CN113984059A - Ocean engineering ship positioning system - Google Patents
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- 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
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Abstract
The invention is suitable for the technical field of ship positioning, and provides a positioning system of an ocean engineering ship, which comprises a shore-based AIS base station, an airship AIS transceiver module, an airship AIS base station module, an airship control module, a remote sensing module, a ship AIS transceiver module and an AIS ship station module, wherein the remote sensing module is used for acquiring remote sensing image information of a sea area near the ship, sending the remote sensing image information to an image processing center, receiving remote sensing image analysis information sent by the image processing center and sending the remote sensing image analysis information to the ship AIS transceiver module. According to the invention, the remote sensing module is arranged on the airship and can collect remote sensing image information of the sea area near the ship, and then the remote sensing image analysis information is sent to the ship, wherein the remote sensing image analysis information contains meteorological information of the near sea area, so that workers in the ship can know the meteorological conditions of the surrounding sea area, plan a navigation route in time and ensure that the ship can safely navigate.
Description
Technical Field
The invention relates to the technical field of ship positioning, in particular to a positioning system of an ocean engineering ship.
Background
An Automatic Identification System (AIS) for a ship is composed of a shore-based (base station) facility and shipborne equipment, and is a novel digital navigation aid System and equipment integrating a network technology, a modern communication technology, a computer technology and an electronic information display technology.
However, due to the limitations of shore-based base stations and the limitation of ship distances, for non-offshore ships or ships without being positioned around, land-based positioning cannot be realized, ocean vessels cannot cover under AIS signals, and AIS systems cannot be used for realizing positioning.
Therefore, it is desirable to provide a positioning system for a marine engineering vessel, which aims to solve the above problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a positioning system of an ocean engineering ship to solve the problems in the background technology.
The invention is realized in this way, a kind of ocean engineering ship positioning system, the said system includes the AIS base station of the bank base, airship AIS transceiver module, airship AIS base station module, airship control module, remote sensing module, ship AIS transceiver module and AIS ship station module, wherein, airship AIS transceiver module, airship AIS base station module, airship control module and remote sensing module are installed on the airship, ship AIS transceiver module and AIS ship station module are installed on the ship; the shore-based AIS base station is used for transmitting a first AIS signal; the airship AIS transceiver module is used for receiving a first AIS signal transmitted by a shore-based AIS base station and transmitting a second AIS signal; the airship AIS base station module is in communication connection with the airship AIS transceiver module and is used for analyzing and processing the first AIS signal to obtain airship position information;
the ship AIS transceiver module is used for receiving a second AIS signal transmitted by the airship AIS transceiver module; the AIS ship station module is in communication connection with the ship AIS transceiver module and is used for analyzing and processing the second AIS signal to obtain ship position information; the airship control module is used for adjusting the layout of the airship according to the ship position information and the airship position information so that the ship can continuously receive the second AIS signal transmitted by the airship to realize the positioning of the ship;
the remote sensing module is used for collecting remote sensing image information of a sea area near a ship, sending the remote sensing image information to the image processing center, receiving remote sensing image analysis information sent by the image processing center, and sending the remote sensing image analysis information to the ship AIS transceiving module, wherein the remote sensing image analysis information comprises meteorological information of the sea area near the ship.
As a further scheme of the invention: the airship control module includes:
the airship position information receiving unit is used for receiving airship position information sent by the airship AIS base station module;
the ship position information receiving unit is used for receiving the ship position information sent by the AIS ship station module;
the position information analysis unit generates an airship operation instruction according to the ship position information and the airship position information so that the distance between the airship closest to the ship and the ship is smaller than a first preset value; and
and the airship control unit is used for receiving the airship operation instruction so as to enable the airship to operate.
As a further scheme of the invention: the position information analysis unit includes:
the nearest airship determining subunit is used for determining the airship nearest to the ship according to all airship position information and ship position information of the ship;
and the first distance calculating subunit is used for calculating a first distance between the airship nearest to the ship and the ship, and generating an airship operation instruction when the first distance is greater than or equal to a first preset value so as to enable the airship nearest to the ship to approach the ship.
