EP0273953A1 - Anticollision system for maritime navigation. - Google Patents

Anticollision system for maritime navigation.

Info

Publication number
EP0273953A1
EP0273953A1 EP87904393A EP87904393A EP0273953A1 EP 0273953 A1 EP0273953 A1 EP 0273953A1 EP 87904393 A EP87904393 A EP 87904393A EP 87904393 A EP87904393 A EP 87904393A EP 0273953 A1 EP0273953 A1 EP 0273953A1
Authority
EP
European Patent Office
Prior art keywords
ship
information
ships
vessel
vessels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP87904393A
Other languages
German (de)
French (fr)
Other versions
EP0273953B1 (en
Inventor
Albert Janex
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LMT Radio Professionnelle
Original Assignee
LMT Radio Professionnelle
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Filing date
Publication date
Application filed by LMT Radio Professionnelle filed Critical LMT Radio Professionnelle
Publication of EP0273953A1 publication Critical patent/EP0273953A1/en
Application granted granted Critical
Publication of EP0273953B1 publication Critical patent/EP0273953B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems

Definitions

  • the present invention relates to an anti-collision system for maritime navigation.
  • the subject of the present invention is a method allowing ships located in the same geographical area to inform each other, automatically, and constantly about their respective developments in order to avoid any collision and to facilitate their maneuvers when their density in this area geographic is strong.
  • the present invention also relates to a device for implementing the method, a device which is easy to use and which can provide the maximum amount of information as clearly as possible.
  • each ship repeatedly transmits coded information relating to its geographic position, its speed, at a minimum occupancy time, on a channel common to all the ships concerned. its course, upon identification, and receives homologous information from the surrounding ships which it displays by symbols on a panoramic screen.
  • the system according to the invention comprises, for each equipped vessel, a viewing device of the panoramic type connected to a radionavigation device itself connected via a modulator to a transmitter calibrated on a frequency common to the system; and a receiver, also tuned to this frequency, connected via a demodulator to the display device.
  • FIG. 2 is a plan view of an example screen of the device for displaying the equipment of FIG. 1.
  • Each ship participating in the collision avoidance system of the invention is equipped with a device such as the one schematically shown in FIG. 1, and will be referred to hereinafter as "fitted ship".
  • the device represented in FIG. 1 comprises a transmitter 1 transmitting messages discontinuously with a very low load rate (defined as the ratio of the duration of transmission to the duration of shutdown), of the order of 10 " to 10 " .
  • the power and the frequency of emission are chosen so as to limit the range of the transmitter 1 to a few tens of kilometers.
  • the limitation may be that due to the terrestrial curvature if a transmission frequency whose propagation takes place in direct view is chosen, for example a frequency in the UHF band (several hundred MHz) or beyond, without however exceed the X band so that the propagation remains practically insensitive to weather conditions.
  • the frequency F of the transmitter is the same for all the transmitters and receivers of the system.
  • the transmitter 1 is connected via a switch 2 to an antenna 3 produced so as to ensure a direct transmission in the horizontal plane.
  • the transmitter 1 is also connected to a modulator.
  • This modulator 4 develops a binary "word” grouping together all of the information to be transmitted and transposes it into a signal modulating the transmitter 1.
  • the form of modulation is of impulse type so as to allow the total absence of emission outside the time during which the message is transmitted.
  • each binary element can be coded according to any one of the known coding techniques, such as for example coding in position of pulse, or by phase jump.
  • the message sent includes the following information: - the coordinates of the ship, preferably in latitude and longitude, coded for example on twenty-two binary elements each. These coordinates are provided by the ship's radionavigation system. Ships are generally fitted with radio navigation devices which permanently and precisely give them their absolute geographic position. The precision required by the anticoliision process of the invention is of the order of a hundred meters. For example, the radio navigation system known as "NAVSTAR" meets these conditions.
  • the identity of the vessel to which approximately twenty binary elements can be advantageously assigned.
  • This data is supplied continuously by an appropriate circuit: pre-wired circuit, read-only memory, data entered by keyboard into a random access memory, etc.
  • This identity can be used to facilitate a radio link or to identify briefly the type of ship (tanker, ferry, cargo, ...) and in the latter case, some binary elements of the identity word can be reserved to identify the type of vessel.
  • the change of course coded by two binary elements: turn to port or starboard.
  • Such information can be provided automatically by any available known signal indicating direction of rotation, activated from the start of the maneuver.
  • the standard could also provide richer and more anticipated information than the only indication of the change of course, namely the value of the future course, but this would require its manual entry (by keyboard), and would present risks of forgetting on the part operator.
  • this information is preceded, according to a conventional technique for transmitting messages, by a preamble making it possible to initialize certain circuits of the receiver. Also advantageously, this information is supplemented by binary elements forming a symbol at the end of the message, and, if it is considered that the permanent repetition of the messages is not sufficient to eliminate all the errors, one can add error correction bits (parity bits, for example).
  • the ship is equipped with a NAVSTAR type radio navigation receiver, such a receiver provides most of the information cited above with a precision much higher than that necessary for the system of the invention.
  • the binary elements of lower weight, superfluous in order to keep only those estimated significant and having the necessary and sufficient precision for the implementation of the method of the invention, as specified. above.
  • the length of the message sent is approximately one hundred binary elements. If the bandwidth allocated to the system is of the order of a few megahertz, the message is transmitted in a few tens of microseconds.
  • each equipped vessel transmits such a message with a frequency of approximately one second, the traffic load induced by a
