CN201063059Y - Intelligent collision-preventing navigator for ship - Google Patents
Intelligent collision-preventing navigator for ship Download PDFInfo
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- CN201063059Y CN201063059Y CNU2007200073173U CN200720007317U CN201063059Y CN 201063059 Y CN201063059 Y CN 201063059Y CN U2007200073173 U CNU2007200073173 U CN U2007200073173U CN 200720007317 U CN200720007317 U CN 200720007317U CN 201063059 Y CN201063059 Y CN 201063059Y
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Abstract
The utility model discloses a vessel intelligent collision avoidance navigator (VICAN), comprising a main computer, a signal acquisition and signal processing module, a VICAN control console, terminal equipment. The signal acquisition and signal processing module consists of a radar, AIS equipment, a GPS receiver, a compass, log equipment and a depthometer, wherein, data output interfaces of the radar, the AIS equipment and the GPS receiver are connected with serial interfaces of the main computer. Since the utility model is able to integrate dynamic information from the the AIS equipment, the GPS receiver and the depthometer with static information from an electronic chart and is provided with vessel navigation equipment which has the automatic decision function of avoiding static and dynamic objectives above water or under water and the function of integrated display of dynamic and static navigation environment, the utility model is able to give alarm signals through sound and light, graphics, symbols, etc., and automatically provide a safe avoidance decision so as to assist a navigator to operation the vessel and reduce the burden of the navigator and meanwhile improve the safety of vessel navigation when the vessel nearly meets the danger or is close to another coming vessel.
Description
Technical field
The utility model relates to a kind of marine navigation equipment, particularly relates to a kind of intelligent collision prevention navigating instrument peculiar to vessel (Vessel Intelligent Collision Avoidance Navigator is called for short VICAN).
Background technology
Radar is used for marine navigation, existing so far six more than ten years history, become the strong instrument of ship collision prevention, location and navigation, it acts on especially based on ship collision prevention.But traditional marine navigation radar display, instantaneous position that can only the display-object ship is measured its distance and bearing, and directly the display-object ship's head and the speed of a ship or plane; In addition, it can not directly obtain the time (TCPA) of the distance to closest point of approach (CPA) and the arrival distance to closest point of approach of target ship.And judge whether the target ship has risk of collision and determine the measure that this ship institute should take, must know again the other side distance to closest point of approach, arrive time of distance to closest point of approach and real dynamic.Therefore, when utilizing radar to carry out collision prevention, require the driver to pay close attention to target on the radar screen, regularly carry out Radar Plotting, calculate, obtain above-mentioned data by mapping.The artificial process of marking and drawing a target needs 4 approximately to 7min, and in the plotting process, requires both sides' speed of a ship or plane that goes as course constant, as changes, and palpus restarts plotting after waiting both sides' coursespeed stable.Like this, often owing to artificial the plotting delayed the opportunity that the time loses safe avoidance, especially taking place that many boats and ships meet and during close quarters situation that motor-driven (alter course or change speed) is frequent, artificial plotting can not carry out often.
Because the development of electronic computer technology and promoting the use of, begin to occur automatic radar plotting aid (Autuomatic radar Plotting Aid based on robot calculator in latter stage in the sixties, be called for short ARPA), in the marine navigation radar technical development, stepped a bigger step.This automatic radar plotting aid can be manually or auto-acquire, catches (or claiming admission) back automatically track target, with vector form display-object ship's head and speed of a ship or plane on display (PPI) screen.In addition, set the permission boundary (or claiming alarm threshold) of distance to closest point of approach and arrival distance to closest point of approach time by the operator, when computing machine is calculated the distance to closest point of approach of target and arrived the distance to closest point of approach time during less than the permission boundary that sets, automatically in every way (vision or sound equipment) reports to the police, remind the driver to take the measure of dodging, if needed, also can try to grasp ship (examination changed course and/or examination change speed), to determine the required measure of taking of dodging.
