control river reach is taken as an example to illustrate an implementation scheme, the control river reach is gridded and an index is established by determining a calculation range and a grid interval of the control river reach, a channel mileage coordinate is recorded through an electronic channel map, and a specific position of a grid in the control river reach is calculated and stored. The system can obtain the specific position of the controlled river reach where the ship is located by converting the analyzed ship position data into a grid index, and provide help for ship commanding, as shown in fig. 1, the specific implementation comprises the following steps:
step 1: and reading the calculation range of the control river reach and the grid spacing. The calculation range is a rectangular box, so the actual data of the calculation range comprises four data of minimum longitude, minimum latitude, maximum longitude and maximum latitude; the grid spacing is the longitude and latitude difference of unit grids in the process of controlling the river reach to carry out the grid, if the spacing is too large, the accuracy of determining the position of the ship is not high, and if the spacing is too small, the system calculation amount is large.
Step 2: and reading the data of the channel mileage line. On the electronic channel chart, a channel mileage line appears every kilometer, when the channel mileage line is recorded through the electronic channel chart, a left point and a right point are required to be determined to be on the corresponding channel mileage line, meanwhile, a rectangular frame formed by adjacent channel mileage lines needs to contain the channel, and the data comprises channel mileage kilometers, longitude and latitude (according to the water flow direction) of the left point of the channel mileage line and longitude and latitude (according to the water flow direction) of the right point of the channel mileage line.
And step 3: and controlling the section gridding and establishing an index. Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range as an origin, taking longitude as an X axis and latitude as a Y axis, taking grid intervals as unit variables, establishing a coordinate system index, and converting the longitude and latitude into a grid index model as follows:
Figure BDA0003227368520000031
where the grid index is (x, y), lon represents grid center longitude, lat represents grid center latitude, lonminIndicating the minimum longitude, lat, of the calculation rangeminRepresents the minimum latitude and interval represents the grid spacing.
And 4, step 4: calculating the specific position of the control river reach where the grid is located;
step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;
step 4.2: calculating the distance from the grid in the rectangular range formed By the adjacent channel mileage lines to the previous channel mileage line, and if the longitude and latitude of the center point of the grid is (lon, lat), and the linear equation of the channel mileage line is Ax + By + C-0, then the distance d is1The calculation formula of (2) is as follows:
Figure BDA0003227368520000041
and 4. step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel2；
Step 4.4: calculating the specific position of the grid in the control river section in the rectangular range formed by the mileage lines of the adjacent channels, and if the current grid is in the ranges of the mileage lines of the channels n KM and (n-1) KM, the specific position of the control river section where the grid is located is d ═ n-d1/(d1+d2))。
And 5: solving the specific position of the control river reach where the ship is located;
step 5.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:
Figure BDA0003227368520000042
step 5.2: and obtaining the specific position of the controlled river reach of the ship by using the grid index.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (2)

1. A method for judging the position of a ship at a controlled river reach based on grids is characterized by comprising the following steps:
step 1: reading a calculation range of the control river reach, wherein the data comprises maximum longitude, minimum longitude, maximum latitude and minimum latitude of the calculation range;
step 2: reading channel mileage line data in a controlled river reach, wherein the data comprises channel mileage kilometer number, channel mileage line left side point longitude and latitude (according to the water flow direction), and channel mileage line right side point longitude and latitude (according to the water flow direction);
and step 3: and (4) gridding the controlled river reach and establishing an index by combining the artificially determined grid spacing according to the calculation range obtained in the step (1). Establishing a coordinate system by taking the minimum longitude and latitude coordinate of the calculation range of the control river reach as an origin, taking the longitude as an X axis and the latitude as a Y axis, and establishing a coordinate system index by taking grid intervals as unit variables;
and 4, step 4: calculating the specific position of the controlled river reach of each grid according to the channel mileage line coordinates obtained in the step 2 and by combining the coordinates of the central point of each grid;
and 5: and converting the longitude and latitude of the ship into a grid index, and solving the position of the control river reach where the ship is located.
2. The method of determining the location of a vessel in a controlled river reach based on a grid according to claim 1, wherein: in step 3, the model for establishing indexes for the grids is as follows:
Figure FDA0003227368510000011
the grid index is (x, y), the lon represents grid center longitude, the lat represents grid center latitude, and the lon represents grid center latitudeminRepresenting the minimum longitude of the calculation range, said latminRepresents the minimum latitude and the interval represents the grid spacing.
In step 4, the specific position of the controlled river reach where the grid is located is obtained as follows:
step 4.1: converting left side points and right side points of the channel mileage line into corresponding grid indexes;
step 4.2: calculating the distance from the grid in the rectangular range formed By the adjacent channel mileage lines to the previous channel mileage line, and if the longitude and latitude of the center point of the grid is (lon, lat), and the linear equation of the channel mileage line is Ax + By + C-0, then the distance d is1The calculation formula of (2) is as follows:
Figure FDA0003227368510000012
step 4.3: calculating the distance d from the grid in the rectangular range formed by the mileage lines of the adjacent channels to the mileage line of the next channel2；
Step 4.4: calculating the distances between adjacent channelsThe route forms the specific position of the grid in the rectangular range in the controlled river reach, and if the current grid is in the range of the navigation mileage lines n KM and (n-1) KM, the specific position of the controlled river reach where the grid is located is d ═ n-d1/(d1+d2))；
In step 5, the specific position of the ship is obtained as follows:
step 5.1: the longitude and latitude are used for solving a grid index, the longitude and latitude are (lon, lat), the grid index is (x, y), and the conversion model is as follows:
Figure FDA0003227368510000013
step 5.2: and obtaining the specific position of the controlled river reach of the ship by using the grid index.
CN202110976177.5A 2021-08-24 2021-08-24 Control river reach ship position judgment method based on grids Pending CN113689740A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110976177.5A CN113689740A (en) 2021-08-24 2021-08-24 Control river reach ship position judgment method based on grids