  • - -5 vessel on the system is between 10 and 10. If for example a hundred ships are present simultaneously in the same geographical area (such as a port), the traffic load of the system is only 10 - " 2 to» 10 - " 3, which guarantees good probability of mutual interference of messages. It is still necessary note that a relatively unfavorable case has been chosen here, since the orders of magnitude of the ship avoidance maneuver times are very much greater than the second, and that the period of repetition of the messages could be greatly increased, and thus decrease their likelihood of mutual interference.
  • the instant of transmission of each message is made random, since mutual scrambling remains possible due to the non-synchronization of the transmissions of the various ships.
  • this value will only be an average statistical value, the true period being affected by a wide dispersion.
  • any scrambled message received from a given vessel will not be received in a lasting manner.
  • the strong redundancy of the messages sent (for a periodicity of approximately one second, the same message is repeated several times before a significant change of course and / or speed and / or geographical position) makes it possible to neglect the message received blurred.
  • the inverter 2 connects, apart from the short transmission time of the transmitter 1, the antenna 3 to a receiver 5 tuned to the common frequency of the system.
  • the receiver 5 is connected to a data demodulator 6 extracting the information from the received signal, by performing the reverse operations to those carried out in the modulator.
  • the demodulator 6 is connected via a screen management member 7 to a display screen 8.
  • the elements 7 and 8 can for example be a microcomputer and its display monitor.
  • screen 8 is to present to an operator the entire environment of his vessel by using information received from the surrounding equipped vessels, as well as information received from his own equipment.
  • Figure 2 a non-limiting example of information that can be viewed on the screen 8.
  • the display of this information can be in a form similar to that of the screen of a pano ⁇ ramic radar.
  • the screen 8 displays in the form of large light points the various vessels (10, 11, 12 for example), its own vessel (referenced 13) being of color and / or of shape and / or different brightness than other ships.
  • different shapes and / or colors of points can correspond to different types of ships.
  • Each point representing a ship is extended by a straight line representing the speed vector of the corresponding ship.
  • the length of this vector is proportional to the speed of the ship, and its orientation corresponds to the heading of this ship.
  • the general presentation of the screen 8 can be made by locating the north towards the top of the screen, but it is also possible, in an advantageous way, to match the top of the screen with the bow of the ship, the main line of this vessel then being fixed.
  • the speed vector of each ship can correspond to an absolute speed, or alternatively, to a speed relative to that of the ship 13 (whose own speed vector is then zero), the different relative speed vectors other ships then being determined by vector composition of their own speed and that of the ship 13.
  • the point representing the ship 13 may as well be located in the center of the screen as be off-center in a direction opposite to its speed vector for favor the "front view".
  • each equipped vessel includes a radar enabling it to detect surrounding vessels which are not equipped or whose equipment is broken down, as well as fixed obstacles (rocks, coasts, etc.).
  • FIG. 2 shows two echoes 1, 15 representing unequipped ships as well as the profile 16 of a rib.
  • the echoes 1, 15 are preferably displayed in a form and / or a color different from those of points 10 to 13 so as to immediately point out to the operator that they correspond to ships which are not equipped or whose equipment is broken down, and the absence of a corresponding speed vector does not mean zero speed for these vessels.
  • fixed data stored in a mass memory can also be supplied to the management unit 7. It is thus possible to represent on the screen cartographic data such as coast, buoys, lighthouse, etc.
  • ship equipment further comprises a radio call recognition circuit 9 connected on the one hand to the output of the demodulator 6, on the other hand to a data entry keyboard (not shown) on which the operator dials the call sign of the vessel with which he wants to come into contact, this call sign also being sent to the modulator and incorporated into the message periodically sent by the transmitter 1.
  • Circuit 9 can be a simple comparator comparing, in the called vessel, the callsign received from the calling vessel with its own callsign, and triggering in the event of a tie, an audible and / or visual alarm.
  • the message received by the called vessel contains the identifier of the calling vessel, this identifier being able to be displayed by the screen 8 of the called vessel.
  • This display can be done for example in clear (alpha-numeric code) in a corner of this screen.
  • a symbol may appear near the point (such as one of the points 10 to 12) appearing the calling vessel, or else this point itself may be modified: the symbol may for example be a circle surrounding the point representing the calling vessel, and / or this point may flash or be highlighted.
  • the screen management member 7 is associated with a device of the "mouse" type commonly used with microcomputers, this device producing on the screen 8 a mobile marker 17 having by example the shape of a cross.
  • this marker When this marker is superimposed with the symbol representing a ship that the operator wants to call by radio, this operator operates the trigger button or "click" of the "mouse".
  • This order is processed by the member 7 which produces a corresponding call sign (symbolized by the broken line 18) and sends it to the modulator k.
  • the member 7 stores the codes received from all the neighboring vessels (displayed on screen 8), establishes a relationship between the point on which the marker 17 stopped and the corresponding code, and send this code.

Landscapes

  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

Le système comporte, pour chaque navire équipé, un émetteur (1) émettant de façon répétitive les coordonnées géographiques, la vitesse et le cap de son propre navire, et un récepteur (5) transmettant à un dispositif de visualisation (7, 8) les informations homologues reçues des autres navires. Ces informations reçues sont affichées, la plupart sous forme de symboles, sur l'écran panoramique (8) du dispositif de visualisation.The system comprises, for each equipped vessel, a transmitter (1) repetitively transmitting the geographical coordinates, the speed and the course of its own vessel, and a receiver (5) transmitting to a display device (7, 8) the counterpart information received from other vessels. This received information is displayed, most in the form of symbols, on the panoramic screen (8) of the display device.

