DE102010003031A1 - Method for simulation-based maneuver planning on ships and in simulators, involves visually selecting geographic positions of maneuver points during planning on track and maneuver parameters for maneuvers of ship parking facilities - Google Patents

Abstract

The geographic positions of maneuver points during planning on simulated track and maneuver parameters for maneuvers of ship-parking facilities for generation of optimal maneuver sequence are selected visually, by simulation and representation of successive maneuvers segments for entire maneuver sequence in electronic chart by special planning data management. The starting points and/or endpoints of maneuver segments are stored in maneuver plan. The maneuver planning parameters for subsequent slight lowering of maneuvers are included in maneuver execution. An independent claim is included for device for integrated, simulation-based maneuver planning on ships and in ship simulators.

Description

The invention relates to a method and a device for use in maneuvering ships, especially for planning suitable manipulated variables as control parameters for rudders, machines and other maneuvering devices and monitoring the execution of the maneuver sequence under current ship and environmental conditions during the later departure of the maneuvers. It can be used both in the control of real ships and in the ship's command in the training simulation on ship handling simulators.

State of the art

In order to assist the ship's command in maneuvering, a number of means are known which display on a display in an electronic nautical chart the planned desired course of the ship and the current position and position of the ship as a ship's contour as current situation representation with the environment around the ship. The control of the ship then takes place through human intervention by using estimated from the experience of the ship's officers values for the specification of the control variables and necessary correction by visual comparison of the effect on the movement of the ship to comply with the desired trajectory on the display or in the real environment means View from the bridge the ship is controlled. For assistance, a prediction of the next lane section may be provided on the display by pre-simulation according to the current motion parameters, from which manual control interventions shall be derived by the navigator himself. Despite this support, maneuvering ships is a major challenge, which in most cases is left up to experienced boaters (captains, or external consultants such as pilots on board or at VTS).

On the other hand, an automated control can be applied, are derived by regulating the manipulated variables after necessary simplifications of the physical relationships to control the ship approximately along the target path. The automated control system is not used in difficult, complex situations due to the system-typical, complete or partial linearization of controllers for the derivation of automated control settings.

In the case of the predictions, there are the following known possibilities with the respective deficits.

In electronic charts, so-called Electronic Chart Display And Information Systems (ECDIS) are called "Curved Headline" designated, greatly simplified prediction of the ship's orbit, in which only the current speed components are integrated as constant over time, so basically only orbits are predicted, changes in the movement by the change of adjusting devices are recognized only after a long time and basically no machine maneuvers but only course and track changes.

So far, only one single maneuver is taken into account in the pre-simulation / prediction, transitions into subsequent maneuvers are not taken into account, in one case the representation of a straight, new course line is superimposed on a maneuver section shown as a circle. In the patent publication DD 251832 A1 In addition, individual, specially composed maneuvers for the man-over-board accident (eg Scharnow and single turn) are given, but only as a representation of recorded orbits of the ship to be scaled by simple formulas.

Advanced systems already use nonlinear simulation models for maneuver prediction, which also simulate machine and other maneuvering devices, but so far are only used for the current manipulated variables and are not based on previous path planning.

The planning of a predetermined target trajectory is done so far with a high degree of simplification generally as a consequence / list of waypoints with intervening geometric trajectory segments, d. H. rectilinear track sections and course changes by circular arc-shaped segments of the desired path. In addition, target speeds for the web segments can also be assigned.

They form the basis for the derivation of manipulated variables from controllers for automated control, from which then z. B. on the circular arc sections, the rudder position for a constant rotation rate under initially assumed trouble-free conditions can be determined. In the patent DE 10164701 B4 It also takes into account the influence of disturbances due to changes in environmental conditions, especially flow fields whose data are transferred from external sensors to the ship or determined on board. A concrete, detailed planning phase and review of the plan by nonlinear, real maneuver simulation is missing. Errors due to system-specific, complete or partial linearization of controllers for the derivation of automated setting specifications can also lead to unmanageable maneuvering concepts.

