CN1541380A - System for assisting navigation of vessel - Google Patents
System for assisting navigation of vessel Download PDFInfo
- Publication number
- CN1541380A CN1541380A CNA038003392A CN03800339A CN1541380A CN 1541380 A CN1541380 A CN 1541380A CN A038003392 A CNA038003392 A CN A038003392A CN 03800339 A CN03800339 A CN 03800339A CN 1541380 A CN1541380 A CN 1541380A
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- Prior art keywords
- ships
- boats
- air route
- information
- plan
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
Abstract
A system for assisting navigation of a vessel in which the navigator of its own vessel can grasp the operation schedule of other vessel. Scheduled courses of other vessels can be displayed on the chart screen of a radio terminal (1) in each vessel by notifying information on the scheduled course of its own vessel to other vessels using a communication means, e.g. the radio terminal (1). Navigator of its own vessel can grasp the operation schedules of other vessels from the displays of scheduled courses of other vessels.
Description
Technical field
The present invention relates to use the ship operation back-up system of ICT (information and communication technology), and relate more particularly to a ship operation back-up system, wherein these boats and ships operating personnel are appreciated that the behavior plan of other boats and ships.
Background technology
The boats and ships of navigation, particularly navigation during the boats and ships in (for example in the harbour), must be operated this boats and ships in the heavy traffic zone by the risk that tight attention and other boats and ships bump on the water one of operation.In the past, ship operation personnel (captain or other crewman) judge dangerous boats and ships according to the information that vision or radar monitoring obtain, and determine how to take to avoid the action of colliding, and give a warning to other boats and ships.
But a large amount of boats and ships in the harbour are of different sizes, speed and direction of motion, therefore are difficult to rapidly and which boats and ships that judge rightly out may become dangerous boats and ships.Each boats and ships takes action and this purpose and to recognize from other boats and ships inquiries according to its oneself purpose.Therefore, under actual conditions, dangerous boats and ships can not be determined near before other boats and ships at it.
Applicant's hypothesis: provide relevant and take the information of which kind of action will make this information by other boats and ships from now on usefully as the support information of operating boats and ships.An object of the present invention is to address the above problem and provide a kind of ship operation back-up system, wherein the operating personnel of these boats and ships can understand the behavior plan of other boats and ships.
Summary of the invention
The invention provides a kind of ship operation back-up system, wherein by using communicator, make the plan air route that on the sea book screen of each boats and ships, can show other boats and ships from the information of each boats and ships to the plan air route of relevant these boats and ships of other boats and ships transmission.
Can on each boats and ships of or many boats and ships, be loaded with the terminal of carrying out mutual radio communication, and this terminal can transmit the information in the plan air route of relevant these boats and ships, and the information that from other boats and ships, receives relevant plan air route.
Can on one or many boats and ships, be loaded with the terminal of carrying out radio communication with a server, can collect the information of planning the air route about this to server from these boats and ships, and the information of distributing relevant plans that collected, all boats and ships air route to each boats and ships.
The information in relevant plan air route can be made up of the way point that is no less than.
When one enter a port boats and ships near air route, harbour inlet reach regulation apart from the time, these boats and ships can transmit about the enter a port information in air route of the plan from the current location to the harborage.
The departure from port boats and ships can transmit the information about the plan departure from port air route that exports to the air route, harbour from the harborage before offshore.
Can notify along the plan boats and ships that air route or plan departure from port air route finish navigation that enter a port: this navigation finishes.
Each boats and ships can be by using a kind of automatic recognition system (AIS) and other boats and ships exchanges AIS information, for example current location, fore orientation, course made good, ground velocity, ship name, boats and ships length, Ship Types, identifying information or the like.
Terminal can show current location, fore orientation, course made good and the ground velocity of each boats and ships on the screen that shows sea book.
Terminal can show the plan air route of each boats and ships on the screen that shows sea book.
Terminal can go out expecting the estimated position of all boats and ships constantly based on information and the AIS information calculations about the plan air route.
Terminal can be presented at the expectation estimated position of all boats and ships constantly on the screen that shows sea book.
Show that on screen can be each individual boats and ships in the boats and ships selects the display mode of a demonstration/not.
Terminal can based on estimate about the plan information in air route and AIS information and calculate these boats and ships and other boats and ships near state.
Estimated value near state can be a SJ value.
Estimated value near state can be a buffer value (bumper value).
Terminal can show on screen by estimating the dangerous boats and ships definite near state with a kind of form that arouses attention.
Further reading and understanding on the basis of the detailed description of the present invention that hereinafter provides, to those skilled in the art, other purposes of the present invention, feature and effect will become more apparent.
Description of drawings
Fig. 1 a is a communication network configuration, and Fig. 1 b is the communication network configuration of a different mode; Fig. 1 c is the inner structure of a terminal;
Fig. 2 is the process flow diagram of the processing procedure of the shown ship operation back-up system of Fig. 1 a, Fig. 1 b and Fig. 1 c;
What Fig. 3 illustrated is from the form of a terminal to a communication frame of a Control Server transmission according to the present invention;
What Fig. 4 illustrated is the form of a foundation AIS information communication frame of the present invention;
What Fig. 5 illustrated is according to the form of the present invention from a communication frame of Control Server to a terminal transmission;
What Fig. 6 illustrated is according to the current location screen in the electronic navigation figure screen of the present invention's demonstration;
What Fig. 7 illustrated is according to the estimated position screen in the electronic navigation figure screen of the present invention's demonstration.
What Fig. 8 illustrated is according to the estimated position screen in the electronic navigation figure screen of the present invention's demonstration;
Fig. 9 is an amplification, be used to explain the electronic navigation figure screen that calculates the process of estimated position according to the present invention;
Figure 10 is explanation detects the process of dangerous boats and ships according to the present invention a process flow diagram;
Figure 11 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention;
Figure 12 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention;
Figure 13 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention;
Figure 14 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention;
Figure 15 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention; And
Figure 16 is that the explanation of an amplification is estimated electronic navigation figure screen near the example of state according to the present invention.