But for a long time, the formulation of Decision of Collision Avoidance depends on mainly that the sequence of operations of navigation human pilot finishes between boats and ships, that is: at first, human pilot by regular, watch from a height or a distance effectively, in time find the target ship; Then, the character of current navigation condition and target ship, Meeting Situation, risk of collision etc. are analyzed, judged; At last, according to International Rules of the Road and oneself nautical knowledge and navigation experience, and comprehensive current judged result, carry out reasoning through brains, make and dodge decision-making accordingly.Dodging in the decision-making process of whole " discovery---judgement---being dodged ", not only require the navigation human pilot will concentrate one's energy to watch from a height or a distance, make right judgement, also will learn the every clause in the rule simultaneously by heart, and it is had correct understanding and utilization flexibly.So imperfection in these Rulemakings and people utilization in the rule owing to understand or error that other reasons causes, all will cause the failure of Decision of Collision Avoidance and the generation of collision accident.And under some specific condition, can people estimate situation rapidly and take correct action, depend on people's individual character and psychological condition to a great extent.Nervous as human pilot, it is slow in reacting to become, and causes operational error; In addition, overtired also is a reason that causes error.
Automatic radar plotting aid (ARPA) can help people to solve the subproblem of information processing, but the formulation of final Decision of Collision Avoidance still depends on the people, so the use of ARPA can not substitute automatic collision avoidance system fully.Even in today that composite ship bridge system (IBS) occurs, also just maybe can meet ship time to send corresponding danger warning near danger such as the comprehensive navigation system that NACOS is such, and the formulation of Decision of Collision Avoidance and collision prevention behaviour ship etc. be finished by the driver.
How progressively to alleviate driver's burden in Models of Decision-making in Ship Collision Avoidance and operation, and then fundamentally solve the puzzlement of human factor problem to navigation safety, be the target that the dealer pursues.
The utility model content
The purpose of this utility model is to provide a kind of intelligent degree height, reliability height, multiple functional peculiar to vessel intelligent collision prevention navigating instrument (VICAN), to substitute traditional automatic radar plotting aid (ARPA) and IBS system subsequently.
For achieving the above object and function, technical solution of the present utility model is:
The utility model is a kind of intelligent collision prevention navigating instrument peculiar to vessel, and it mainly is made up of principal computer, signals collecting and signal processing module, VICAN control desk, terminal device; Described signals collecting and signal processing module, VICAN control desk, terminal device are connected the serial line interface of principal computer respectively; Described signals collecting and signal processing module are made up of radar, AIS equipment, GPS receiver, compass, log, sounder, the radar data output interface is connected with the principal computer serial line interface, AIS device data output interface is connected with the principal computer serial line interface, GPS receiver data output interface is connected with the principal computer serial line interface, the compass data output interface is connected with the principal computer serial line interface, the log data output interface is connected with the principal computer serial line interface, and the sounder data output interface is connected with the principal computer serial line interface.
Described terminal device comprises graphic alphanumeric display and audio amplifier equipment, and the principal computer output interface is connected with the graphic alphanumeric display input interface, and the principal computer output interface is connected with audio amplifier equipment input interface.
Described VICAN control desk comprises operating rod or tracking ball, a plurality of operating key, a plurality of control knob, and VICAN control desk data I/O interface is connected with the principal computer serial line interface.
Described principal computer is provided with the reservation expansion interface.
Described principal computer is an embedded computer.
After adopting such scheme, the utility model VICAN is a kind of navigator peculiar to vessel of novel concept, it is different from the IBS that boats and ships instrument and equipments such as radar, GPS, ECDIS, AIS, log, sounder, pilot, carriage clock are combined formation and controls platform, but one can be integrated from the multidate information of radar, AIS, GPS, log and sounder and static information from electronic chart, possess the automatic decision function of dodging waterborne or underwater static and dynamic object and the navigator peculiar to vessel of sound attitude navigation environment informix Presentation Function.Its integrated use decision support technique, artificial intelligence technology, fuzzy mathematics, database technology, multimedia technology, information fusion technology and traditional Radar Technology, maybe can meet ship time at boats and ships near danger, by modes such as acousto-optic, figure, symbol send stranded, hit a submerged reef or risk of collision is reported to the police, and provide safe avoidance decision-making automatically, auxiliary ship station pilot control boats and ships, thereby alleviate deck officer's burden, improve navigation safety.
Description of drawings
Fig. 1 is a system chart of the present utility model;
Fig. 2 is the block diagram of intelligent collision prevention model of the present utility model.