As a further scheme of the invention: the position information analysis unit further comprises a second distance calculation subunit, the second distance calculation subunit is used for calculating the relative distance between the airships, and when the relative distance between the airships is greater than a second preset value, an airship approaching instruction is generated so that the airships far away from each other approach each other until the relative distance between the airships far away from each other is smaller than a third preset value.
As a further scheme of the invention: the remote sensing module includes:
the remote sensor is used for acquiring remote sensing image information of a sea area near the ship;
the remote sensing platform is used for installing a remote sensor, and the angle of the remote sensing platform can be adjusted;
the remote sensing platform driving unit is used for adjusting the angle of the remote sensing platform so that the remote sensor can be aligned to the sea area near the ship; and
and the information transceiving unit is used for sending the remote sensing image information to the image processing center and receiving the remote sensing image analysis information sent by the image processing center.
As a further scheme of the invention: the remote sensing platform drive unit includes:
a position information acquiring subunit configured to acquire airship position information of the airship and ship position information of the ship;
and the driving instruction generating subunit is used for obtaining the relative position of the airship and the ship according to the airship position information and the ship position information, and generating a driving instruction generating unit so as to enable the remote sensor on the airship to be aligned with the ship.
As a further scheme of the invention: the airship AIS base station module comprises:
the airship AIS signal processing unit is used for carrying out geometric measurement and analysis of telegraph text format on the first AIS signal and acquiring a geometric precision factor through the position and speed information of an analyzed reference point;
and the airship positioning resolving unit is used for obtaining the position information of the airship by adopting a trilateration positioning method aiming at the geometric accuracy factor.
As a further scheme of the invention: the AIS ship station module includes:
the ship AIS signal processing unit is used for carrying out geometric measurement and analysis of a telegraph text format on the second AIS signal and acquiring a geometric accuracy factor through the position and speed information of an analyzed reference point;
and the ship positioning resolving unit is used for obtaining ship position information by adopting a trilateration positioning method aiming at the geometric accuracy factor.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the remote sensing module is arranged on the airship and can collect remote sensing image information of a sea area near the ship, the remote sensing image information is sent to the image processing center, the remote sensing image analysis information sent by the image processing center is received, and then the remote sensing image analysis information is sent to the ship, and the remote sensing image analysis information contains meteorological information of the near sea area, so that staff in the ship can obtain the meteorological conditions of the surrounding sea area according to the remote sensing image analysis information, plan a navigation route in time and ensure that the ship can safely navigate.
Drawings
Fig. 1 is a schematic structural diagram of a positioning system of an ocean engineering vessel.
Fig. 2 is a schematic structural diagram of an airship control module in a positioning system of an ocean engineering vessel.
Fig. 3 is a schematic structural diagram of a location information analysis unit in a positioning system of an ocean engineering vessel.
Fig. 4 is a schematic structural diagram of a remote sensing module in a positioning system of an ocean engineering vessel.
Fig. 5 is a schematic structural diagram of a remote sensing platform driving unit in a positioning system of an ocean engineering vessel.
Fig. 6 is a schematic structural diagram of an airship AIS base station module in a positioning system of an ocean engineering vessel.