In the patent DE 4423233 C2 a consideration of the overall risk condition in the operation of a ship is made without specifically to a single state, such. As to the maneuvering process and in particular to details of its planning and implementation, to respond more specifically.

All these methods have the common disadvantage that they do not contain situation-specific, detailed and physically justified maneuver planning for determining the desired course and thus not the entire maneuvering process for a travel section in sea areas with complex maneuvering requirements holistically checked or optimized and maneuvers for such, if necessary existing, simplified plan are feasible secured.

In support of the maneuver execution by advance simulation / prediction, so far only a single maneuver segment is taken into account in the pre-simulation / prediction according to the current control signals of the control devices, so that the impact of real follow-up maneuvers can not be estimated.

Presentation of the invention

The object of the invention is to enable a simulation-based planning for an effective and safe, even under predictable environmental conditions / disorders real feasible maneuver sequence and beyond to connect with an effective monitoring in the maneuver implementation, in which then also possibly occurred changes in the Situation conditions can be responded quickly by editing the maneuver schedule during the maneuver without relying on simplifications through linearization and other limits in automated controls. The ship can be controlled manually with high security even in sea areas with complex maneuvering requirements.

The solution is achieved by the features listed in the claims.

• a. durch Simulation und Darstellung von einzelnen, aufeinanderfolgenden Manöversegmenten für den gesamten Manöverablauf in einer elektronischen Seekarte mittels eines speziellen Planungs-Daten-Managements sich die geographischen Positionen der Manöverpunkte (Startpunkte und/oder Endpunkte der Manöversegmente) während der Planung auf der simulierten Bahn flexibel verschieben und/oder sich gleichzeitig geeignete Manöverparameter für alle Manöver-Stelleinrichtungen des Schiffes (Ruder, Maschine, Querstrahler usw.) zur Erzeugung eines optimalen Manöverablauf visuell auswählen lassen,
• b. und in einem Manöverplan die Manöverpunktliste der Startpunkte und/oder Endpunkte der Manöversegmente gespeichert werden, wobei zusätzlich neben den geografischen Positionsangaben/Wegpunkten auch die bei der Planung gefundenen Manöverparameter für ein nachfolgendes leichtes Abfahren der Manöver bei der Manöverdurchführung enthalten sind.

The inventive method for integrated, simulation-based maneuver planning on ships and in ship simulators is characterized in that

• a. by simulation and presentation of individual, successive maneuvering segments for the entire maneuver sequence in an electronic nautical chart by means of a special planning data management, the geographical positions of the maneuvering points (starting points and / or endpoints of the maneuvering segments) move flexibly during planning on the simulated trajectory and / or at the same time allow visually to select suitable maneuver parameters for all maneuver control devices of the ship (rudder, machine, transverse radiator, etc.) for generating an optimal maneuvering sequence,
• b. and in a maneuver the maneuvering point list of the starting points and / or endpoints of the maneuvering segments are stored, wherein in addition to the geographical position information / waypoints also found in the planning maneuver parameters for a subsequent easy departure of maneuvers in the maneuver execution are included.

• a. „Abfahren” des gewünschten Routenabschnittes mittels Fast Time Simulation, indem das virtuelle Schiff durch ein Simulations-Steuer-Interface in einer elektronischen Seekarte ECDIS durch das Manövergebiet gesteuert wird,
• b. Berechnung der geplanten Bahn und Lage des Schiffes bei Änderung der Steuersignale, ausgehend von der ausgewählten Anfangsposition, indem an der gewünschten Ausgangs-Position die Steuersignale für das Folgemanöver ausgewählt werden, und deren Anzeige im Display,
• c. Speicherung aller Zustände an jeder der Positionen während des gesamten Manöverplanes für Neuplanung/Simulation in dem bisher geplanten Manöverzeitraum und von jeder Stelle im jeweils aktiven Manöver.