Description

SYSTEME ANTICOLLISION POUR LA NAVIGATION MARITIME ANTI-COLLISION SYSTEM FOR MARITIME NAVIGATION
La présente invention a pour objet un système anticollision pour la navigation maritime.The present invention relates to an anti-collision system for maritime navigation.
Actuellement, la seule aide anticollision disponible en navi¬ gation maritime est le radar primaire. Chaque navire qui en est équipé dispose d'informations sur son environnement immédiat : position relative du navire en question par rapport aux autres navires et par rapport à tout obstacle de taille suffisante pour être détecté par le radar : bouées, côtes, etc. Un tel radar ne fournit cependant pas ou très peu d'informations sur la nature des objets détectés (type de navire par exemple), leur vitesse, leurs intentions éventuelles de manoeuvre. Toute concertation de manoeuvre de navires se trouvant dans une même zone ne peut être menée qu'en radiophonie, sur des canaux actuellement très chargés. Les appels ne peuvent être adressés du fait de l'ignorance de l'identité du navire interpellé, et sont donc peu efficaces.Currently, the only collision avoidance aid available in maritime navigation is primary radar. Each vessel fitted with it has information on its immediate environment: relative position of the vessel in question in relation to other vessels and in relation to any obstacle of sufficient size to be detected by radar: buoys, coasts, etc. However, such a radar does not provide very little information on the nature of the objects detected (type of ship for example), their speed, their possible intentions to maneuver. Any concertation of maneuvering of vessels located in the same area can only be carried out by radio, on currently very busy channels. Appeals cannot be made due to ignorance of the identity of the vessel arrested, and are therefore ineffective.
La présente invention a pour objet un procédé permettant à des navires se trouvant dans une même zone géographique de s'informer mutuellement, automatiquement, et constamment sur leurs évolutions respectives afin d'éviter toute collision et de faciliter leurs manoeuvres lorsque leur densité dans cette zone géographique est forte.The subject of the present invention is a method allowing ships located in the same geographical area to inform each other, automatically, and constantly about their respective developments in order to avoid any collision and to facilitate their maneuvers when their density in this area geographic is strong.
La présente invention a également pour objet un dispositif de mise en oeuvre du procédé, dispositif qui soit d'emploi facile et qui puisse fournir le maximum d'informations de la façon la plus claire possible.The present invention also relates to a device for implementing the method, a device which is easy to use and which can provide the maximum amount of information as clearly as possible.
Selon le procédé de la présente invention, chaque navire émet de façon répétitive avec un temps d'occupation le plus faible possible, sur un canal commun à l'ensemble des navires concernés des informations codées relatives à sa position géographique, à sa vitesse, à son cap, à son identification, et reçoit les informations homologues des navires environnants qu'il affiche par symboles sur un écran de type panoramique. Le système conforme à l'invention comporte, pour chaque navire équipé, un dispositif de visualisation de type panoramique relié à un dispositif de radionavigation lui-même relié via un modulateur à un émetteur calé sur une fréquence commune au système ; et un récepteur, également calé sur cette fréquence, relié via un démodulateur au dispositif de visualisation.According to the method of the present invention, each ship repeatedly transmits coded information relating to its geographic position, its speed, at a minimum occupancy time, on a channel common to all the ships concerned. its course, upon identification, and receives homologous information from the surrounding ships which it displays by symbols on a panoramic screen. The system according to the invention comprises, for each equipped vessel, a viewing device of the panoramic type connected to a radionavigation device itself connected via a modulator to a transmitter calibrated on a frequency common to the system; and a receiver, also tuned to this frequency, connected via a demodulator to the display device.
La présente invention sera mieux comprise à la lecture de la description détaillée d'un mode de réalisation, pris comme exemple non limitatif, et illustrée par le dessin annexé, sur lequel : - la figure 1 est un bloc diagramme d'un dispositif équipant un navire et faisant partie du système conforme à l'invention, et,The present invention will be better understood on reading the detailed description of an embodiment, taken as a nonlimiting example, and illustrated by the appended drawing, in which: - Figure 1 is a block diagram of a device fitted to a vessel and forming part of the system according to the invention, and,
- la figure 2 est une vue en plan d'un exemple d'écran du dispositif de visualisation de l'équipement de la figure 1.FIG. 2 is a plan view of an example screen of the device for displaying the equipment of FIG. 1.
Chaque navire participant au système anticollision de l'inven- tion est équipé d'un dispositif tel que celui schematiquement repré¬ senté sur la figure 1, et sera dénommé par la suite "navire équipé".Each ship participating in the collision avoidance system of the invention is equipped with a device such as the one schematically shown in FIG. 1, and will be referred to hereinafter as "fitted ship".