Embodiment
The preferred embodiments of the invention will be explained in more detail with reference to accompanying drawing below.
As shown in Figure 1a, in one embodiment, according to ship operation back-up system (harbor traffic control system of the present invention; Abbreviate PTMS as) comprising: a Control Server 1 of (as harbour control center or the like) being installed or installing based on land based on the sea, and by the terminal that boats and ships loaded 2 of this system of use.Radio communication can directly be carried out or be undertaken by the land station between Control Server 1 and the terminal 2 (not showing among the figure).Therefore, the infield of Control Server 1 can be a far-end area.For the ease of explaining, suppose and use the cellular phone circuit to communicate.Also can realize according to ship operation back-up system of the present invention, under this pattern, Control Server 1 is not installed with another kind of pattern, and terminal 2 direct mutual communication, shown in Fig. 1 b.As explained below, the AIS equipment 8 of each boats and ships can be in the channel (time slot or frequency band) that quilt is separately guaranteed mutual communication.Therefore, the present invention can realize that also wherein relating to the problem of communicating by letter between the terminal can be included in the communication information with a kind of like this embodiment.The Installation Modes of Control Server 1 will be set forth hereinafter.
Control Server 1 is provided for: accumulation is from the function (not shown) of the information in the relevant plan boats and ships air route that each boats and ships was collected in a database, create the function of communication information with the information all boats and ships, relevant plan air route collected to each boats and ships distribution, and according to the function of deleting the information in this relevant plan boats and ships air route from the final announcement of each boats and ships.Obviously also provide the function that relates to safety or communication, the function of the boats and ships identification code that comprises in the communication information of for example confirming from each boats and ships, to receive (IMO identification code, MMSI identification code or the like).
Terminal 2 can be implemented as a typical personal computer.Here, will be considered to a portable terminal 2 by a computing machine as the graphic boards input type of operating personnel's installation of ship operation person.This portable terminal 2 comprises: a terminal operation unit 3 by the operated similar recording pointer of operating personnel (mouse, tracking ball, keyboard etc. also can be used), obtain the online input block 4 of AIS information the AIS equipment of an AIS information of hereinafter setting forth from a reservation with line model (also comprising WLAN), one can character display or figure so that show the LCD 5 of electronic navigation figure etc., 6, one inside of Database Unit of a memory data that is used to provide similar electronic navigation figure information or outside cellular phone 7 or the like.This terminal has: the function of editing the information in relevant plan boats and ships air route according to input operation, increase the function that the boats and ships identification code is created a communication information by information to relevant plan boats and ships air route, demonstration is from the function of the plan air route information of all boats and ships of Control Server distribution on this electronic navigation figure screen, be used for calculating at any time the location estimation function of the estimated position of all boats and ships, estimate these boats and ships and other boats and ships near state near state estimation function or the like.Above-mentioned functions and some other function of also not mentioning in the above will be set forth in the explanation to operation in more detail.Each function is carried out one section program by portable terminal 2 and is realized.
An AIS equipment 8 comprises: a sensor input block that is connected to the various testing apparatuss 9 of these boats and ships, for example a positioning equipment (as GPS), a gyroscope or the like, an intrinsic information storage unit that wherein stores this boats and ships intrinsic information, one is incorporated into by AIS communication unit in the automatic recognition system (AIS is also referred to as U-AIS) of international agreement regulation or the like.This equipment can constantly be distinguished the current location of these boats and ships with positioning equipment, distinguish the fore orientation with gyroscope, calculate course made good and ground velocity (being equal to ground speed) from the variation of the positioning result of generation in time, and make might by retrieve this ship name, length, type, identification code or the like from the intrinsic information unit and this AIS information write into the communication information and between the boats and ships of assembling AIS equipment exchange AIS information, and the AIS information that resulting, relevant other boats and ships are provided to this portable terminal.This AIS comes to guarantee time slot or frequency band for all boats and ships by using a multiplex communication system such as time-division system etc., thereby communicates.AIS communication is periodically carried out, for example, in 12 seconds at least once.For the data of relevant these boats and ships, can once communicate by letter by per second.
One directly be not linked on this ship operation back-up system, use that electromagnetic VHF phone 10 is installed on the boats and ships in the VHF scope, can carry out Speech Communication between the operating personnel that make thus at these boats and ships and the operating personnel of other boats and ships.
At Fig. 1 a, the operation of the ship operation back-up system that shows among Fig. 1 b and Fig. 1 c will schematically be explained with reference to Fig. 2 hereinafter.
At first, in step S21, operating personnel draw out the plan air route of these boats and ships and send on the Control Server 1 by the boats and ships air route of portable phone circuit with this plan on the electronic navigation figure of portable terminal 2 screen.
In step S22, this Control Server 1 carry out to from other boats and ships (more specifically, from the portable terminal of these boats and ships; Term " portable terminal " will omit hereinafter sometimes) the combination control in the plan boats and ships air route that transmits, and when receiving a new plan air route from a certain boats and ships, the plan air route of all boats and ships is transferred on these boats and ships by this portable phone circuit.
In step S23, the portable terminal 2 of these boats and ships shows the plan air route of all boats and ships that receive, obtains as AIS information on this electronic navigation figure screen all vessel's position or velocity (over the ground), or the like.By periodic transmission and reception and upgrade this AIS information automatically to present this up-to-date information.
In step S24, the operating personnel that are positioned on the boats and ships judge whether make the judgement that relates to dangerous boats and ships.If do not make the judgement that relates to dangerous boats and ships, just stop this process.Program turns back to step S21 and whole process repeated then.If make the judgement that relates to dangerous boats and ships, this program just proceeds to step S25.