The following steps are necessary for this:

• a. "Departure" of the desired route section by means of fast-time simulation, in which the virtual ship is steered through the maneuvering area by a simulation control interface in an electronic sea chart ECDIS,
• b. Calculation of the planned lane and position of the vessel on change of the control signals, starting from the selected starting position, by selecting the control signals for the following maneuver at the desired starting position, and displaying them in the display,
• c. Storage of all states at each of the positions throughout the maneuver plan for re-planning / simulation in the previously planned maneuvering period and from each point in the active maneuver.

In one embodiment, maneuvering variants for the maneuvering plan are generated via a simulation control interface for maneuver parameters to be set by a simulation / prediction module, which is checked by representing the ship and the environment on a presentation display and by a planning data manager be varied so that appropriate maneuver parameters are selected and stored for the optimized maneuvering plan.

The method for integrated, simulation-based maneuvering on ships and in ship simulators is characterized in that a simultaneous representation of the planned maneuvering according to the results of the maneuver planning and the current position and position of the ship, and additionally by means of a multiple maneuver prediction by pre-simulation the predicted future maneuvering paths are compared both according to the currently set values of all maneuver control devices as well as according to the maneuver parameters of selected, planned follow-up manoeuver from the maneuver to control the vessel manually according to visual information (multiple predictor).

When changing the environmental conditions, such as wind and electricity, the next maneuver segments of the maneuver plan are edited by simulation compared to the original maneuvering plan and adapted as a new guide to the current maneuver situation.

The inventive device for integrated, simulation-based maneuver planning on ships and in ship simulators is characterized in that the required data for ship state, maneuver parameters and ship / environmental information are provided by a planning data collector together with the data for ship simulation Parameters from a ship database for simulating the ship's course and attitude in a simulation / prediction module in conjunction with a planning data manager in maneuver planning mode, the maneuvers being presented in a presentation & display module and / or their suitability are then finally stored in a maneuver database as a maneuver plan for re-use in the maneuver execution.

A data collector records the current vessel, navigation, control and environmental data, provides the parameters for the simulation via a parameter identification module in a database for ship simulation parameters by a data processor after pre-processing and filtering and / or updated in a multiple predictor via a dynamic maneuver prediction / simulation module that simulates maneuver motions for the current control settings of the ship as well as simultaneously and in parallel in a dynamic maneuver planning predictor for the closest maneuver segments from the original maneuver plan with the planned control parameters Maneuver movements are simulated under the current conditions. All data together is compared on a presentation display module to represent the ship in its environment under the current environmental conditions, to determine the optimal maneuvers under the current conditions and to apply them by manual or automated control, through visual control and manual control or be brought by means of variation of an automated control device under the current conditions with the maneuver plan to coincide.

In a maneuvering plan management and editing module, during the maneuver execution in the dynamic maneuver planning predictor, the originally planned maneuver parameters from the data bank are changed with the maneuvering plan via a simulation control interface in the planning data collector and stored in the data bank. Manager in the Online Editing / Control mode varies so that appropriate maneuver parameters for an optimized maneuver plan under the current environmental conditions are selected and re-stored and / or applied immediately.

The advantages achieved by the invention are, in particular, that instead of a conventional, simplified waypoint planning by the new, simulation-based maneuver planning of the concrete maneuver trajectory with all maneuver control variables is available as a reference trajectory available. For the maneuver execution by manual or controller-based control of the ship then the ship can be easily guided on this track, in addition to a usual maneuver prediction with the actual, actual control signals of Manövriereinrichtungen also the next maneuvering segments of the maneuvering plan by a predictor with the current environmental conditions by means of visual Comparison can be compared in a display or by a mathematical subtraction in order to realize the planned maneuvers as effectively as possible.

With this method, almost any non-linear, complex models can be used for simulation without restriction, without being limited by necessary simplification, for example by linearization in the use of controllers.

Brief description of the illustrations

An embodiment of the invention is illustrated in the drawings 1 to 4 and will be described in more detail below.