Le dispositif représenté sur la figure 1 comporte un émetteur 1 émettant des messages de façon discontinue avec un taux de charge (défini comme le rapport de la durée d'émission à la durée d'arrêt) moyen très faible, de l'ordre de 10" à 10" . La puissance et la fréquence d'émission sont choisies de façon à limiter la portée de l'émetteur 1 à quelques dizaines de kilomètres. La limitation peut être celle due à la courbure terrestre si l'on choisit une fréquence d'émission dont la propagation se fait en vue directe, par exemple une fréquence de la bande UHF (plusieurs centaines de MHz) ou au- delà, sans toutefois dépasser la bande X afin que la propagation reste pratiquement insensible aux conditions météorologiques. La fréquence F de l'émetteur est la même pour tous les émetteurs et récepteurs du système. L'émetteur 1 est relié via un commutateur 2 à une antenne 3 réalisée de façon à assurer une émission σmnidirectïonnelle dans le plan horizontal.The device represented in FIG. 1 comprises a transmitter 1 transmitting messages discontinuously with a very low load rate (defined as the ratio of the duration of transmission to the duration of shutdown), of the order of 10 " to 10 " . The power and the frequency of emission are chosen so as to limit the range of the transmitter 1 to a few tens of kilometers. The limitation may be that due to the terrestrial curvature if a transmission frequency whose propagation takes place in direct view is chosen, for example a frequency in the UHF band (several hundred MHz) or beyond, without however exceed the X band so that the propagation remains practically insensitive to weather conditions. The frequency F of the transmitter is the same for all the transmitters and receivers of the system. The transmitter 1 is connected via a switch 2 to an antenna 3 produced so as to ensure a direct transmission in the horizontal plane.
L'émetteur 1 est d'autre part relié à un modulateur . Ce modulateur 4 élabore un "mot" binaire regroupant l'ensemble des informations à émettre et le transpose en un signal modulant l'émetteur 1. La forme de modulation est de genre impulsionnel de façon à permettre l'absence totale d'émission en dehors du temps pendant lequel le message est transmis. Cependant, le type même de modulation de l'information n'est pas imposé par le procédé de l'invention : chaque élément binaire peut être codé selon l'une quelconque des techniques connues de codage, comme par exemple le codage en position d'impulsion, ou par saut de phase.The transmitter 1 is also connected to a modulator. This modulator 4 develops a binary "word" grouping together all of the information to be transmitted and transposes it into a signal modulating the transmitter 1. The form of modulation is of impulse type so as to allow the total absence of emission outside the time during which the message is transmitted. However, the very type of modulation of information is not imposed by the method of the invention: each binary element can be coded according to any one of the known coding techniques, such as for example coding in position of pulse, or by phase jump.
Le message émis comporte les informations suivantes : - les coordonnées du navire, de préférence en latitude et longitude, codées par exemple sur vingt-deux éléments binaires chacune. Ces coordonnées sont fournies par le système de radionavigation du navire. Les navires sont généralement équipés d'appareils de radio- navigation leur donnant, en permanence, leur position géographique absolue de façon précise et fiable. La précision requise par le procédé anticoliision de l'invention est de l'ordre de la centaine de mètres. Par exemple, le système de radionavigation connu sous l'appellation "NAVSTAR" satisfait à ces conditions.The message sent includes the following information: - the coordinates of the ship, preferably in latitude and longitude, coded for example on twenty-two binary elements each. These coordinates are provided by the ship's radionavigation system. Ships are generally fitted with radio navigation devices which permanently and precisely give them their absolute geographic position. The precision required by the anticoliision process of the invention is of the order of a hundred meters. For example, the radio navigation system known as "NAVSTAR" meets these conditions.
- l'identité du navire, à laquelle on peut affecter avantageusement vingt éléments binaires environ. Cette donnée est fournie en perma¬ nence par un circuit approprié : circuit pré-câblé, mémoire morte, données introduites par clavier dans une mémoire vive, etc. Cette identité peut être utilisée pour faciliter une liaison radiophonique ou pour identifier de façon sommaire le type du navire (pétrolier, ferry, cargo, ...) et dans ce dernier cas, quelques éléments binaires du mot d'identité peuvent être réservés pour identifier le type du navire.- the identity of the vessel, to which approximately twenty binary elements can be advantageously assigned. This data is supplied continuously by an appropriate circuit: pre-wired circuit, read-only memory, data entered by keyboard into a random access memory, etc. This identity can be used to facilitate a radio link or to identify briefly the type of ship (tanker, ferry, cargo, ...) and in the latter case, some binary elements of the identity word can be reserved to identify the type of vessel.
- la vitesse et le cap du navire, ces informations étant généralement disponibles sur tout navire, tout au moins sous forme analogique, qu'il suffit de convertir sous forme numérique. Ces informations pouvent être codées avec une précision suffisante par six et huit éléments binaires respectivement.- the speed and course of the ship, this information being generally available on any ship, at least in analog form, which it suffices to convert into digital form. This information could be coded with sufficient precision by six and eight bits, respectively.
- éventuellement (si la norme le prévoit), le changement de cap, codé par deux éléments binaires : virage à bâbord ou à tribord. Une telle information peut être fournie automatiquement par tout dispo- sitif connu d'indication de sens de rotation, activé dès le début de la manoeuvre. La norme pourrait également prévoir une information plus riche et plus anticipée que la seule indication du changement de cap, à savoir la valeur du cap futur, mais cela nécessiterait son introduction manuelle (par clavier), et présenterait des risques d'oubli de la part de l'opérateur.- possibly (if the standard so provides), the change of course, coded by two binary elements: turn to port or starboard. Such information can be provided automatically by any available known signal indicating direction of rotation, activated from the start of the maneuver. The standard could also provide richer and more anticipated information than the only indication of the change of course, namely the value of the future course, but this would require its manual entry (by keyboard), and would present risks of forgetting on the part operator.