In step S25, this portable terminal 2 is based on the plan air route of current location, ground velocity and these boats and ships and other boats and ships and calculate the following estimated position of these boats and ships and every other boats and ships, and makes the judgement that relates to other boats and ships (these boats and ships will be called as dangerous boats and ships) that are in the state that meets with the danger of these boats and ships.The definition of dangerous boats and ships is by legal provisions, but in fact satisfied the definition to dangerous boats and ships by legal provisions according to the decision that relates to dangerous boats and ships that the present invention makes.
In step S26, the operating personnel on the boats and ships are in danger boats and ships in the state communicate and the discuss plans change of air route or speed of meeting by VHF phone 10 and other.Program turns back to step S21 and whole process repeated then.
Detailed operating process will be set forth hereinafter.
The present invention is applicable to that all navigate by water the boats and ships of (also comprise berth and tow) on the water, for example, at the harbour, near the sea area at harbour, straits, canal or the like, but here, the boats and ships that have the purpose of utilizing the harbour, enter or leave this harbour are used as an example and explain.
In case boats and ships reach predetermined distance near air route, harbour inlet, for example, reach 5 nautical miles distance, then enter on the boats and ships at harbour at this, by using terminal operation unit 3, and on the electronic navigation figure screen that the LCD 5 of portable terminal 2 shows input about the air route information (forming) of entering a port of the plan from the current location to the harborage by the way point that is no less than.
On the other hand, leaving on the boats and ships at harbour, before offshore, by using terminal operation unit 3, the relevant outer predetermined distance of air route, harbour outlet of counting from the harborage of input on the electronic navigation figure screen that the LCD 5 of portable terminal 2 shows, for example plan of 5 nautical miles the distance air route information of departing from port.
Here, the air route, harbour is meant the zone that allows navigation, for determining this zone in each harbour; Stipulated to have the zone of corresponding finite width and length for entering and leave the harbour.When from the angle at harbour, be used to enter the inlet that area beyond the zone at harbour is called as the air route, harbour, and when the time from the angle at harbour, the area in addition, zone that is used to leave this harbour is called as outlet.Compare, the air route of boats and ships is meant the path (track) of boats and ships process.When the boats and ships air route was represented by a series of a plurality of legs, way point was the end points of each leg.If operating personnel are by portable terminal operating unit 3, successfully point out a plurality of way points on electronic navigation figure screen, then the editting function of portable terminal 2 can be remembered the coordinate of way point and draw this air route by show each leg on electronic navigation figure screen with the form of broken line.
The plan air route information that portable terminal 2 has been imported to Control Server 1 transmission by a cell phone circuit, and boats and ships identification code.The example of communication frame format as shown in Figure 3.As shown in FIG., 1 communication frame comprises that a boats and ships identification code 31 and way point are capable 33 from portable terminal 2 to Control Server, wherein way point 32 series arrangement.Way point 32 is made up of latitude 34 and longitude 35.
On the other hand, these AIS equipment 8 usefulness positioning equipments are familiar with the current location of these boats and ships, with gyroscope understanding fore orientation, calculate course made good and ground velocity over time from positioning result, retrieve ship name, length, type, identification code or the like from intrinsic message unit, and this AIS information is write in the communication information.This AIS equipment 8 periodically transmits this AIS information (current location of these boats and ships, fore orientation, course made good, ground velocity, ship name, length, type, identification code or the like), and obtains the up-to-date AIS information of relevant all boats and ships by the AIS information that receives relevant other boats and ships.The example of the communication frame format of AIS information as shown in Figure 4.As shown in the figure, the communication frame of AIS information comprises current location 41, fore orientation 42, course made good 43, ground velocity 44, ship name 45, boats and ships length 46, Ship Types 47 and boats and ships identification code 48.Strictly say it is the position that is positioned at the positioning equipment on the boats and ships with the current location that positioning equipment obtains.Therefore, preferably, boats and ships width and positioning equipment position are comprised in this AIS information about the relative position of boats and ships length and width.In this case, other can be correctly to be familiar with the position of this boats and ships front end or rear end.
The information accumulation in the relevant plan air route that Control Server 1 sends the portable terminal 2 from boats and ships is a database, and the information (row of way point that has the boats and ships identification code of insertion) that relates to the plan air route of all boats and ships by all terminals distributions on these boats and ships of cell phone circuit.The example of this communication frame format as shown in Figure 5.As shown in the figure, 2 communication frame comprises the information of each boats and ships that is in line from Control Server 1 to portable terminal, and wherein the information of boats and ships is made up of boats and ships identification code 31 and way point capable 33.
Information about the plan air route of " newly " boats and ships builds up in Control Server 1, and becomes unnecessary about the information of " old " boats and ships of finishing navigation.Therefore, in the finished voyage process in departure from port air route of the enter a port air route or the plan of plan, the ship operation personnel are from portable terminal 2 notice Control Servers 1: navigation is finished.Control Server 1 is deleted relevant those and has been finished the information in plan air route of the boats and ships of navigation by report from database.Consequently, prevented unnecessary expansion by the communication frame of Control Server 1 transmission.
Aforesaid operations makes the information in the plan air route of having stored all boats and ships that send from Control Server 1 in this portable terminal 2 and the AIS information that sends from all boats and ships.Because this plan air route information and AIS information have comprised an international boats and ships identification code (IMO identification code, MMSI identification code or the like), the information that relates to two autonomous systems of same boats and ships can be come comprehensive by consulting this information of two types.In other words, this portable terminal 2 can pass through to use the plan air route information and the AIS information of each boats and ships, and is familiar with current location, fore orientation, course made good, ground velocity, plan air route or the like.This portable terminal 2 shows the information of relevant each boats and ships in the following manner on LCD 5.
This portable terminal 2 reads this electronic navigation figure information from Database Unit 6, and the regional electronic navigation figure of virtually any size is presented on this LCD 5 with any engineer's scale.This display screen is called as electronic navigation figure screen.Fig. 6 has illustrated an example of an electronic navigation figure screen.In the figure, only drawn the separatrix 61 on land and sea, but self-evident, on the display screen of a reality, land, ocean, bottom contour that not have demonstration or the like is so that the suitable painted appearance of visual identity.Same self-evident is that beacon, continental embankment, air route, harbour or the like are to show with suitable symbol (not shown).Can on transverse axis and Z-axis, show longitude and latitude.In order to stipulate the orientation in the drawings, transverse axis and Z-axis are divided into several sections, compose with coordinate A, B, C, D, a, b, c.