1 : Maneuver planning for a travel section for driving and turning on a turning table with the following maneuver segments and maneuver points (MP)
MP 1: Ride in the fairway with midships to control insert,
MP 2: When starting turning plate from straight ahead: Maneuver Stopping with combined maneuver Machine back full with cross radiator and possibly rudder,
MP 3: Machine back-half with other / less transverse emitters or rudders for "aiming in the correct harbor basin or pier,
MP 4: reverse drive with specific setting Transverse thrust system for the desired change in course at the end of the insert.

2 : Concept and Data Flow for Advance Planning Module to design and store a complete maneuver plan.

3 : Sketch of the maneuver execution with insertion of the maneuvering segments of the whole Maneuver plan (dashed trajectory), the predictor for the control parameters of the two next maneuvers from the maneuver plan with the current environmental conditions (solid curves) and display of the predictor with the current control parameters (ship contours, fading as the forecast time progresses): Example of situation when approaching a ship to a turning plate in the harbor.

4 : Concept for maneuver execution with the new elements (gray background): simultaneous display of maneuver planning and prediction / editing of next maneuver segments from the maneuver plan together with the well-known prediction with current maneuver settings.

Embodiment of the invention

The maneuver planning is done by "driving off" the desired route section by means of Fast Time Simulation, d. H. instead of real maneuver controls on the bridge, the ship is controlled in sections through the maneuver area by a simulation control interface in an electronic chart. The planned course and position of the ship is immediately calculated when the control signals are changed and shown on the display, starting from the selected starting position. If z. For example, if the rudder or machine setting is changed to the starting position for the current maneuver section, the old lane is deleted and the new one is calculated and displayed. To select the starting position for the next maneuver, the ship or its contour is then moved forwards or backwards on the planned path. At the desired output position, a simulation is then started again in which the control signals for the following maneuver are selected there.

In 1 is exemplified such a maneuver planning for a travel section for driving and turning on a turntable with the following maneuvering segments and maneuver points MP shown.

At the 1st maneuver at the maneuver point MP 1, the ship is in the drive in the fairway with rudder midships to control turning plate.

At the 2nd maneuver at start-up the turning plate from straight ahead travel is selected as a follow-up maneuver "Stopping up maneuver combined with transverse emitter and possibly rudder". Starting from the maneuver point MP2 you can see 4 thin contours according to the selected time intervals and on the 4th contour, which is highlighted with dots, the maneuvering track for the new maneuver no. 3 can be seen, but still too early in this point. So the maneuvering position has to be moved a bit later, until the track fits: This position will be the thickly highlighted maneuver point MP3.

If it is then "retracted" into the following subsequent maneuver, the next maneuver is selected from the positions on the follower track, and the resulting thin contours are displayed with the dashed line at the current planning point, etc. In the picture, this maneuver is already finished The solution found represents a complete maneuvering plan.

As long as you are in the maneuver planning mode, all states are stored in a maneuver plan at each of the positions throughout the maneuver plan, so that you can simulate and plan again in the previously planned maneuvering period and from each point in the active maneuver, if one does not immediately Success has come.

If the planning has been successfully completed, the respective positions on the selected lanes and, in addition, the respective control signals at the special maneuver positions in a maneuvering plan are stored as a file in which each maneuver point (MP) receives a serial number.

The display of the entire maneuvering plan and, above all, the relevant maneuvering plan segment at the current location in addition to the current prediction with the current control settings allows a much more predictive driving than with individual maneuver prediction.

• – Planungsdaten-Kollektor (als Simulations-Steuer-Interface zur Auswahl von Manöverparametern, Schiffs-Zustands- und Umgebungs-Daten), dessen Ausgang zusammen mit den Schiff-Simulations-Parametern aus der Schiffsdatenbank in das Simulations-/Prädiktions-Modul eingespeist wird;
• – Die Ergebnisse der Simulation/Prädiktion werden im Präsentation & Display-Modul visualisiert und auf ihren Erfolg eingeschätzt;
• – Der Planungs-Datenmanager im Manöver-Planungs-Modus organisiert die Abfolge der Planung und die Speicherung der Manöver- und Bahndaten als Manöverplan.