Fig. 7 is a schematic structural diagram of an AIS ship station module in a positioning system of an ocean engineering ship.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides a positioning system for an ocean engineering vessel, the system includes a shore-based AIS base station 100, an airship 200, an airship AIS transceiver module 201, an airship AIS base station module 202, an airship control module 203, a remote sensing module 204, a vessel 300, a vessel AIS transceiver module 301, and an AIS ship station module 302, wherein the airship AIS transceiver module 201, the airship AIS base station module 202, the airship control module 203, and the remote sensing module 204 are installed on the airship 200, and the vessel AIS transceiver module 301 and the AIS ship station module 302 are installed on the vessel 300; the shore-based AIS base station 100 is configured to transmit a first AIS signal; the airship AIS transceiver module 201 is used for receiving a first AIS signal transmitted by the shore-based AIS base station 100 and transmitting a second AIS signal; the airship AIS base station module 202 is in communication connection with the airship AIS transceiver module 201, and the airship AIS base station module 202 is used for analyzing and processing the first AIS signal to obtain airship position information;
the ship AIS transceiver module 301 is used for receiving a second AIS signal transmitted by the airship AIS transceiver module 201; the AIS ship station module 302 is in communication connection with the ship AIS transceiver module 301 and is used for analyzing and processing the second AIS signal to obtain ship position information; the airship control module 203 is configured to adjust an airship layout according to the ship position information and the airship position information, so that the ship 300 can continuously receive the second AIS signal transmitted by the airship 200, and thus the ship 300 can be positioned;
the remote sensing module 204 is configured to collect remote sensing image information of a sea area near the ship 300, send the remote sensing image information to the image processing center, receive remote sensing image analysis information sent by the image processing center, and send the remote sensing image analysis information to the ship AIS transceiver module 301, where the remote sensing image analysis information includes meteorological information of the near sea area.
It should be noted that an Automatic Identification System (AIS System for short) for a ship is composed of a shore-based (base station) facility and a shipborne device, and is a novel digital navigation aid System and device integrating a network technology, a modern communication technology, a computer technology and an electronic information display technology, and a navigation System for realizing autonomous positioning of a ship by using the AIS System becomes one of the best schemes for positioning the ship. However, due to limitations of shore-based base stations and limitations of ship distances, for non-offshore ships or ships without positioning around, land-based positioning cannot be achieved, and ocean-going ships cannot cover under AIS signals and cannot use AIS systems to achieve positioning.
In the embodiment of the invention, the airship AIS transceiver module 201 is used for receiving the first AIS signals transmitted by the shore-based AIS base stations 100, the airship AIS base station module 202 can analyze and process the first AIS signals, and the airship position information is obtained by adopting a trilateration positioning method; receiving a second AIS signal transmitted by the airship AIS transceiver module 201 through the ship AIS transceiver module 301; the AIS ship station module 302 may analyze and process the second AIS signal, and obtain ship position information by using a trilateration positioning method; the airship control module 203 may adjust the layout of the airship according to the ship position information and the airship position information, so that the ship 300 may continuously receive the second AIS signal transmitted by the airship 200 to realize the positioning of the ship 300, which may be realized by the prior art and is not described herein again; the remote sensing module 204 installed on the airship 200 can collect remote sensing image information of the sea area near the ship 300 and send the remote sensing image information to the image processing center, the image processing center can be established on the shore, workers in the image processing center can analyze and process the remote sensing image information to generate remote sensing image analysis information and send the remote sensing image analysis information to the remote sensing module 204, the remote sensing image analysis information and the remote sensing image information are transmitted through the AIS system, the remote sensing module 204 can send the remote sensing image analysis information to the ship AIS transceiving module 301 after receiving the remote sensing image analysis information sent by the image processing center, the remote sensing image analysis information comprises weather information of the near sea area, so that the workers in the ship 300 can obtain the weather condition of the surrounding sea area according to the remote sensing image analysis information and plan a navigation route in time, the safe navigation of the ship is ensured.
As shown in fig. 2, as a preferred embodiment of the present invention, the airship control module 203 includes:
an airship position information receiving unit 2031, configured to receive airship position information sent by the airship AIS base station module 202;
a vessel position information receiving unit 2032 for receiving the vessel position information sent by the AIS vessel station module 302;
a position information analysis unit 2033 configured to generate an airship operation command according to the ship position information and the airship position information, so that a distance between the airship 200 closest to the ship and the ship 300 is less than a first preset value; and
the airship control unit 2034 is configured to receive an airship operation instruction, so that the airship operates.