Portable terminal 2 shows the information of relevant all kinds of boats and ships on this electronic navigation figure screen.For example, with ellipse or rectangle symbolic representation boats and ships 62,66,67,69 and by showing the current location of these boats and ships on the screen position that these symbols is arranged in corresponding boats and ships current location.Boats and ships 62 are these boats and ships, and boats and ships 66,67,69th, other boats and ships.With symbol towards the fore orientation of representing separately.With arrow course made good and ground speed meter are shown ground vector 63.In example shown in Figure 6, for all boats and ships, the unified size that provides symbol and arrow.The plan air route 64 of these boats and ships 62 (also comprising these boats and ships part of process) is represented by the broken line that connects way point 65,65.The plan air route 68 of other boats and ships 69 represents that by the broken line that connects way point 65,65 these way points can be known by communication.Because can have the information in the boats and ships 67 acquisition plan air routes of portable terminal 2 for being loaded with AIS unit 8, what therefore carry out is not comprise the demonstration of planning the air route.Can carry out demonstration without any the plan air route.Therefore, for example, when notice only concentrates on the boats and ships 62,66, can delete the plan air route of every other boats and ships, the feasible plan air route 64,68 of only seeing boats and ships 62,66.On electronic navigation figure screen shown in Figure 6, each boats and ships is displayed in the current location.Therefore, this screen is called as the current location screen.
The AIS information of relevant boats and ships also can be the character that is presented on the electronic navigation figure screen.In this example, going up the character of implementing AIS information at the independent screen area (white portion on the right among the figure) of the LCD 5 that shows electronic navigation figure screen shows.And, except showing this AIS information, in this screen area, show this sea book screen type that just is being shown, current time, estimated time or the like by character.This AIS information also can show by near the identification code of for example adding each boats and ships on electronic navigation figure screen the symbol of boats and ships 62,66,67,69.
Portable terminal 2 from now on (for example calculates all boats and ships (these boats and ships and other boats and ships) based on planning air route information and AIS information then, from now on up to these boats and ships finish enter the harbour or leave the harbour till) each estimated position constantly, and on electronic navigation figure screen, show expectation estimated position constantly.What Fig. 7 illustrated is the estimated state in about 10 minutes after the current state that Fig. 6 shows, and Fig. 8 explanation is at about estimated state in the clock more than 4 minutes.On the location screen of those estimations, can present the symbol of boats and ships by using dark for current location and using light (among the figure, the estimated position is with the symbol plotting of sky) for the estimated position, it is next to make them visually to be distinguished.And on the screen of estimated position, the size of symbol may be proportional with the length of boats and ships.As Fig. 6 and shown in Figure 8, boats and ships 69 are big ships.And Fig. 8 has illustrated that clearly boats and ships 69 will require concern in about from now on 14 minutes about the relative position of these boats and ships 62.Obviously from here on, the relative position of boats and ships 66,67 will can not cause problem.And the estimated position screen is to present for two moment in future individually, but this estimated position screen shown practically, make that this estimated state constantly changes actual time in advance from the current location screen.Therefore, operating personnel can see at each moment boats and ships how to move on electronic navigation figure screen.
Following processes can be used to calculate this estimated position.As shown in Figure 9, the current location of boats and ships 91 is not limited to accurately be positioned on this plan air route 92.Therefore, perpendicular line 95 is fallen on the nearest plan air route section 94 and the intersection point of this perpendicular line 95 and plan air route section 94 is considered to be used for the initial point 96 that calculate the estimated position from the current location (strictly, being the position of positioning equipment) 93 of boats and ships.The point of arrival is to be carved into from now in supposition to estimate in the time interval constantly, and determine under the condition of current ground velocity by (vector 97 of ground velocity) navigation and keeping simultaneously from initial point 96 along current course made good for boats and ships.But, when way point 98 is on this air route, that is to say, when constantly boats and ships position was fallen perpendicular line 95 on the plan air route section 94 and reached way point 98 from each, this calculating was that to change its routes at supposition boats and ships 91 be to be parallel to next plan air route section 99 and ground velocity and not have under the condition of change to implement.
And boats and ships can change the plan air route that once reports to Control Server at any time.For example, when current location 93 is left old plan air route (operating personnel's judgements), new plan air route from current location 93 beginning is transfused to and reports.The information that receives the relevant plan air route with additional boats and ships identification code when this Control Server 1 is when (its information with the relevant plan air route of having accumulated is equal to), upgrades the information of this accumulation and it is distributed on all boats and ships.Consequently, the plan air route of other boats and ships can be upgraded in other boats and ships and can be based on this up-to-date plan air route and enforcing location is estimated.
The estimated position of terminal 2 carving copy boats and ships when various and the estimated position of any other boats and ships estimate the state near other boats and ships.Under present mode, a SJ value (subjective judgement value; Subjective risk of collision degree) and buffer value based on buffer models be used to estimated parameter near state.
The subjective risk of collision that the SJ value is felt by the ship operation personnel with numeral about other boats and ships.Here, this SJ value is calculated according to the following step.
1) intersection occasion
1. these boats and ships are the boats and ships of giving way
SJ＝6.00Ω+0.09R’-2.32 (1)
2. these boats and ships are boats and ships of direct route
SJ＝7.01Ω+0.08R’-1.53 (2)
2) end-on occasion
SJ＝6.00Ω+0.09R’-2.32 (3)
3) overtake occasion
SJ＝54.43Ω+0.24R’-2.77dR’/dt-0.784 (4)
Here, SJ:SJ value
Ω=| d θ/dt|L
0/ V
0: nondimensional relative orientation rate of change;
R '=R/{ (L
0+ L
T)/2}: nondimensional distance to other boats and ships;
DR '/dt=V
R/ V
0: nondimensional relative velocity;
D θ/dt: relative orientation rate of change, radian/per minute;
L
0: the length of these boats and ships, rice;
V
0: the speed of these boats and ships, m/min;
L
T: the length of other boats and ships, rice;
V
R: the relative velocity between two boats and ships, m/min;
R: the distance between two boats and ships, rice.