In 2 is a design for the data flow and the module concept with the modules:

• Planned data collector (as simulation control interface for selection of maneuver parameters, vessel status and environment data), the output of which, together with the ship simulation parameters, is fed from the ship database into the simulation / prediction module;
• - The results of the simulation / prediction are visualized in the Presentation & Display module and assessed for their success;
• - The planning data manager in the maneuver planning mode organizes the sequence of planning and the storage of the maneuver and orbit data as a maneuver plan.

• – Kommendes Manöver MP 2: Beim Anlaufen Wendeplatte aus Geradeausfahrt: Manöver Aufstoppen mit kombiniertem Manöver ZV (zurück voll) mit Querstrahler und ggf. Ruder,
• – Nachfolgendes Manöver MP 3: ZH (zurück halbe) mit anderem/weniger Querstrahler oder Ruder zum „Zielen in das richtige Hafenbecken oder Anleger.

In 3 the situation is shown when entering a ship on a turntable: the ship has passed the MP1 and is already in the 1st maneuver section to control the insert and just before the MP 2. So it is:

• - Coming maneuver MP 2: When starting turning plate from straight ahead: Maneuver Stopping with combined maneuver ZV (back full) with cross radiator and possibly rudder,
• - Subsequent maneuver MP 3: ZH (back half) with other / less cross radiator or rudder for "aiming in the correct harbor basin or pier.

• 1. Manöverprädiktion an aktueller Position für aktuelle Stellung der Steuereinrichtung,
• 2. Manöverprädiktion nächstes geplantes Manöversegment: kommendes geplantes Manöver, zu starten am nächste Manöverpunkt, hier MP 2,
• 3. Manöverprädiktion übernächstes geplantes Manöversegment: zu starten während des Ablaufes des nächsten Manöversegments nach bestimmter Verzögerung/Prädiktionszeit am nächste Manöverpunkt, hier MP 3.

This maneuvering schedule is displayed during normal cruise operation, but is also constantly displayed as a maneuvering plan prediction calculated for the current environmental conditions and at the ship's current position, in addition to the normal maneuver predictor. Ie. 3 maneuvers for the prediction display are constantly calculated:

• 1. maneuver prediction at current position for current position of the control device,
• 2nd maneuver prediction next planned maneuver segment: upcoming planned maneuver to start at the next maneuver point, here MP 2,
• 3rd maneuver prediction over the next planned maneuver segment: to start during the next maneuver segment after a certain delay / prediction time at the next maneuver point, here MP 3.

The maneuvers of the maneuver plan will be editable while driving at least for the next two maneuvers, because the current conditions such. B. Wind force or direction have changed from planning or deviations are necessary by shipping traffic. The same editor can be used for this, as described in the maneuver planning. The existing control interface for the simulation will then be displayed on which the control settings and the maneuver periods can be varied for the selected maneuver. D. H. after which time the 1st sub-maneuver is completed and the 2nd sub-maneuver begins.