In the embodiment of the present invention, it can be understood that, in order to ensure that more accurate marine meteorological information near the ship 300 is obtained, the remote sensing module 204 on the airship 200 closest to the ship needs to acquire remote sensing image information of the marine area near the ship 300, and it is also necessary to ensure that the distance between the airship 200 closest to the ship and the ship 300 is within a certain range of value, so that an airship operation instruction needs to be generated through the ship position information and the airship position information, so that the distance between the airship 200 closest to the ship and the ship 300 is smaller than a first preset value, and the first preset value is uploaded by a worker, so that the airship 200 closest to the ship can move in real time according to the position of the ship 300.
As shown in fig. 2, as a preferred embodiment of the present invention, the position information analyzing unit 2033 comprises:
a nearest airship determining subunit 20331 configured to determine, based on all of the airship position information and the ship position information of the ship 300, the airship 200 nearest to the ship;
a first distance calculating subunit 20332 configured to calculate a first distance between the airship 200 closest to the ship 300 and the ship 300, and generate an airship operating instruction to cause the airship 200 closest to the ship 300 to approach the ship 300 when the first distance is greater than or equal to a first preset value; and
a second distance calculating subunit 20333, the second distance calculating subunit 20333 being configured to calculate a relative distance between the airships 200, and when the relative distance between the airships 200 is greater than a second preset value, generate an airship approaching instruction to cause the airships 200 that are farther away to approach each other until the relative distance between the airships 200 that are farther away is less than a third preset value.
In the embodiment of the invention, in order to ensure that more accurate marine weather information near the ship 300 is obtained and to ensure that the ship AIS transceiver module 301 can successfully receive the second AIS signal transmitted by the airship AIS transceiver module 201, when the first distance between the airship 200 closest to the ship 300 and the ship 300 is greater than or equal to a first preset value, an airship operation instruction is generated so that the airship 200 closest to the ship 300 approaches the ship 300, and in addition, when the airship 200 approaches the ship 300 to a certain extent, the approach is stopped; in addition, when the airship 200 closest to the ship 300 approaches the ship 300, the distance between the airship 200 and the airship 200 may be pulled, and in order to enable normal communication between the airships 200, when the relative distance between the airships 200 is greater than the second preset value, an airship approach command is generated so as to cause the airships 200 with longer distances to approach each other until the relative distance between the airships 200 with longer distances is less than the third preset value, and the airships 200 with longer distances stop approaching each other.
As shown in fig. 2, as a preferred embodiment of the present invention, the remote sensing module 204 includes:
the remote sensor 2041 is used for acquiring remote sensing image information of the sea area near the ship 300;
the remote sensing platform 2042 is used for installing a remote sensor 2041, and the angle of the remote sensing platform 2042 can be adjusted;
a remote sensing platform driving unit 2043, configured to adjust an angle of the remote sensing platform 2042, so that the remote sensor 2041 can be aimed at the sea area near the ship; and
and the information transceiver unit 2044 is configured to send the remote sensing image information to the image processing center, and receive remote sensing image analysis information sent by the image processing center.
In the embodiment of the present invention, it should be noted that the remote sensor 2041 is an instrument for remotely sensing environmental radiation of a ground object or reflecting electromagnetic waves, and has many kinds, and includes an infrared scanner, a multispectral scanner, a microwave radiation and scatterometer, a side-looking radar, a thematic imager, an imaging spectrometer, and the like besides a visible light camera, an infrared camera, and an ultraviolet camera, and the digital and image information received by the remote sensor 2041 usually adopts three recording modes: the information of the film, the image and the digital tape is provided for a user to analyze and interpret through optical processing or image digital processing processes such as correction, transformation, decomposition, combination and the like, the remote sensing platform 2042 is used for installing the remote sensor 2041, and the angle of the remote sensing platform 2042 can be adjusted; the remote sensing platform driving unit 2043 can adjust the angle of the remote sensing platform 2042, so that the remote sensing platform 2041 can be aligned to the sea area near the ship 300, and it can be understood that the relative position between the airship 200 closest to the ship 300 and the ship 300 is often changed, and in order to ensure that accurate weather information of the sea area near the ship 300 is obtained, the remote sensing platform 2041 needs to be aligned to the sea area near the ship 300.