De façon avantageuse, ces informations sont précédées, selon une technique classique en transmission de messages, d'un préambule permettant d'initialiser certains circuits du récepteur. Egalement de façon avantageuse, ces informations sont complétées par des élé¬ ments binaires formant un symbole de fin de message, et, si on estime que la répétition permanente des messages n'est pas suffi¬ sante pour éliminer toutes les erreurs, on peut ajouter des éléments binaires de correction d'erreurs (éléments binaires de parité par exemple).Advantageously, this information is preceded, according to a conventional technique for transmitting messages, by a preamble making it possible to initialize certain circuits of the receiver. Also advantageously, this information is supplemented by binary elements forming a symbol at the end of the message, and, if it is considered that the permanent repetition of the messages is not sufficient to eliminate all the errors, one can add error correction bits (parity bits, for example).
Comme précisé ci-dessus, si le navire est équipé d'un récep¬ teur de radionavigation du type NAVSTAR, un tel récepteur fournit la plupart des informations citées ci-dessus avec une précision très supérieure à celle nécessaire au système de l'invention. Dans ce cas, on peut négliger, pour chaque information, les éléments binaires de plus faibles poids, superflus, pour ne conserver que ceux estimés significatifs et présentant la précision nécessaire et suffisante pour la mise en oeuvre du procédé de l'invention, comme précisé ci- dessus. Ainsi, la longueur du message émis est d'environ une centaine d'éléments binaires. Si la bande passante affectée au système est de l'ordre de quelques mégahertz, le message est transmis en quelques dizaines de microsecondes.As specified above, if the ship is equipped with a NAVSTAR type radio navigation receiver, such a receiver provides most of the information cited above with a precision much higher than that necessary for the system of the invention. In this case, it is possible to neglect, for each item of information, the binary elements of lower weight, superfluous, in order to keep only those estimated significant and having the necessary and sufficient precision for the implementation of the method of the invention, as specified. above. Thus, the length of the message sent is approximately one hundred binary elements. If the bandwidth allocated to the system is of the order of a few megahertz, the message is transmitted in a few tens of microseconds.
Si chaque navire équipé émet un tel message avec une périodicité d'environ une seconde, la charge de trafic induite par unIf each equipped vessel transmits such a message with a frequency of approximately one second, the traffic load induced by a
- -5 navire sur le système est comprise entre 10 et 10 . Si par exemple une centaine de navires sont présents simultanément dans une même zone géographique (telle qu'un port), la charge en trafic du système n'est que de 10 -"2 a » 10 -"3 , ce qui garantit une bonne probabilité de non brouillage mutuel des messages. Encore faut-il remarquer que l'on a choisi là un cas relativement défavorable, puisque les ordres de grandeur des temps de manoeuvre d'évitement des navires sont très nettement supérieurs à la seconde, et que l'on pourrait augmenter fortement la période de répétition des messages, et diminuer ainsi leur probabilité de brouillage mutuel.- -5 vessel on the system is between 10 and 10. If for example a hundred ships are present simultaneously in the same geographical area (such as a port), the traffic load of the system is only 10 - " 2 to» 10 - " 3, which guarantees good probability of mutual interference of messages. It is still necessary note that a relatively unfavorable case has been chosen here, since the orders of magnitude of the ship avoidance maneuver times are very much greater than the second, and that the period of repetition of the messages could be greatly increased, and thus decrease their likelihood of mutual interference.
Selon une caractéristique avantageuse de l'invention, on rend aléatoire l'instant d'émission de chaque message, puisque le brouil¬ lage mutuel reste possible du fait de la non-synchronisation des émissions des différents navires. Ainsi, pour l'exemple cité ci-dessus d'une période de répétition d'une seconde, cette valeur ne sera qu'une valeur statistique moyenne, la période vraie étant affectée d'une large dispersion. Il en résulte que tout message brouillé reçu d'un navire donné ne le sera pas de façon durable. En outre, la forte redondance des messages envoyés (pour une périodicité d'environ une seconde, un même message est répété plusieurs fois avant un changement significatif de cap et/ou de vitesse et/ou de position géographique) permet de négliger le message reçu brouillé.According to an advantageous characteristic of the invention, the instant of transmission of each message is made random, since mutual scrambling remains possible due to the non-synchronization of the transmissions of the various ships. Thus, for the example cited above of a repetition period of one second, this value will only be an average statistical value, the true period being affected by a wide dispersion. As a result, any scrambled message received from a given vessel will not be received in a lasting manner. In addition, the strong redundancy of the messages sent (for a periodicity of approximately one second, the same message is repeated several times before a significant change of course and / or speed and / or geographical position) makes it possible to neglect the message received blurred.
L'inverseur 2 relie, en-dehors des courts laps de temps d'émis¬ sion de l'émetteur 1, l'antenne 3 à un récepteur 5 calé sur la fréquence commune du système. Le récepteur 5 est relié à un démodulateur de données 6 extrayant les informations du signal reçu, en réalisant les opérations inverses de celles effectuées dans le modulateur .The inverter 2 connects, apart from the short transmission time of the transmitter 1, the antenna 3 to a receiver 5 tuned to the common frequency of the system. The receiver 5 is connected to a data demodulator 6 extracting the information from the received signal, by performing the reverse operations to those carried out in the modulator.