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110976177.5A CN113689740A (en) 2021-08-24 2021-08-24 Control river reach ship position judgment method based on grids

Publications (1)

Publication Number Publication Date
CN113689740A true CN113689740A (en) 2021-11-23

Family

ID=78582022

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110976177.5A Pending CN113689740A (en) 2021-08-24 2021-08-24 Control river reach ship position judgment method based on grids

Country Status (1)

Country Link
CN (1) CN113689740A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104392631A (en) * 2014-09-10 2015-03-04 重庆大学 Control river reach ship pass inducing service system and method based on mobile terminal
CN110866015A (en) * 2019-11-18 2020-03-06 中国电子科技集团公司第二十八研究所 Moving target moving range recording method based on local grid
CN111964678A (en) * 2020-07-16 2020-11-20 武汉长江船舶设计院有限公司 River channel navigation decision-making method, device and system
CN113096444A (en) * 2021-04-26 2021-07-09 长江重庆航运工程勘察设计院 Traffic command method for inland waterway control river reach

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104392631A (en) * 2014-09-10 2015-03-04 重庆大学 Control river reach ship pass inducing service system and method based on mobile terminal
CN110866015A (en) * 2019-11-18 2020-03-06 中国电子科技集团公司第二十八研究所 Moving target moving range recording method based on local grid
CN111964678A (en) * 2020-07-16 2020-11-20 武汉长江船舶设计院有限公司 River channel navigation decision-making method, device and system
CN113096444A (en) * 2021-04-26 2021-07-09 长江重庆航运工程勘察设计院 Traffic command method for inland waterway control river reach

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
江学伟: "虾子梁控制河段通行控制信号辅助揭示系统研究", 《电子世界》 *
石阳威等: "长江九江段横驶区标识优化布设探讨", 《中国水运·航道科技》 *

Similar Documents

Publication Publication Date Title
CN112906830B (en) Automatic generation method of ship optimal route based on AIS big data
US9651698B2 (en) Multi-beam bathymetric chart construction method based on submarine digital depth model feature extraction
CN110083983B (en) Ship sectional navigational speed optimization method and intelligent management system
CN103531043A (en) Point-to-point ship sailing time estimation method based on ship route matching
CN113686342A (en) Method for judging water supply and discharge of controlled river reach ship based on grid reference course
CN101872195A (en) Path deviation generation analysis method for ship at sea
CN114627680B (en) Navigation safety prediction method and system for ultra-large ship
CN110849371A (en) Unmanned ship meteorological air route dynamic optimization method and system
CN107341573A (en) A kind of vessel traffic organization optimization method in compound channel waters
CN106643688A (en) Virtual navigation mark system design method
CN111928855A (en) Automatic shortest route planning method based on AIS data
JP2016060454A (en) Ship operation schedule optimization system and ship operation schedule optimization method
CN112987067A (en) Ocean current velocity estimation method and device for integrated navigation and processor
CN103389077A (en) Seabed sand wave geomorphology movement detection method based on MBES (multi-beam echo sounding)
CN107589220B (en) A kind of ship tail gas monitoring station site selecting method suitable for long and narrow navigation channel
CN114200401A (en) Mesh division based underwater robot self-positioning system and method
CN113689740A (en) Control river reach ship position judgment method based on grids
CN115979275B (en) Energy consumption optimal route planning method for full coverage of sea area
CN114882736B (en) Method for calculating safe distance between ship route and marine area building capable of tolerating risk
CN114019967B (en) Unmanned ship route planning method suitable for long and narrow channel
CN115830158A (en) Microscopic following theory-based ship traffic flow basic diagram drawing method
CN113191100B (en) Energy-saving assessment method for sail navigation-aid ship air route
CN110867098B (en) Internet-of-things intelligent water traffic running danger assessment system
CN113689739A (en) Historical data-based judgment method for controlling river reach ship to enter or exit water
CN110648557A (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
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20211123