As shown in fig. 2, as a preferred embodiment of the present invention, the remote sensing platform driving unit 2043 includes:
a position information acquiring subunit 20431 that acquires airship position information of the airship and ship position information of the ship;
and a driving instruction generating subunit 20432, configured to obtain the relative position between the airship and the ship according to the airship position information and the ship position information, and generate a driving instruction generating unit, so that a remote sensor on the airship aligns with the ship.
In the embodiment of the present invention, before adjusting the angle of the remote sensing platform 2042, airship position information of the airship 200 closest to the ship 300 and ship position information of the ship 300 need to be acquired, then the relative position of the airship 200 and the ship 300 is obtained according to the airship position information and the ship position information, a driving instruction generating unit is generated, and the angle of the remote sensing platform 2042 is automatically adjusted, so that the remote sensor 2041 on the airship 200 is aligned to the ship.
As shown in fig. 2, as a preferred embodiment of the present invention, the airship AIS base station module 202 includes: the airship AIS signal processing unit 2021 is used for performing geometric measurement and analysis of a telegraph text format on the first AIS signal, and acquiring a geometric precision factor through position and speed information of an analyzed reference point; the airship positioning calculating unit 2022 obtains the airship position information by adopting a trilateration positioning method aiming at the geometric accuracy factor.
The AIS ship station module 302 includes: the ship AIS signal processing unit 3021 is configured to perform geometric measurement and analysis of a telegraph text format on the second AIS signal, and obtain a geometric accuracy factor according to position and speed information of an analyzed reference point; and the ship positioning calculating unit 3022 obtains ship position information by adopting a trilateration positioning method for the geometric accuracy factor.
In the embodiment of the present invention, for example, the airship 200 receives the first AIS signals transmitted by the three shore-based AIS base stations 100, and according to the ITU-rm.1371-4 standard, the first AIS signal telegraph text of the shore-based AIS base stations 100 is analyzed to obtain the specific position information of the corresponding three shore-based AIS base stations 100, and then the position of the airship 200 itself can be calculated by measuring the distance between the airship 200 and the three shore-based AIS base stations 100, so that the airship 200 is self-positioned, and the airship position information is obtained; similarly, the ship 300 receives the second AIS signals transmitted by the three airship AIS base station modules 202, and according to ITU-rm.1371-4 standard specifications, the second AIS signal telegrams of the airship AIS base station modules 202 are analyzed to obtain the specific position information of the corresponding three airships 200, and then the position of the ship 300 can be calculated by measuring the distance between the ship 300 and the three airships 200, so that the self-positioning of the ship 300 is realized, and the ship position information is obtained.