Embodiment
As shown in Figure 1, the utility model is a kind of intelligent collision prevention navigating instrument peculiar to vessel (VICAN), and it mainly is made up of principal computer 1, signals collecting and signal processing module 2, VICAN control desk 3, terminal device 4, reservation expansion interface 5.Except above-mentioned hardware components, the utility model also comprises softwares such as the ECDIS that is installed in the principal computer 1, boats and ships intelligence Decision of Collision Avoidance back-up system, navigation control system.
Described signals collecting and signal processing module 2, VICAN control desk 3, terminal device 4 are connected the serial line interface of principal computer 1 respectively.
Described signals collecting and signal processing module 2 are made up of radar 21, AIS equipment 22, GPS receiver 23, compass 24, log 25, sounder 26.Radar 21 data output interfaces are connected with principal computer 1 serial line interface by goer mark information fusion module 221, AIS equipment 22 data output interfaces are connected with principal computer 1 serial line interface by goer mark information fusion module 221, GPS receiver 23 data output interfaces are connected with principal computer 1 serial line interface by GPS information acquisition module 231, compass 24 data output interfaces are connected with principal computer 1 serial line interface by compass information acquisition module 241, log 25 data output interfaces are connected with principal computer 1 serial line interface by log information acquisition module 251, and sounder 26 data output interfaces are connected with principal computer 1 serial line interface by sounder information acquisition module 261.
Described terminal device 4 comprises figure (image) display 41 and audio amplifier equipment 42, and principal computer 1 output interface is connected with figure (image) display 21 input interfaces, and principal computer 1 output interface is connected with audio amplifier equipment 42 input interfaces.VICAN control desk 3 comprises operating rod or tracking ball and other operating keys, button, VICAN control desk 3 data I/O interface is connected with principal computer 1 serial line interface, it provides a better man-machine interaction media for VICAN, operator's various operation informations principal computer 1 be can be sent into, various warning messages and the instruction of behaviour's ship also can be accepted from principal computer 1.Simultaneously, VICAN has reserved system extension serial line interface 5 for product up-gradation from now on and exploitation boats and ships navigate by water instrument automatically, can read the Decision of Collision Avoidance parameter that the Models of Decision-making in Ship Collision Avoidance back-up system provides from this interface, gives equipment such as auto navigator and carriage clock instrument.
Described principal computer 1 is an embedded computer, it is the Main Processor Unit of VICAN, the dynamic data that it is exported according to signals collecting and signal processing module 2 and the static data of ECDIS system, call boats and ships intelligence Decision of Collision Avoidance back-up system and carry out related operation with the navigation control system, finally by terminal device 4 with modes such as acousto-optic, figure, symbol send stranded, hit a submerged reef or risk of collision is reported to the police, and provide automatically safe, reasonably and science dodge decision recommendation.Therefore, VICAN combines boats and ships intelligence Decision of Collision Avoidance back-up system with equipment such as radar, AIS, GPS, log, sounders, utilizes artificial intelligence technology to promote the intelligent characteristic of traditional ARPA, has overcome the limitation that the ship function is grasped in traditional ARPA examination.
As shown in Figure 2, described boats and ships intelligence Decision of Collision Avoidance back-up system is by machine learning identification and utilize sound attitude thing target information and existing knowledge, online new knowledge and the new technical ability obtained, automatically realize and finish the environmental analysis of deck officer in the collision prevention activity by computing machine, information fusion, Target Recognition, situation is judged, decision-making forms, reach cognitive processes such as the executory collision prevention validity check of decision-making, and can obtain more science because of the intelligence learning ability and the powerful calculating and the information processing capability of computing machine of system, more rational Decision of Collision Avoidance, thereby " personification " intelligent collision prevention that realization surmounts driver's intelligence.The core technology of boats and ships intelligence Decision of Collision Avoidance back-up system is intelligent collision prevention model, utilize Visual C++ establishment boats and ships intelligence Decision of Collision Avoidance automated procedures to realize the automatic generation and the optimization of decision-making, concrete forward reasoning control strategy, the heuristic search of adopting, organically combine together constituting the machine learning module of intelligent collision prevention model, dynamic collision prevention knowledge module, inference machine and decision analysis appraisement system, obtain finding the solution of problem.