Le démodulateur 6 est relié via un organe 7 de gestion d'écran à un écran de visualisation 8. Les éléments 7 et 8 peuvent par exemple être un micro-ordinateur et son moniteur de visualisation.The demodulator 6 is connected via a screen management member 7 to a display screen 8. The elements 7 and 8 can for example be a microcomputer and its display monitor.
L'écran 8 a pour but de présenter à un opérateur l'ensemble de l'environnement de son navire par exploitation des informations reçues depuis les navires équipés environnants, ainsi que des infor- mations reçues de ses propres équipements. On a représenté sur la figure 2 un exemple non limitatif d'informations pouvant être visualisées sur l'écran 8. L'affichage de ces informations peut se faire sous une forme analogue à celle de l'écran d'un radar pano¬ ramique. Suivant l'exemple de la figure 2, l'écran 8 affiche sous forme de gros points lumineux les différents navires (10, 11, 12 par exemple), son propre navire (référencé 13) étant de couleur et/ou de forme et/ou de luminosité différentes de celles des autres navires. Par ailleurs, différentes formes et/ou couleurs de points peuvent correspondre à différents types de navires. Chaque point repré¬ sentant un navire est prolongé par un segment de droite repré¬ sentant le vecteur vitesse du navire correspondant. La longueur de ce vecteur est proportionnelle à la vitesse du navire, et son orientation correspond au cap de ce navire. De façon avantageuse, on peut également représenter par un symbole particulier, par exemple par un point ou un trait de couleur différente, l'infor¬ mation de changement de cap près du vecteur vitesse, à sa gauche ou à sa droite selon le sens du changement. La présentation générale de l'écran 8 peut être faite en situant le nord vers le haut de l'écran, mais on peut également, de açon avantageuse, faire correspondre le haut de l'écran avec la proue du navire, la ligne de foi de ce navire étant alors fixe. Le vecteur vitesse de chaque navire peut corres¬ pondre à une vitesse absolue, ou bien, selon une variante, à une vitesse relative par rapport à celle du navire 13 (dont le propre vecteur vitesse est alors nul), les différents vecteurs de vitesse relative des autres navires étant alors déterminés par composition vectorielle de leur vitesse propre et de celle du navire 13. Le point représentant le navire 13 peut aussi bien être situé au centre de l'écran qu'être décentré dans une direction opposée à son vecteur vitesse pour favoriser la "vue sur l'avant".The purpose of screen 8 is to present to an operator the entire environment of his vessel by using information received from the surrounding equipped vessels, as well as information received from his own equipment. There is shown in Figure 2 a non-limiting example of information that can be viewed on the screen 8. The display of this information can be in a form similar to that of the screen of a pano¬ ramic radar. According to the example of FIG. 2, the screen 8 displays in the form of large light points the various vessels (10, 11, 12 for example), its own vessel (referenced 13) being of color and / or of shape and / or different brightness than other ships. In addition, different shapes and / or colors of points can correspond to different types of ships. Each point representing a ship is extended by a straight line representing the speed vector of the corresponding ship. The length of this vector is proportional to the speed of the ship, and its orientation corresponds to the heading of this ship. Advantageously, it is also possible to represent by a particular symbol, for example by a point or a line of different color, the information of change of course near the speed vector, to its left or to its right depending on the direction of the change. The general presentation of the screen 8 can be made by locating the north towards the top of the screen, but it is also possible, in an advantageous way, to match the top of the screen with the bow of the ship, the main line of this vessel then being fixed. The speed vector of each ship can correspond to an absolute speed, or alternatively, to a speed relative to that of the ship 13 (whose own speed vector is then zero), the different relative speed vectors other ships then being determined by vector composition of their own speed and that of the ship 13. The point representing the ship 13 may as well be located in the center of the screen as be off-center in a direction opposite to its speed vector for favor the "front view".
De façon avantageuse, on affiche près du point représentant chaque autre navire (10, 11, 12 sur la figure 2) son identité (10A, 11 A, 12A respectivement). Egalement de façon avantageuse, chaque navire équipé comporte un radar lui permettant de détecter les navires environ¬ nants non équipés ou dont l'équipement est en panne, ainsi que les obstacles fixes (rochers, côtes, etc.). On a représenté sur la figure 2 deux échos 1 , 15 représentant des navires non équipés ainsi que le profil 16 d'une côte. Les échos 1 , 15 sont, de préférence, visualisés sous une forme et/ou une couleur différentes de celles des points 10 à 13 de façon à faire remarquer immédiatement à l'opérateur qu'ils correspondent à des navires non équipés ou dont l'équipement est en panne, et que l'absence de vecteur vitesse correspondant ne signifie pas une vitesse nulle de ces navires.Advantageously, the identity representing each other ship (10, 11, 12 in FIG. 2) is displayed near the point (10A, 11A, 12A respectively). Also advantageously, each equipped vessel includes a radar enabling it to detect surrounding vessels which are not equipped or whose equipment is broken down, as well as fixed obstacles (rocks, coasts, etc.). FIG. 2 shows two echoes 1, 15 representing unequipped ships as well as the profile 16 of a rib. The echoes 1, 15 are preferably displayed in a form and / or a color different from those of points 10 to 13 so as to immediately point out to the operator that they correspond to ships which are not equipped or whose equipment is broken down, and the absence of a corresponding speed vector does not mean zero speed for these vessels.