The present invention has been described in detail with reference to the preferred embodiments thereof, and it should be understood that the invention is not limited thereto, but is intended to cover modifications, equivalents, and improvements within the spirit and scope of the present invention.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by a computer program, which can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above embodiments of the methods. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (8)
1. A marine engineering ship positioning system is characterized by comprising a shore-based AIS base station, an airship AIS transceiver module, an airship AIS base station module, an airship control module, a remote sensing module, a ship AIS transceiver module and an AIS ship station module, wherein the airship AIS transceiver module, the airship AIS base station module, the airship control module and the remote sensing module are installed on the airship, and the ship AIS transceiver module and the AIS ship station module are installed on the ship; the shore-based AIS base station is used for transmitting a first AIS signal; the airship AIS transceiver module is used for receiving a first AIS signal transmitted by a shore-based AIS base station and transmitting a second AIS signal; the airship AIS base station module is in communication connection with the airship AIS transceiver module and is used for analyzing and processing the first AIS signal to obtain airship position information;
the ship AIS transceiver module is used for receiving a second AIS signal transmitted by the airship AIS transceiver module; the AIS ship station module is in communication connection with the ship AIS transceiver module and is used for analyzing and processing the second AIS signal to obtain ship position information; the airship control module is used for adjusting the layout of the airship according to the ship position information and the airship position information so that the ship can continuously receive the second AIS signal transmitted by the airship to realize the positioning of the ship;
the remote sensing module is used for collecting remote sensing image information of a sea area near a ship, sending the remote sensing image information to the image processing center, receiving remote sensing image analysis information sent by the image processing center, and sending the remote sensing image analysis information to the ship AIS transceiving module, wherein the remote sensing image analysis information comprises meteorological information of the sea area near the ship.
2. The marine vessel positioning system of claim 1, wherein the airship control module comprises:
the airship position information receiving unit is used for receiving airship position information sent by the airship AIS base station module;
the ship position information receiving unit is used for receiving the ship position information sent by the AIS ship station module;
the position information analysis unit generates an airship operation instruction according to the ship position information and the airship position information so that the distance between the airship closest to the ship and the ship is smaller than a first preset value; and
and the airship control unit is used for receiving the airship operation instruction so as to enable the airship to operate.
3. The marine vessel positioning system according to claim 2, wherein the position information analyzing unit includes:
the nearest airship determining subunit is used for determining the airship nearest to the ship according to all airship position information and ship position information of the ship;
and the first distance calculating subunit is used for calculating a first distance between the airship nearest to the ship and the ship, and generating an airship operation instruction when the first distance is greater than or equal to a first preset value so as to enable the airship nearest to the ship to approach the ship.
4. The vessel positioning system according to claim 3, wherein the position information analyzing unit further comprises a second distance calculating subunit configured to calculate a relative distance between the airships, and when the relative distance between the airships is greater than a second preset value, generate the airship approaching instruction so that the airships that are farther away are approached until the relative distance between the airships that are farther away is smaller than a third preset value.
5. The marine vessel positioning system of claim 1, wherein the remote sensing module comprises:
the remote sensor is used for acquiring remote sensing image information of a sea area near the ship;
the remote sensing platform is used for installing a remote sensor, and the angle of the remote sensing platform can be adjusted;
the remote sensing platform driving unit is used for adjusting the angle of the remote sensing platform so that the remote sensor can be aligned to the sea area near the ship; and
and the information transceiving unit is used for sending the remote sensing image information to the image processing center and receiving the remote sensing image analysis information sent by the image processing center.
6. The marine vessel positioning system of claim 5, wherein the remote sensing platform drive unit comprises:
a position information acquiring subunit configured to acquire airship position information of the airship and ship position information of the ship;
and the driving instruction generating subunit is used for obtaining the relative position of the airship and the ship according to the airship position information and the ship position information, and generating a driving instruction generating unit so as to enable the remote sensor on the airship to be aligned with the ship.
7. The marine vessel positioning system of claim 1, wherein the airship AIS base station module comprises:
the airship AIS signal processing unit is used for carrying out geometric measurement and analysis of telegraph text format on the first AIS signal and acquiring a geometric precision factor through the position and speed information of an analyzed reference point;
and the airship positioning resolving unit is used for obtaining the position information of the airship by adopting a trilateration positioning method aiming at the geometric accuracy factor.
8. The marine vessel positioning system of claim 1, wherein the AIS ship station module comprises:
the ship AIS signal processing unit is used for carrying out geometric measurement and analysis of a telegraph text format on the second AIS signal and acquiring a geometric accuracy factor through the position and speed information of an analyzed reference point;
and the ship positioning resolving unit is used for obtaining ship position information by adopting a trilateration positioning method aiming at the geometric accuracy factor.
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