Described navigation control system comprises flight-line design module, air route monitor module and track recording module, the flight-line design module realizes directly drawing turning point with cursor on electronic chart, or design the course line by the coordinate of manual input redirect point, can be by speed calculation estimated time of arrival (ETA), or by estimated time of arrival (ETA) calculating headway, any distance and bearing be can calculate at 2, accommodation, flight path etc. marked and drawed; The air route monitor module is realized the bias in automatic Ship ' current state and intended course or course line, and calls the adaptive autopilot algorithm and correct bias; The track recording module then realizes data such as writing time, this ship position, own ships bus and this ship speed of a ship or plane at a certain time interval, is used to playback, analysis and the printing etc. of the process of navigating by water.
Described ECDIS is for can read IHO S-57 standard electronic chart data, electronic chart display and infor mation system with the demonstration of IHO S-52 display standard, it provides static thing target information source for VICAN, also provides a platform that integrated information shows for VICAN simultaneously.
Principle of work of the present utility model:
Described goer mark information fusion module 221 is carried out fusion treatment by the algorithm of fuzzy comprehensive evoluation with the thing mark sound attitude information of radar 21 video echo signals and AIS equipment 22, inputs to principal computer 1 then; Bathymetric data and GPS information acquisition module 231 are gathered this ship accommodation data and are inputed to principal computer 1 under compass information acquisition module 241 collection own ships bus data, log information acquisition module 251 this ship of collection speed of a ship or plane data, sounder information acquisition module 261 these keels of collection; Principal computer 1 cooperates VICAN control desk 3 to realize that sail information synthesis display, robot radar are marked and drawed (being the ARPA function) and flight-line design, flight path is monitored, kept away automatically ship and makes a strategic decision, keeps away automatically the shallow intelligent functions such as reef decision-making and track recording of keeping away according to the above-mentioned various data that provide at last.
Major function of the present utility model:
1) sail information synthesis display function
Described VICAN is the basic display platform with electronic chart display and infor mation system (ECDIS), comprehensive processing to equipment output informations such as radar, AIS, GPS, compass, log and sounders, provide on every side the traffic dynamic and sea chart environmental information relevant with the navigation of this ship, realize that the stack of radar return image and electronic chart shows, and radar target information and AIS information merged and association process, realize that both is corresponding one by one.
2) possesses the function of ARPA
Described VICAN has inherited all functions of traditional ARPA, satisfies IMO about the regulation of ARPA performance standard (IMO1995 November 23 passed through A.823 (19) number resolution).Described VICAN can manually catch/from the target of motion tracking more than 30; Functions such as pair security area setting, releasing are arranged; The target component read functions is arranged; Minimum DCPA, TCPA value can be set, and system carries out the danger judgement automatically and reports to the police; Examination behaviour ship function etc. is arranged.
3) intelligent functions
Described VICAN can carry out rational flight-line design, flight path is monitored, kept away automatically ship and makes a strategic decision, keeps away automatically shallow reef decision-making and the track recording kept away.In the ship's navigation process, the bias in Ship ' current state and intended course or course line automatically provides sound and light alarm automatically when bias surpasses setting value, remind the deck officer; When boats and ships can run into dynamic object ship or static obstruction, VICAN is monitoring objective in real time, automatically carry out target classification and dangerous judgement, automatically with modes such as sound, literal demonstration provide rationally, the Models of Decision-making in Ship Collision Avoidance of science advises, for deck officer's reference, to alleviate driver's burden, help safe navigation.
Claims (5)
1. intelligent collision prevention navigating instrument peculiar to vessel, it mainly is made up of principal computer, signals collecting and signal processing module, VICAN control desk, terminal device; Described signals collecting and signal processing module, VICAN control desk, terminal device are connected the serial line interface of principal computer respectively; It is characterized in that: described signals collecting and signal processing module are made up of radar, AIS equipment, GPS receiver, compass, log, sounder, the radar data output interface is connected with the principal computer serial line interface, AIS device data output interface is connected with the principal computer serial line interface, GPS receiver data output interface is connected with the principal computer serial line interface, the compass data output interface is connected with the principal computer serial line interface, the log data output interface is connected with the principal computer serial line interface, and the sounder data output interface is connected with the principal computer serial line interface.
2. intelligent collision prevention navigating instrument peculiar to vessel according to claim 1, it is characterized in that: described terminal device comprises graphic alphanumeric display and audio amplifier equipment, the principal computer output interface is connected with the graphic alphanumeric display input interface, and the principal computer output interface is connected with audio amplifier equipment input interface.