• – Daten-Kollektor für Navigations- und Schiffsdaten, 1. Schiffszustandsdaten: + Beladungsabhängige Parameter (Tiefgang, Lateralflächen); + Maximalwerte/Grenzen der Steuerorgane (Ruderwinkel, Drehrate, Maschine) 2. Steuerungsparameter für Simulation: + Kommandierte, aktuelle Ruderwinkel, Maschinentelegraf, Bug-/Heck-Strahlruder ... 3. Zustands-Daten Schiffsbewegungs- & Umweltparameter: + Heading, Geschwindigkeit, Positionen, ROT, Wind, Strom, Wassertiefe ...
• – Datenprozessor/Filter für Eingangsdaten, + Eingangsdaten-Prüfung und -Anpassung; + Filter der Eingangsdaten
• – Parameteridentifikations-Modul für Simulations-Modelle zur Prädiktion, + Parametergewinnung für Simulationsgleichung entsprechend des aktuellen Schiffszustandes
• – Simulations-Module für Prädiktion, + Daten-Bank: Schiffs-Simulations-Parameter + Modellparameter des betreffenden Schiffszustandes und der Umweltbedingungen
• – Manöver-Editierungs-Modul bestehend aus: Manöver-Datenbasis, + Daten-Bank: Manöver-Plan: Abruf & Speicherung einzelner Manöverplanelemente zur Prädiktion im Fahr-Betrieb Manöverdaten-Editiermanager, + Kommandierte Ruderwinkel, Maschinentelegraf, Bug-/Heck-Strahlruder für Simulation Steuerungsmodule für Simulation, + Auswahl der 2 relevanten folgenden Manöversegmente des Manöverplans + Anzeige der Manöversegmente mit den geplanten Steuerparametern, bzw. + Manöver-Editierung mittels Steuerungs-Interface während des Fahrens
• – Multipler Prädiktor: Fast Time Simulation 1. Dynamisches Manöver-Prädiktions-Modul für aktuelle Steuer-Parameter: Prädiktion Bahn & Lage im aktuellen Manöverabschnitt 2. Dynamischer Manöver-Planungs-Prädiktor für geplante bzw. editierte Steuer-Parameter: Simulation der Bahn und Lage für die nächstliegenden geplanten Manöversegmente
• – Präsentations-Modul Anzeige der Informationen in ECDIS- oder Radar-Umgebung: 1. aktuelle Position und Heading (Schiffs-Kontur) 2. Dynamisch vorhergesagter Bahnverlauf anhand der aktuellen Steuerparameter 3. Statischer Manöver Plan Bahnverläufe 4. Dynamisch vorhergesagter Bahnverlauf entsprechend der geplanten Steuerparameter (im Fahr-Betrieb veränderbar)

In 4 is a design for the data flow and the module concept with the modules:

• - data collector for navigation and ship data, 1. vessel condition data: + loading-dependent parameters (draft, lateral areas); + Maximum values / Limits of control elements (rudder angle, yaw rate, machine) 2. Control parameters for simulation: + Commanded, current rudder angles, machine telegraph, bow / stern thruster ... 3. State data Vessel motion & environmental parameters: + heading, velocity , Positions, RED, Wind, Electricity, Water depth ...
• - data processor / filter for input data, + input data check and adaptation; + Filter the input data
• - Parameter identification module for simulation models for prediction, + Parameter extraction for simulation equation according to the current ship condition
• - simulation modules for prediction, + data bank: ship simulation parameters + model parameters of the relevant ship condition and the environmental conditions
• - maneuver editing module consisting of: maneuver database, + data bank: maneuver plan: retrieval & storage of individual maneuver plan elements for prediction in driving operation maneuver data editing manager, + commanded rudder angle, engine telegraph, bow / stern thruster for Simulation control modules for simulation, + selection of the 2 relevant following maneuver segments of the maneuver plan + display of the maneuver segments with the planned control parameters, or + maneuver editing via control interface while driving
• - Multiple Predictor: Fast Time Simulation 1. Dynamic maneuver prediction module for current control parameters: prediction of course and position in the current maneuver section 2. Dynamic maneuver planning predictor for planned or edited control parameters: simulation of the path and position for the nearest planned maneuver segments
• - Presentation module Display of information in ECDIS or radar environment: 1. Current position and heading (ship's contour) 2. Dynamically predicted trajectory based on the current control parameters 3. Static maneuver Plan Trajectories 4. Dynamically predicted trajectory according to the planned control parameters (changeable in driving mode)

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DD 251832 A1 [0006]
• DE 10164701 B4 [0009]
• DE 4423233 C2 [0010]

Claims (8)