In other words, this SJ value can be by the relative orientation rate of change between two boats and ships of input, and the range rate (relative velocity) between the distance between two boats and ships and two boats and ships calculates by the formula that is used to calculate the SJ value (1)-(4) that occur previously.Can be from the plan air route of two boats and ships or flight path always calculate variation this relative orientation; Can go out two distances between the boats and ships from the current location of two boats and ships and the position calculation of estimation; And can go out range rate from the moment of a plurality of estimations of two boats and ships and the position calculation of estimation.Provide the function of carrying out these calculating just to make this portable terminal 2 might calculate the SJ value therefore for portable terminal 2.
For portable terminal 2 provides a kind of function, it also compares this angle of cut and the discriminant value of presetting by the interior angle (the title angle of cut) that forms between the plan air route of calculating two boats and ships, differentiates intersection occasion, end-on occasion, surmounts occasion.For example, if discriminant value can be set at 10 °, 170 °, then if the angle of cut less than 10 °, be not less than 10 ° and less than 170 ° and be not less than 170 °, surmount occasion, intersection occasion and end-on occasion just be assumed to respectively.And, also provide a function for portable terminal 2, it is based on course made good (or plan air route before) decision: if the dextrorotation corner (be called expect angle (anticipation angle)) that connects the line segment between other vessel positions and this vessel position is for just, then these boats and ships are the boats and ships of giving way, if and this angle thinks then that for negative these boats and ships are direct route boats and ships.Therefore, according to see from these boats and ships other the boats and ships in its right side or left side each naturally the give-way vessel oceangoing ship still sail through to boats and ships and obtain differentiation result corresponding to the navigation regulation.
Various constants in the SJ computing formula that provides previously are to obtain with the method for testing by the ship operation emulator that use is known, and the present invention is not limited to those numerical value.
The experiment that comprises this ship operation emulator shows that in most of the cases, this SJ value is in+3 (as safe as a house) arrive the scope of-3 (abnormally dangerous).Here be provided with suitable threshold for the SJ value.Concrete threshold value will be set forth hereinafter.
And buffer models supposes that each boats and ships has one and is called as zones buffer zone, around these boats and ships, does not wish that other boats and ships enter this zone, and if the buffer zone of two boats and ships overlapping, just thinking has the risk of collision.A buffer zone may have the half-oval shaped of major axis in working direction in the front side, and has semi-circular shape at rear side, perhaps has the rectangular shape of long limit in working direction.For example, can define a buffer models and be: for the length boats and ships that are L, the distance of 6.4L be arranged, the distance of 1.6L and the distance that 1.6L is arranged in backward directions are being arranged towards a left side with towards right in working direction.When adopting such buffer models, set buffer zone separately and represent the function of these buffer zones with histogram for portable terminal 2 provides on electronic navigation figure screen to these boats and ships and any other boats and ships.The rectangle of representing the buffer zone of all boats and ships is revealed, and the boats and ships that make it possible on the above-mentioned estimated position screen that constantly changes in time move.Therefore, moment of overlapping of the buffer zone of two boats and ships can visually be distinguished out.Also may use a logic, by this logic, under the situation of display buffer rectangle not, when the buffer zone of two boats and ships being supposed in inside by portable terminal 2 overlaps, make buffer value be considered to " danger ", and when buffer zone is not overlapping, make it be considered to " safety ".
For by using above-mentioned estimated parameter to assert dangerous boats and ships, the process of being carried out by this portable terminal 2 (near state estimation procedure) makes an explanation with reference to Figure 10.
At first, in step S101, for a certain following time carries out the calculating of above-mentioned estimated position and shows this estimated position screen.
In step S102, distinguish the said circumstances that relates to SJ value computing formula, and by using suitable SJ value computing formula to calculate this SJ value.It is calculated values under the condition of these boats and ships (being called the SJ value that is used for these boats and ships) of being used for SJ value computing formula that this SJ value is calculated as these boats and ships at this portable terminal 2 of supposition, and conduct is that other boats and ships that are used for SJ value computing formula (are called the SJ value that is used for other boats and ships at these boats and ships of supposing this portable terminal 2; In the risk of collision that will feel on other boats and ships) condition under a calculated value.
In step S103, be divided into three classes with this SJ value and threshold and with it: safety, minor danger, danger.For example, when the SJ value of the SJ of these boats and ships value and other boats and ships all is not less than 0, suppose it is " safety " grade.When the SJ of the SJ of these boats and ships value and other boats and ships value all between 0 and-1 and when any one SJ value between 0 and-1 and another SJ value when being not less than 0 supposes it is " minor danger " grade.When the SJ value of these boats and ships and other boats and ships all is not more than-1 and any one SJ value when being not more than-1, suppose it is " danger " grade.
A classification like this reflects by being presented on the screen of estimated position.More particularly, under this situation of " safety " grade, the symbol of these boats and ships and other boats and ships is shown as blue look, under this situation of " minor danger " grade, these two symbols are shown as yellow, and under this situation of " danger " grade, these two symbols are shown as redness.Using such color showing to be convenient to operating personnel is visually distinguished.Self-evident, also may use those to adopt the display mode of this symbol of flicker, amplification and minimizing, increase cue mark or the like.
In step S104, made a decision-making by using above-mentioned buffer models.If the buffer zone of the buffer zone of these boats and ships and other boats and ships overlaps, then this buffer value is that the symbol of " danger " and these boats and ships and other boats and ships is shown as redness.When this buffer value was " safety ", the Show Color that produces with above-mentioned SJ value may remain unchanged.
