EP0273953B1 - Antikollisionssystem für die seefahrt - Google Patents

Antikollisionssystem für die seefahrt Download PDF

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Publication number
EP0273953B1
EP0273953B1 EP87904393A EP87904393A EP0273953B1 EP 0273953 B1 EP0273953 B1 EP 0273953B1 EP 87904393 A EP87904393 A EP 87904393A EP 87904393 A EP87904393 A EP 87904393A EP 0273953 B1 EP0273953 B1 EP 0273953B1
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EP
European Patent Office
Prior art keywords
ship
screen
ships
informations
displayed
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.)
Expired - Lifetime
Application number
EP87904393A
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English (en)
French (fr)
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EP0273953A1 (de
Inventor
Albert Janex
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LMT Radio Professionnelle
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LMT Radio Professionnelle
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems

Definitions

  • the present invention relates to an anti-collision system for maritime navigation.
  • Document FR-E-72082 discloses a device for preventing maritime or air collisions, but this device cannot accurately provide the respective positions of the mobiles concerned, which has great disadvantages in a dense environment, this fact that mobiles only transmit information relating to their course and speed, hence the need to make vector calculations in order to determine their relative positions.
  • 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 without having to carry out long and complex calculations.
  • the present invention also relates to a device for implementing the method, which device is easy to use and that can provide as much information as clearly as possible.
  • the anti-collision process for maritime navigation is characterized in that the entire environment of the ship in question is presented on the screen, and that each ship also emits its absolute geographical position which is displayed directly on the screen by a symbol, extended by a line segment representing the speed vector of the corresponding ship, the length of this vector being proportional to the speed of the ship, and its orientation corresponds to the heading of this ship.
  • the anti-collision system for maritime navigation, comprising, in each equipped vessel, a panoramic type viewing device connected to a radio receiver, as well as a transmitter connected to devices providing the heading and the speed of the ship, is characterized by the fact that the transmitter is also connected to a radionavigation system providing its absolute geographical position ("latitude", "longitude") and that the screen is connected to a screen management device, itself linked to the receiver via a receiver, as well as the radio navigation system and a radar.
  • equipped vessel Each vessel participating in the collision avoidance system of the invention is equipped with a device such as that schematically represented in FIG. 1, and will be referred to hereinafter as "equipped vessel".
  • 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 ⁇ 4 to 10 ⁇ 5.
  • 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 of 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 o 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 made so as to provide omnidirectional transmission in the horizontal plane.
  • the transmitter 1 is also connected to a modulator 4.
  • 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 the pulse type so as to allow the total absence of transmission outside of 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.
  • 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 of end of message, and, if it is considered that the permanent repetition of the messages is not sufficient to eliminate all the errors, one can add binary elements of error correction (binary parity elements 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.
  • the traffic load induced by a vessel on the system is between 10 ⁇ 4 and 10 ⁇ 5. 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 a good probability of not mutual scrambling 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 interference 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 4 seconds, the same message is repeated several times before a significant change in course and / or speed and / or geographic position) allows the message received to be neglected blurred.
  • the inverter 2 connects, outside the short transmission time periods 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 4.
  • 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 ship by using information received from the surrounding equipped ships, 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 analogous to that of the screen of a panoramic radar.
  • the screen 8 displays in the form of large luminous dots 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 advantageously possible 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 ship 13 (whose own speed vector is then zero), the different relative speed vectors of the others ships being then determined by vectorial composition of their own speed and that of the ship 13.
  • the point representing the ship 13 can as well be located in the center of the screen as be off center in a direction opposite to its speed vector to 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 14, 15 representing unequipped ships as well as the profile 16 of a rib.
  • the echoes 14, 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, and 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 4 and incorporated into the message periodically sent by the transmitter 1.
  • the circuit 9 can be a simple comparator comparing, in the called vessel, the callsign received from the calling vessel to 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 code of the calling vessel, this code can be displayed on 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 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 representative of 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 unit 7 which produces a corresponding call sign (symbolized by the broken line 18) and sends it to the modulator 4.
  • the unit 7 stores the signs received from all the ships neighbors (displayed on screen 8), establishes a relationship between the point on which marker 17 stopped and the corresponding callsign, and sends this callsign.

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)

Claims (15)