Toutes les transformées de coordonnées, de vecteurs et, le cas échéant, d'informations provenant du radar de bord, sont faites, de façon connue en soi, par l'organe de gestion 7, dont la réalisation est évidente pour l'homme de l'art à la lecture de la présente description.All transforms of coordinates, vectors and, where appropriate, information coming from the on-board radar, are made, in a manner known per se, by the management body 7, the realization of which is obvious to the person skilled in the art. the art on reading this description.
En outre, des données fixes stockées dans une mémoire de masse peuvent également être fournies à l'organe de gestion 7. On peut ainsi représenter sur l'écran des données cartographiques telles que côte, bouées, phare, etc.In addition, fixed data stored in a mass memory can also be supplied to the management unit 7. It is thus possible to represent on the screen cartographic data such as coast, buoys, lighthouse, etc.
Selon une variante avantageuse de l'invention, un équipement de navire comporte en outre un circuit 9 de reconnaissance d'appel radio relié d'une part à la sortie du démodulateur 6, d'autre part à un clavier d'introduction de données (non représenté) sur lequel l'opé- rateur compose l'indicatif d'appel du navire avec lequel il veut entrer en contact, cet indicatif étant également envoyé au modu¬ lateur et incorporé au message périodiquement émis par l'émet¬ teur 1. Le circuit 9 peut être un simple comparateur comparant, dans le navire appelé, l indicatif reçu du navire appelant à son propre indicatif, et déclenchant en cas d'égalité, une alarme sonore et/ou visuelle. Bien entendu, le message reçu par le navire appelé contient l'indicatif du navire appelant, cet indicatif pouvant être affiché par l'écran 8 du navire appelé. Cet affichage peut se faire par exemple en clair (indicatif alpha-numérique) dans un coin de cet écran. Selon une variante avantageuse, au lieu de cet affichage ou en plus de cet affichage, un symbole peut apparaître à proximité du point (tel que l'un des points 10 à 12) figurant le navire appelant, ou bien ce point lui-même peut être modifié : le symbole peut être par exemple un cercle entourant le point figurant le navire appelant, et/ou ce point peut clignoter ou apparaître en surbrillance.According to an advantageous variant of the invention, ship equipment further comprises a radio call recognition circuit 9 connected on the one hand to the output of the demodulator 6, on the other hand to a data entry keyboard ( not shown) on which the operator dials the call sign of the vessel with which he wants to come into contact, this call sign also being sent to the modulator and incorporated into the message periodically sent by the transmitter 1. Circuit 9 can be a simple comparator comparing, in the called vessel, the callsign received from the calling vessel with its own callsign, and triggering in the event of a tie, an audible and / or visual alarm. Of course, the message received by the called vessel contains the identifier of the calling vessel, this identifier being able to be displayed by the screen 8 of the called vessel. This display can be done for example in clear (alpha-numeric code) in a corner of this screen. According to an advantageous variant, instead of this display or in addition to this display, a symbol may appear near the point (such as one of the points 10 to 12) appearing the calling vessel, or else this point itself may be modified: the symbol may for example be a circle surrounding the point representing the calling vessel, and / or this point may flash or be highlighted.
Selon une autre variante de l'invention, on associe l'organe 7 de gestion d'écran à un dispositif du genre "souris" communément utilisé avec les micro-ordinateurs, ce dispositif produisant sur l'écran 8 un marqueur mobile 17 ayant par exemple la forme d'une croix. Lorsque ce marqueur est superposé avec le symbole représen¬ tatif d'un navire que l'opérateur veut appeler par radio, cet opéra¬ teur manoeuvre le bouton de déclenchement ou "click") de la "souris". Cet ordre est traité par l'organe 7 qui produit un indicatif d'appel correspondant (symbolisé par le trait interrompu 18) et l'envoie au modulateur k. Pour produire cet indicatif, l'organe 7 mémorise les indicatifs reçus de tous les navires avoisinants (affi¬ chés sur l'écran 8), établit une relation entre le point sur lequel s'est arrêté le marqueur 17 et l'indicatif correspondant, et envoie cet indicatif. Ces fonctions assurées par l'organe 7 étant évidentes à réaliser pour l'homme de l'art, ne seront pas décrites plus en détail. Bien entendu, dans le navire appelé, ladite "souris" peut servir à acquitter l'appel, et éventuellement à déclencher une liaison radio. L'usage de la "souris" évite dans les deux navires (appelant et appelé) d'éventuelles erreurs dues à une mauvaise introduction d'indicatif par clavier. According to another variant of the invention, the screen management member 7 is associated with a device of the "mouse" type commonly used with microcomputers, this device producing on the screen 8 a mobile marker 17 having by example the shape of a cross. When this marker is superimposed with the symbol representing a ship that the operator wants to call by radio, this operator operates the trigger button or "click" of the "mouse". This order is processed by the member 7 which produces a corresponding call sign (symbolized by the broken line 18) and sends it to the modulator k. To produce this code, the member 7 stores the codes received from all the neighboring vessels (displayed on screen 8), establishes a relationship between the point on which the marker 17 stopped and the corresponding code, and send this code. These functions provided by the member 7 being obvious to perform for those skilled in the art, will not be described in more detail. Of course, in the called vessel, said "mouse" can be used to acknowledge the call, and possibly to initiate a radio link. The use of the "mouse" avoids in both vessels (calling and called) possible errors due to a wrong introduction of callsign by keyboard.