3. intelligent collision prevention navigating instrument peculiar to vessel according to claim 1 is characterized in that: described VICAN control desk comprises operating rod or tracking ball, a plurality of operating key, a plurality of control knob, and VICAN control desk data I/O interface is connected with the principal computer serial line interface.
4. intelligent collision prevention navigating instrument peculiar to vessel according to claim 1, it is characterized in that: described principal computer is provided with the reservation expansion interface.
5. intelligent collision prevention navigating instrument peculiar to vessel according to claim 1, it is characterized in that: described principal computer is an embedded computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2007200073173U CN201063059Y (en) | 2007-06-08 | 2007-06-08 | Intelligent collision-preventing navigator for ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2007200073173U CN201063059Y (en) | 2007-06-08 | 2007-06-08 | Intelligent collision-preventing navigator for ship |
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| CN201063059Y true CN201063059Y (en) | 2008-05-21 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101630003A (en) * | 2008-07-14 | 2010-01-20 | 上海智森航海电子科技有限公司 | Automatic plotting system for navigation radar |
| ES2337003A1 (en) * | 2008-02-19 | 2010-04-19 | Juan Mariano Bendito Vallori | Evasive autopilot system for vessels |
| WO2011065848A1 (en) | 2009-11-26 | 2011-06-03 | Akademia Morska W Szczecinie | A method and system of navigational decision support in the process of safe vessel navigation |
| CN102621547A (en) * | 2012-04-01 | 2012-08-01 | 上海圆舟电子科技有限公司 | Intelligent marine radar capable of adaptively adjusting multi-dimensional information fusion parameters and method for adaptively adjusting information fusion parameters |
| CN102707276A (en) * | 2012-05-23 | 2012-10-03 | 中国人民解放军海军航空工程学院 | Automatic identification system (AIS) and radar track robust association algorithm based on target topological information |
| CN104267723A (en) * | 2014-09-09 | 2015-01-07 | 江苏科技大学 | Ocean vessel navigation automatic sailing system and navigation method |
| CN104637346A (en) * | 2014-07-28 | 2015-05-20 | 徐晶 | Ship alarming method |
| CN104880186A (en) * | 2015-05-08 | 2015-09-02 | 宁波通亿物联技术有限公司 | Method and device for detecting offshore distance of ship |
| CN107121985A (en) * | 2017-04-27 | 2017-09-01 | 苏州欸欸智能科技有限公司 | A kind of radar obstacle avoidance system of underwater intelligent robot |
| CN107922040A (en) * | 2015-07-07 | 2018-04-17 | 韩国海洋科学技术院 | The ship collision prevention navigation system shown using time series figure |
| CN108241147A (en) * | 2018-02-06 | 2018-07-03 | 上海圆舟电子科技有限公司 | A kind of palm intelligent maritime affairs radar and its surface surveillance method |
| CN108917767A (en) * | 2018-06-28 | 2018-11-30 | 中国船舶重工集团公司第七0七研究所 | A kind of navigation sport plotting calculation method based on electronic chart |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN109460021A (en) * | 2018-11-02 | 2019-03-12 | 青岛沃曼软控有限公司 | Intelligently navigation can meet track identification actuarial collision avoidance system to ship |
| CN111665509A (en) * | 2020-06-17 | 2020-09-15 | 上海宜通海洋科技股份有限公司 | Intelligent collision-prevention radar |
| CN112678127A (en) * | 2021-01-08 | 2021-04-20 | 中国船舶重工集团公司第七0七研究所 | System and method for testing marine dynamic performance of automatic steering instrument |
| CN113721481A (en) * | 2021-08-16 | 2021-11-30 | 中船航海科技有限责任公司 | Virtual-real combined comprehensive bridge equipment test platform and test method |
| CN115273556A (en) * | 2022-06-24 | 2022-11-01 | 大连海事大学 | Ship collision avoidance decision method and system based on interoperation technology |
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2007