Method for integrated, simulation-based maneuver planning on ships and in ship simulators, characterized in that - by simulating and displaying individual, successive maneuver segments for the entire maneuver sequence in an electronic sea chart by means of a special planning data management, the geographical positions of the maneuver points ( Starting points and / or end points of the maneuvering segments) during the planning on the simulated track flexibly and / or simultaneously allow appropriate maneuver parameters for all maneuver control devices of the ship to generate an optimal maneuver sequence visually select - and in a maneuver plan maneuvering point list of starting points and In addition to the geographical position information / waypoints also found in the planning maneuver parameters for a subsequent easy departure of Man över are included in the maneuver execution. Method for integrated, simulation-based maneuver planning according to claim 1, characterized by the following steps "Driving off" the desired route section by means of fast-time simulation, in which the virtual ship is steered through the maneuvering area by a simulation control interface in an electronic sea chart ECDIS, Calculation of the planned lane and position of the vessel when the control signals change, starting from the selected starting position, by selecting the control signals for the following maneuver at the desired starting position, and displaying them on the display, - Storage of all states at each of the positions throughout the maneuver plan for re-planning / simulation in the previously planned maneuvering period and from each point in the active maneuver. Method for integrated, simulation-based maneuver planning according to claim 1 or 2, characterized in that are generated via a simulation control interface for maneuver parameters to be set by a simulation / prediction module maneuver variants for the maneuver, by representing the ship and the environment checked on a presentation display and varied by a scheduling data manager so that appropriate maneuver parameters are selected and stored for the optimized maneuvering plan. Method for integrated, simulation-based maneuver execution on ships and in ship simulators, characterized in that a simultaneous representation of the planned maneuvering track according to the results of the maneuver planning and the current position and position of the ship, and additionally by means of a multiple maneuver prediction by pre-simulation the predicted future maneuver tracks are compared both in accordance with the currently set values of all maneuver control devices as well as according to the maneuver parameters selected, planned follow-up maneuver from the maneuver plan to manually control the ship for visual information (multiple predictor). Method for integrated, simulation-based maneuver implementation according to claim 4, characterized in that when changing the environmental conditions, such as wind and electricity, compared to the original maneuvering the next maneuver segments of the maneuvering plan edited by simulation and adapted as a new guide to the current maneuver situation. Device for integrated, simulation-based maneuver planning on ships and in ship simulators, characterized in that the required data for ship state, maneuver parameters and ship / environmental information are provided by a planning data collector together with the data for ship simulation parameters from a Vessel database for simulation of the ship's track and location in a simulation / prediction module in conjunction with a planning data manager in maneuver planning mode, where the maneuvers are presented in a presentation and display module and / or tested for their suitability, to then finally be stored in a maneuver database as a maneuver plan for re-use in the maneuver execution. Device for integrated, simulation-based maneuvering on ships and in ship simulators, characterized in that the current ship, navigation, control and environmental data recorded by a data collector, by a data processor after preprocessing and filtering the parameters for the Simulation via a parameter identification module in a database for ship simulation parameters are provided and / or updated in a multiple predictor via a dynamic maneuver prediction / simulation module that simulates maneuver movements for the current control settings of the ship as well as simultaneously and in parallel in a dynamic Maneuver planning predictor for the nearest maneuver segments from the original maneuver plan with the planned maneuver Control parameters Predicting maneuver movements under current conditions and all together on a presentation display module to display the vessel in its environment under the current environmental conditions to determine the optimal maneuvers under the current conditions and apply them by manual or automated control by: they are brought into line with the maneuvering plan by visual control and manual control or by variation of an automated control device under the current conditions. Device according to claim 6 or 7, characterized in that in a maneuvering plan management and editing module during the maneuver execution in the dynamic maneuver planning predictor via a simulation control interface in the planning data collector originally planned maneuver parameters from the data bank with Modified in the maneuvering plan and varied in the Data Bank Manager in on-line editing / control mode so that appropriate maneuver parameters for an optimized maneuvering plan are selected under the current environmental conditions and stored again and / or applied immediately.

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