In step S105, the following time is to carry the previous moment.Moment is 10 seconds on the real time scale for example.
In step S106, at the estimated position of these boats and ships whether the end in arrival plan air route decision making.If arrived the end in plan air route, just finished estimation.If also do not arrive the end in this plan air route, this process turns back to step S101.Therefore, the estimated position screen constantly entered future in advance before the real time.For operating personnel, boats and ships are revealed as on this electronic navigation figure screen and move, and have been shown as the boats and ships of blue look and can be at a time be shown as yellow or redness near state according to these boats and ships and other boats and ships.
In the situation that reference Figure 10 explains, carry out location estimation incessantly and, arrived the end in this plan air route up to the estimated position of these boats and ships near state estimation.But, by operating terminal operating unit 3, these operating personnel can adopt an interim termination pattern stop to estimate in advance, one force that end mode interrupts that this estimation, backtrack mode fall back that this is estimated in advance, aero mode is used for common relatively speed and quickens this and estimate in advance etc.
To make an explanation to estimation based on several real example hereinafter near state.Portable terminal 2 can be on electronic navigation figure screen shows that with the ratio of an amplification suitable zone and operating personnel can be by carrying out the operation with terminal operation unit 3, and on the screen of estimated position, supply with the demonstration in following arbitrary moment, any zone with the ratio of an amplification, for example, near the zone these boats and ships.Therefore, give an explaination by the display screen that uses this amplification.
At first, situation shown in Figure 11 will be explained.As shown in the figure, the estimated position of these boats and ships 111 and 112 each minutes of other boats and ships will be presented on this electronic navigation figure screen.Two boats and ships of synchronization link to each other with corresponding line segment, but in fact these connections are not shown and the just purpose in order to explain shown here.This line segment has illustrated the distance between the boats and ships; Imported the expression value of 1325 meters and 2289 meters.These boats and ships have 100 meters the length and the speed of 10 joints.Represent working direction of these boats and ships 111 and the working direction of representing other boats and ships 112 with arrow 114 with arrow 113.Therefore, intersect at point 115 places in the plan air route of two boats and ships; The angle of cut between the plan air route of two boats and ships is 103 °.Example shown in the figure represents that corresponding to these boats and ships 111 are the intersection situations of boats and ships of giving way.This portable terminal 2 can be distinguished this occasion by above-mentioned discrimination function.
Here, focus onto on the expection angle of other boats and ships 112 relative these boats and ships 111 working direction, if each constantly this expection angle be constant, two boats and ships point of arrival 115 places simultaneously so.Therefore, these two boats and ships will bump.If each expection angle constantly reduces significantly or increases, then boats and ships will be more Zao through point 115 places than another boats and ships, just not have the risk of collision.Therefore the speed that reduces or increase the expection angle is relevant with hazard level.And, if two boats and ships with respect to its separately length become very close, the risk that then bumps will be very high, if but they get enough and open, then situation is exactly safe.The specific range R ' of the relative orientation rate of change Ω of the intensity of variation at expression expection angle and expression boats and ships degree of separation is incorporated in the computing formula (1) of SJ value.
Each that calculates by the portable terminal on these boats and ships 111 2 constantly these boats and ships and the SJ value of other boats and ships be imported among the figure.All these values are initially for being not less than 0, but little by little become between 0 and-1, and in the 6th position, and the SJ value of these boats and ships becomes and is not more than-1.Therefore, grade changes to " minor danger " and " danger " from " safely ".When these boats and ships 111 process point 115 places (the 9th position), the SJ value of relative orientation rate of change Ω increase and these boats and ships and the SJ value of other boats and ships all become 3.Therefore, grade is " safety ".
Figure 12 has illustrated such example, and the boats and ships 121 that wherein have 90 meters length and 10 joint speed are near each other with 176 ° of angles of cut with the boats and ships 122 with 110 meters length and 10 joint speed.As shown in the figure, on this electronic navigation figure screen, show the estimated position of each minute two boats and ships, be similar to Figure 11.Two boats and ships of this of synchronization are only representative local continuous with line segment at two.Distance between two boats and ships of corresponding these line segments is 1017 meters and 2228 meters.Represent working direction of these boats and ships 121 and the working direction of representing other boats and ships 122 with arrow 124 with arrow 123.This example correspondence be the end-on occasion.This portable terminal 2 can be distinguished this occasion by above-mentioned discrimination function.Each value of SJ separately constantly that is calculated by portable terminal 2 is imported among the figure.All these values are initially for being not less than 0, but little by little become between 0 and-1, and become the 6th position and to be not more than-1.Therefore, grade changes to " minor danger " and " danger " from " safely ".When boats and ships mutually through out-of-date (the 8th position), relative orientation rate of change Ω increases and the SJ value of these boats and ships and the SJ value of other boats and ships all become 3.Therefore, grade is " safety ".
Figure 13 has illustrated such example, and the boats and ships 131 that wherein have 70 meters length and 10 joint speed are near each other with 1 ° of angle of cut with the boats and ships 132 with 100 meters length and 5 joint speed.As shown in the figure, on this electronic navigation figure screen, show the estimated position of each minute two boats and ships, be similar to Figure 11.Two boats and ships of this of synchronization are only representative local continuous with line segment at two.Distance between these two boats and ships of corresponding these line segments is 626 meters and 702 meters.Represent working direction of these boats and ships 131 and the working direction of representing other boats and ships 132 with arrow 134 with arrow 133.This example correspondence be to surmount.This portable terminal 2 can be distinguished this occasion by above-mentioned discrimination function.Each value of SJ separately constantly that is calculated by portable terminal 2 is imported into (to other boats and ships 132, they all are 3.00) among the figure.From beginning most to the end, two values all are not less than 0, and keep " safety " grade always.