- 2007-06-08 CN CNU2007200073173U patent/CN201063059Y/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2337003A1 (en) * | 2008-02-19 | 2010-04-19 | Juan Mariano Bendito Vallori | Evasive autopilot system for vessels |
| CN101630003A (en) * | 2008-07-14 | 2010-01-20 | 上海智森航海电子科技有限公司 | Automatic plotting system for navigation radar |
| WO2011065848A1 (en) | 2009-11-26 | 2011-06-03 | Akademia Morska W Szczecinie | A method and system of navigational decision support in the process of safe vessel navigation |
| CN102621547A (en) * | 2012-04-01 | 2012-08-01 | 上海圆舟电子科技有限公司 | Intelligent marine radar capable of adaptively adjusting multi-dimensional information fusion parameters and method for adaptively adjusting information fusion parameters |
| CN102707276B (en) * | 2012-05-23 | 2015-11-25 | 中国人民解放军海军航空工程学院 | The AIS of based target topology information and radar track robust association algorithm |
| CN102707276A (en) * | 2012-05-23 | 2012-10-03 | 中国人民解放军海军航空工程学院 | Automatic identification system (AIS) and radar track robust association algorithm based on target topological information |
| CN104637346A (en) * | 2014-07-28 | 2015-05-20 | 徐晶 | Ship alarming method |
| CN104700659A (en) * | 2014-07-28 | 2015-06-10 | 徐晶 | Ship alarming method |
| CN104700659B (en) * | 2014-07-28 | 2016-01-20 | 杨巧霞 | A kind of Ship Visit Report alarm system |
| CN104637346B (en) * | 2014-07-28 | 2015-11-18 | 江阴卧龙玻璃钢船艇有限公司 | A kind of Ship Visit Report alarm system based on travel speed and driver fatigue state |
| CN104267723B (en) * | 2014-09-09 | 2017-05-03 | 江苏科技大学 | Ocean vessel navigation automatic sailing system and navigation method |
| CN104267723A (en) * | 2014-09-09 | 2015-01-07 | 江苏科技大学 | Ocean vessel navigation automatic sailing system and navigation method |
| CN104880186B (en) * | 2015-05-08 | 2018-04-13 | 宁波通亿物联技术有限公司 | The detection method and device of ship offshore distance |
| CN104880186A (en) * | 2015-05-08 | 2015-09-02 | 宁波通亿物联技术有限公司 | Method and device for detecting offshore distance of ship |
| CN107922040A (en) * | 2015-07-07 | 2018-04-17 | 韩国海洋科学技术院 | The ship collision prevention navigation system shown using time series figure |
| CN107121985A (en) * | 2017-04-27 | 2017-09-01 | 苏州欸欸智能科技有限公司 | A kind of radar obstacle avoidance system of underwater intelligent robot |
| CN108241147A (en) * | 2018-02-06 | 2018-07-03 | 上海圆舟电子科技有限公司 | A kind of palm intelligent maritime affairs radar and its surface surveillance method |
| CN108917767B (en) * | 2018-06-28 | 2021-01-26 | 中国船舶重工集团公司第七0七研究所 | Electronic chart-based navigation motion plotting calculation method |
| CN108917767A (en) * | 2018-06-28 | 2018-11-30 | 中国船舶重工集团公司第七0七研究所 | A kind of navigation sport plotting calculation method based on electronic chart |
| CN108910007A (en) * | 2018-06-28 | 2018-11-30 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN108910007B (en) * | 2018-06-28 | 2019-05-28 | 上海海事大学 | A kind of large ship automatic emergency steering control system and its method |
| CN109460021A (en) * | 2018-11-02 | 2019-03-12 | 青岛沃曼软控有限公司 | Intelligently navigation can meet track identification actuarial collision avoidance system to ship |
| CN111665509A (en) * | 2020-06-17 | 2020-09-15 | 上海宜通海洋科技股份有限公司 | Intelligent collision-prevention radar |
| CN112678127A (en) * | 2021-01-08 | 2021-04-20 | 中国船舶重工集团公司第七0七研究所 | System and method for testing marine dynamic performance of automatic steering instrument |
| CN112678127B (en) * | 2021-01-08 | 2023-03-14 | 中国船舶重工集团公司第七0七研究所 | System and method for testing marine dynamic performance of automatic steering device |
| CN113721481A (en) * | 2021-08-16 | 2021-11-30 | 中船航海科技有限责任公司 | Virtual-real combined comprehensive bridge equipment test platform and test method |
| CN115273556A (en) * | 2022-06-24 | 2022-11-01 | 大连海事大学 | Ship collision avoidance decision method and system based on interoperation technology |
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