Claims

R E V E D I C T I O N SR E V E D I C T I O N S
1. Procédé anticoiiision pour la navigation maritime, caracté¬ risé par le fait que chaque navire le mettant en oeuvre émet de façon répétitive, avec un taux d'occupation le plus faible possible, sur un canal commun à l'ensemble des navires concernés, des informations relatives à sa position géographique, à son cap et à sa vitesse, et reçoit des informations homologues des navires environ¬ nants, qu'il affiche par symboles sur un écran de type panoramique.1. anticoiiision method for maritime navigation, characterized by the fact that each vessel implementing it transmits repeatedly, with the lowest possible occupancy rate, on a channel common to all of the vessels concerned, information relating to its geographical position, its course and its speed, and receives information homologous from the surrounding ships, which it displays by symbols on a panoramic screen.
2. Procédé selon la revendication 1, caractérisé par le fait que chaque navire émet les informations relatives à son identité, et reçoit des informations homologues des navires environnants, qu'il affiche à proximité des symboles correspondants.2. Method according to claim 1, characterized in that each vessel transmits information relating to its identity, and receives homologous information from surrounding vessels, which it displays near the corresponding symbols.
3. Procédé selon l'une quelconque des revendications 1 ou 2, caractérisé par le fait que chaque navire émet des informations relatives à son changement de cap, et reçoit des informations homologues des navires environnants, qu'il affiche à proximité des symboles correspondants de ces navires environnants. . Procédé selon l'une quelconque des revendications précé¬ dentes, dont au moins certains navires le mettant en oeuvre comportent un radar de bord, caractérisé par le fait que ces radars produisent l'affichage sur ledit écran de tous les obstacles environ¬ nants autres que les navires mettant en oeuvre le procédé, les navires faisant partie des ces autres obstacles étant représentés par des symboles différents de ceux représentant les navires mettant en oeuvre le procédé. 5. Procédé selon l'une quelconque des revendications précé¬ dentes, caractérisé par le fait que les informations émises par chaque navire, numérisées le cas échéant, sont groupées en un "mot" binaire.3. Method according to any one of claims 1 or 2, characterized in that each ship transmits information relating to its change of course, and receives homologous information from the surrounding ships, which it displays near the corresponding symbols of these surrounding ships. . Method according to any one of the preceding claims, in which at least certain ships implementing it include an on-board radar, characterized in that these radars produce the display on said screen of all the surrounding obstacles other than the vessels implementing the method, the vessels forming part of these other obstacles being represented by symbols different from those representing the vessels implementing the method. 5. Method according to any one of the preceding claims, characterized in that the information transmitted by each vessel, digitized if necessary, are grouped in a binary "word".
6. Procédé selon la revendication 5, caractérisé par le fait que pour chaque navire la période de répétition du mot binaire varie aléatoirement.6. Method according to claim 5, characterized in that for each ship the repetition period of the binary word varies randomly.
7. Procédé selon l'une quelconque des revendications précé- dentés, caractérisé par le fait que les navires affichent les vitesses des navires environnants sous forme d'un vecteur vitesse relative par rapport à leur propre vecteur vitesse.7. Method according to any one of the preceding claims. toothed, characterized in that the ships display the speeds of the surrounding ships in the form of a relative speed vector with respect to their own speed vector.
8. Procédé selon l'une quelconque des revendications 2 à 7, caractérisé par le fait que l'opérateur d'un navire désirant entrer en contact radio avec celui d'un autre navire incorpore l'indicatif de cet autre navire aux informations qu'il émet de façon répétitive, et que les navires susceptibles d'être appelés détectent dans les infor¬ mations reçues les indicatifs d'appel émis, les comparent à leur propre indicatif, et en cas d'égalité émettent une alarme.8. Method according to any one of claims 2 to 7, characterized in that the operator of a ship wishing to enter into radio contact with that of another ship incorporates the code of this other ship into the information that it transmits repeatedly, and the ships likely to be called detect in the information received the call signs issued, compare them with their own call sign, and in the event of a tie issue an alarm.
9. Système anticollision pour la navigation maritime, caracté¬ risé par le fait qu'il comporte, pour chaque navire équipé, un dispositif de visualisation de type panoramique (8) relié à un dispositif de radionavigation, lui-même relié, via un modulateur (4), à un émetteur (1) calé sur une fréquence commune au système, et un récepteur (5) également calé sur cette fréquence et relié, via un démodulateur (6) au dispositif de visualisation.9. Anti-collision system for maritime navigation, characterized by the fact that it comprises, for each equipped vessel, a viewing device of panoramic type (8) connected to a radio navigation device, itself connected, via a modulator (4), to a transmitter (1) calibrated on a frequency common to the system, and a receiver (5) also calibrated on this frequency and connected, via a demodulator (6) to the display device.
10. Dispositif selon la revendication 9, caractérisé par le fait qu'il comporte un comparateur (9) recevant l'identité de son propre navire et relié au démodulateur.10. Device according to claim 9, characterized in that it comprises a comparator (9) receiving the identity of its own ship and connected to the demodulator.
11. Dispositif selon l'une des revendications 9 ou 10, caracté¬ risé par le fait que l'organe (7) de gestion du dispositif de visuali¬ sation coopère avec un dispositif du type "souris" produisant un marqueur mobile (17) sur l'écran du dispositif de visualisation. 12. Dispositif selon la revendication 11, caractérisé par le fait que l'organe de gestion (7) est également relié au modulateur et produit un indicatif d'appel correspondant au navire avec le symbole duquel le marqueur est amené en coïncidence. 11. Device according to one of claims 9 or 10, characterized by the fact that the member (7) for managing the display device cooperates with a device of the "mouse" type producing a mobile marker (17) on the display of the display device. 12. Device according to claim 11, characterized in that the management member (7) is also connected to the modulator and produces a call sign corresponding to the ship with the symbol from which the marker is brought into coincidence.
EP87904393A 1986-07-04 1987-07-06 Anticollision system for maritime navigation Expired - Lifetime EP0273953B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8609763 1986-07-04
FR8609763A FR2601168B1 (en) 1986-07-04 1986-07-04 ANTI-COLLISION SYSTEM FOR MARITIME NAVIGATION.

Publications (2)

Publication Number Publication Date
EP0273953A1 true EP0273953A1 (en) 1988-07-13
EP0273953B1 EP0273953B1 (en) 1992-05-06

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EP87904393A Expired - Lifetime EP0273953B1 (en) 1986-07-04 1987-07-06 Anticollision system for maritime navigation

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EP (1) EP0273953B1 (en)
JP (1) JP2541596B2 (en)
FR (1) FR2601168B1 (en)
SG (1) SG9995G (en)
WO (1) WO1988000379A1 (en)

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Also Published As

Publication number Publication date
JP2541596B2 (en) 1996-10-09
SG9995G (en) 1995-06-16
JPH01501177A (en) 1989-04-20
EP0273953B1 (en) 1992-05-06
WO1988000379A1 (en) 1988-01-14
FR2601168B1 (en) 1988-09-16
FR2601168A1 (en) 1988-01-08

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