Figure 14 explanation be displaying contents in the process of analyzing with buffer models.The estimated position of per three minutes these boats and ships 141 and other boats and ships 142 is displayed on the electronic navigation figure screen.Linking to each other with corresponding line segment between two boats and ships of synchronization, is in the same manner as described above.Boats and ships length is 100 meters, and speed is 10 joints.Represent working direction of these boats and ships 141 and the working direction of representing other boats and ships 142 with arrow 144 with arrow 143.Therefore, the plan air route of these two boats and ships is with intersection.The angle of cut in the plan air route of these two boats and ships is 103 °.As an example, in this buffer models, shown buffer zone 145,146, these buffer zones have the distance of 6.4L in the working direction of boats and ships, and left and right and backward directions have the distance of 1.6L at it, and L is the length of boats and ships here.And, calculate by portable terminal 2 each the time SJ value of carving copy boats and ships and the SJ value of other boats and ships be imported among the figure.
Become-1.44 place, estimated position in the SJ of these boats and ships value, the buffer zone 145,146 of two boats and ships overlaps.Therefore, buffer value is " danger ".In other estimated positions, the buffer zone 145,146 of two boats and ships does not overlap.Therefore, buffer value is " safety ".
Figure 15 has illustrated such example, and the boats and ships 151 that wherein have 90 meters length and 10 joint speed are near each other with 176 ° of angles of cut with the boats and ships 152 with 110 meters length and 10 joint speed.As shown in the figure, on this electronic navigation figure screen, show the estimated position of per three minutes these two boats and ships, be similar to Figure 14.Two boats and ships of this of synchronization only link to each other with line segment in third generation table position.Represent working direction of these boats and ships 151 and the working direction of representing other boats and ships 152 with arrow 154 with arrow 153.As an example, in this buffer models, shown buffer zone 155,156, these buffer zones have the distance of 6.4L in the boats and ships working direction, have the distance of 1.6L in its left and right and backward directions, and L is the length of boats and ships here.And, calculate by portable terminal 2 each the time SJ value of carving copy boats and ships and the SJ value of other boats and ships be imported among the figure.
From begin the 3rd several estimated positions, the SJ value of these boats and ships become-0.66 and the SJ value of other boats and ships become-0.38.Therefore, based on the judgement of SJ value grade corresponding to " minor danger ".But, because the buffer zone 155,156 of two boats and ships overlaps, so buffer value is " danger ".In other estimated positions, the buffer zone 155,156 of two boats and ships does not overlap.Therefore, buffer value is " safety ".
Figure 16 has illustrated such example, and the boats and ships 161 that wherein have 70 meters length and 10 joint speed are near each other with 1 ° of angle of cut with the boats and ships 162 with 100 meters length and 5 joint speed.As shown in the figure, on this electronic navigation figure screen, show the estimated position of per three minutes these two boats and ships, be similar to Figure 14.Two boats and ships of this of synchronization link to each other with corresponding line segment.Represent working direction of these boats and ships 161 and the working direction of representing other boats and ships 162 with arrow 164 with arrow 163.As an example, in this buffer models, shown buffer zone 165,166, those buffer zones have the distance of 6.4L in the working direction of boats and ships, have the distance of 1.6L in its left and right and backward directions, and L is the length of these boats and ships here.Because the speed of other boats and ships 162 is slower, therefore in demonstration, distinguishing appears overlapping on screen and is difficult in the buffer zone 166 that relates to a plurality of moment.But, they still can be distinguished, because the size of each moment buffer zone 166 is the same.And, calculate by portable terminal 2 each the time SJ value of carving copy boats and ships and the SJ value of other boats and ships be imported among the figure.
Because from beginning most to the end, the SJ value of these boats and ships all is not less than 0 with the SJ value of other boats and ships, thus based on the judgement of SJ value corresponding to " safety " grade.But, because the buffer zone 165,166 of two boats and ships overlaps second estimated position, so buffer value is " danger ".Thereafter this buffer value is " danger " always, up to the 4th estimated position.Beginning most with last, the buffer zone 165,166 of these two boats and ships does not overlap.Therefore, this buffer value is " safety ".
As mentioned above, adopted based on the judgement of SJ value with based on the judgement of buffer models near the estimation of state.Therefore, in some cases, buffer models even in end-on with surmount in the situation judgement that produces " danger ", and be difficult to make the judgement of " danger " in these occasions based on the SJ value.
To the use of this ship operation back-up system be described based on the above-mentioned functions of above-mentioned portable terminal 2 hereinafter.As shown in Figure 6, these boats and ships 62 at present the northeast of section D-b end and notified its will be westwards-enter inlet (the plan air route of section B-b) in air route, harbour after Nan-move westwards is moving.Other boats and ships 69 have gone up in the air route in harbour (section A-a) at present and have notified that it will (back of section B-b) be to plan air route that SSE moves leaving the outlet of air route, harbour.
As shown in Figure 7, can estimate in about 10 minutes: these boats and ships 62 will advance to section C-b, and other boats and ships 69 will advance to section A-b, and other boats and ships 66 will advance to section B-b.Can be visually understand that in such estimated position relation, these boats and ships 62 are safe for other boats and ships 69 and also are safe for other boats and ships 66 from estimated position screen shown in Figure 7.But, portable terminal 2 will be estimated to calculate the SJ value near the process of state by carrying out above-mentioned being used to, carry out safety/classification of risks and assess, confirm safety therefrom quantitatively and show these boats and ships and the symbol of other boats and ships accordingly with blue look based on buffer models.Therefore, can make correct judgement and visually can easily pick out the result.Self-evident, if the grade that the SJ value between these boats and ships 62 and other boats and ships 69 enters " minor danger " in the position shown in Figure 7 relation just will show the symbol of these these boats and ships 62 and other boats and ships 69 with yellow.
As shown in Figure 8, can estimate in about 14 minutes: these boats and ships 62 will advance to section B-b, and other boats and ships 69 will advance to section B-b.If the SJ value between these boats and ships 62 and other boats and ships 69 enters the grade of " danger ", just will show the symbol of these boats and ships 62 and other boats and ships 69 with redness.When buffer value becomes " danger ", obviously also can carry out red display.As shown in Figure 8, when these boats and ships 62 are used red display, the operating personnel of boats and ships will communicate by VHF phone and this danger boats and ships (other boats and ships 69) and seek advice from following air route.
Therefore, navigation can be estimated to meet in the future of other boats and ships 69 of section A-a with navigation the operating personnel of these boats and ships 62 of section D-b now.And, when the ship operation personnel communicate by VHF phone and other boats and ships 69, because also can be by using portable terminal 2, this risk of estimation on other boats and ships 69, so each side in an identical manner easily to hold consultation and can making sufficient action with plenty of time.
It is the benefit of priority of the Japanese patent application of 2002-245364 (submission on August 26th, 2002) that the application requires application number, and the whole contents of this Japanese patent application is incorporated herein by reference.
Claims (17)
1. a ship operation back-up system is characterized in that, transmits the information in the plan air route of relevant this boats and ships from each boats and ships to other boats and ships by using communicator, and can show the plan air route of other boats and ships on the sea book screen of each boats and ships.
2. according to the ship operation back-up system of claim 1, it is characterized in that in each boats and ships of or many boats and ships, being loaded with the terminal that is used to carry out mutual radio communication, and the information in the plan air route of relevant these boats and ships of this terminal transmission and from other boats and ships, receive the information in relevant plan air route.
3. according to the ship operation back-up system of claim 1, it is characterized in that, in one or many boats and ships, be loaded with the terminal that is used for carrying out radio communication with a server, the information in relevant plan air route was collected on this server from these boats and ships, and the information in relevant plans that collected, all boats and ships air route is distributed on each boats and ships.
4. according to the ship operation back-up system of claim 1 or 2, it is characterized in that the information in this relevant plan air route is formed by being no less than a way point.
5. according to any one ship operation back-up system in the claim 1 to 4, it is characterized in that, when boats and ships reach predetermined distance near air route, harbour inlet, the enter a port information in air route of the relevant plan from the current location to the harborage of the boats and ships transmission that this enters a port.
6. according to any one ship operation back-up system in the claim 1 to 5, the boats and ships that it is characterized in that departing from port transmitted the information in the relevant plan departure from port air route that exports to the air route, harbour from the harborage before offshore.
7. according to any one ship operation back-up system in the claim 1 to 6, it is characterized in that finishing along the plan boats and ships notice navigation that air route or plan departure from port air route finish navigation of entering a port.
8. according to any one ship operation back-up system in the claim 1 to 7, it is characterized in that these boats and ships come the information with other boats and ships exchanges AIS by using an automatic recognition system (AIS), as current location, fore orientation, course made good, ground velocity, ship name, boats and ships length, Ship Types, identifying information or the like.
9. according to any one ship operation back-up system in the claim 2 to 8, it is characterized in that this terminal shows current location, fore orientation, course made good and ground velocity for each boats and ships on the screen that shows sea book.
10. according to any one ship operation back-up system in the claim 2 to 9, it is characterized in that this terminal shows the plan air route of each boats and ships on the screen that shows sea book.
11., it is characterized in that this terminal is based on calculating about the information in this plan air route and this AIS information in the expectation estimated position of all boats and ships constantly according to any one ship operation back-up system in the claim 8 to 10.
12., it is characterized in that this terminal is presented at the expectation estimated position of all boats and ships constantly on the screen that shows sea book according to any one ship operation back-up system in the claim 8 to 11.
13., it is characterized in that on this screen, to show in the boats and ships for each boats and ships and select the display mode of a demonstration/not according to any one ship operation back-up system in the claim 8 to 12.
14. according to any one ship operation back-up system in the claim 8 to 13, it is characterized in that this terminal based on estimate about the information in this plan air route and this AIS information and calculate these boats and ships and other boats and ships near state.
15., it is characterized in that the estimated value near state is a SJ value according to the ship operation back-up system of claim 14.
16., it is characterized in that the estimated value near state is a buffer value according to the ship operation back-up system of claim 14.
17., it is characterized in that this terminal shows by estimating these dangerous boats and ships definite near state with a form that arouses attention on this screen according to any one ship operation back-up system in the claim 14 to 16.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002245364 | 2002-08-26 | ||
| JP245364/2002 | 2002-08-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1541380A true CN1541380A (en) | 2004-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA038003392A Pending CN1541380A (en) | 2002-08-26 | 2003-03-19 | System for assisting navigation of vessel |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JPWO2004019301A1 (en) |
| KR (1) | KR20050114771A (en) |
| CN (1) | CN1541380A (en) |
| AU (1) | AU2003221100A1 (en) |
| WO (1) | WO2004019301A1 (en) |
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| CN105788370A (en) * | 2016-05-12 | 2016-07-20 | 福建北斗星河通信有限公司 | Internet AIS (automatic identification system)-base ship anti-collision method and system |
| CN106355956B (en) * | 2016-11-18 | 2019-02-01 | 福建省枢建通信技术有限公司 | The method for carrying out mobile communication and AIS anticollision based on hand-held AIS communication terminal |
| CN106355956A (en) * | 2016-11-18 | 2017-01-25 | 福建航天星联信息科技有限公司 | Method for carrying out mobile communication and AIS collision prevention based on handheld AIS communication terminal |
| CN113228136A (en) * | 2018-12-25 | 2021-08-06 | 爱迪恩株式会社 | Ship dynamic sharing navigation auxiliary system |
| CN114746925A (en) * | 2020-02-12 | 2022-07-12 | 古野电气株式会社 | Ship navigation support system, ship navigation support method, ship navigation support device, and program |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2004019301A1 (en) | 2004-03-04 |
| KR20050114771A (en) | 2005-12-07 |
| JPWO2004019301A1 (en) | 2005-12-15 |
| AU2003221100A1 (en) | 2004-03-11 |
| AU2003221100A8 (en) | 2004-03-11 |
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