1. Verfahren zur Kollisionsvermeidung für die Seefahrt, gemäß dem jedes Schiff, das dieses Verfahren anwendet, auf einem gemeinsamen Kanal wiederholt allen betroffenen Schiffen Informationen bezüglich seiner Fahrtrichtung und seiner Geschwindigkeit sendet und entsprechende Informationen von den in der Umgebung verkehrenden Schiffen empfängt, wobei diese Informationen mittels Symbolen auf einem Panoramabildschirm angezeigt werden, dadurch gekennzeichnet, daß auf den Bildschirm die gesamte Umgebung (10 bis 16) des betreffenden Schiffs dargestellt wird und daß jedes Schiff außerdem seine absolute geographische Lage aussendet, die direkt auf dem Bildschirm durch ein Symbol (10 bis 13) dargestellt wird, das durch einen den Geschwindigkeitsvektor des entsprechenden Schiffs darstellenden Abschnitt einer Geraden verlängert wird, wobei die Länge dieses Vektors proportional zur Geschwindigkeit des Schiffs ist und seine Richtung der Fahrtrichtung des Schiffes entspricht.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß jedes Schiff die seine Identität bezeichnende Kennung aussendet und entsprechende Informationen von den in der Umgebung verkehrenden Schiffen empfängt, wobei diese Informationen neben den entsprechenden Symbolen (10A, 11A, 12A) angezeigt werden.
3. Verfahren nach einem beliebigen der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß jedes Schiff Informationen bezüglich seiner Richtungsänderung aussendet und entsprechende Informationen von den in der Umgebung verkehrenden Schiffen empfängt, wobei diese Informationen neben den entsprechenden Symbolen dieser in der Umgebung verkehrenden Schiffe angezeigt werden.
4. Verfahren nach einem beliebigen der vorhergehenden Ansprüche, wobei zumindest einige das Verfahren anwendende Schiffe ein Bordradargerät besitzen. dadurch gekennzeichnet, daß diese Radargeräte auf dem Bildschirm alle Hindernisse (14 bis 16) in der Umgebung außer den das Verfahren anwendenden Schiffen anzeigen, wobei die Schiffe (14, 15), die zu diesen anderen Hindernissen gehören, durch andere Symbole dargestellt werden als die, mit denen die das Verfahren anwendenden Schiffe dargestellt werden.
5. Verfahren nach einem beliebigen der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die von jedem Schiff ausgesandten Informationen, ggfs. nach Digitalisierung in einem Binärwort, zusammengefaßt werden.
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, daß für jedes Schiff die Wiederholperiode des Binärworts zufällig variiert.
7. Verfahren nach einem beliebigen der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Schiffe die Geschwindigkeiten der anderen in der Umgebung verkehrenden Schiffe in Form eines relativen Geschwindigkeitsvektors bezüglich ihres eigenen Geschwindigkeitsvektors anzeigen.
8. Verfahren nach einem beliebigen der Ansprüche 2 bis 7, dadurch gekennzeichnet, daß der Funker eines Schiffs, der mit dem Funker eines anderen Schiffs in Funkkontakt treten will, die Kennung dieses anderen Schiffs in die von ihm wiederholt ausgesandten Informationen einsetzt und daß die gegebenenfalls zu rufenden Schiffe in den empfangenen Informationen die ausgesandte Kennung erfassen, sie mit ihrer eigenen Kennung vergleichen und im Fall einer Gleichheit ein Rufsignal aussenden.
9. Verfahren nach einem beliebigen der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das auf dem Panoramabildschirm angezeigte, dem eigenen Schiff (13) entsprechende Symbol eine andere Farbe und/oder Form und/oder Leuchtkraft als die Symbole der anderen Schiffe besitzt.
10. Verfahren nach einem beliebigen der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das das eigene Schiff auf dem Panoramabildschirm darstellende Symbol (13) sich im Zentrum des Bildschirms befindet.
11. Verfahren nach einem beliebigen der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß das das eigene Schiff auf dem Panoramabildschirm darstellende Symbol (13) in einer zum eigenen Geschwindigkeitsvektor entgegengesetzten Richtung aus dem Zentrum verschoben ist, um den Blick nach vorne zu begünstigen.
12. System zur Kollisionsvermeidung für die Seefahrt, bei dem jedes damit ausgerüstete Schiff eine mit einem Funkempfänger (5) verbundene Panoramadarstellungsvorrichtung (8) sowie einen an Vorrichtungen zur Lieferung der Fahrtrichtung und Geschwindigkeit des Schiffs angeschlossenen Funksender (1) aufweist, der in regelmäßigen Abständen die von diesen Vorrichtungen gelieferten Informationen aussendet, dadurch gekennzeichnet, daß der Funksender (1) außerdem an ein Funknavigationssystem angeschlossen ist, das seine absolute geographische Lage (Breite und Länge) liefert, die in regelmäßigen Abständen vom Funksender (1) ausgesandt wird, und daß der Bildschirm (8) mit einer Bildschirmverwaltungsvorrichtung (7) verbunden ist, die ihrerseits an den Funkempfänger (5) über einen Demodulator (6) sowie an ein Funknavigationssystem und ein Radargerät angeschlossen ist.
13. System nach Anspruch 12, dadurch gekennzeichnet, daß es einen Komparator (9) enthält, der die Kennung des eigenen Schiffs empfängt und an den Demodulator angeschlossen ist.
14. System nach einem der Ansprüche 12 oder 13, dadurch gekennzeichnet, daß das Verwaltungsorgan (7) der Darstellungsvorrichtung mit einer "Maus" zusammenwirkt, die eine bewegliche Marke (17) auf dem Bildschirm der Darstellungsvorrichtung erzeugt.
15. System nach Anspruch 14, dadurch gekennzeichnet, daß das Verwaltungsorgan (7), das außerdem an den Modulator angeschlossen ist, eine Rufkennung entsprechend demjenigen Schiff erzeugt, mit dessen Symbol die Marke in Deckung gebracht ist.
EP87904393A 1986-07-04 1987-07-06 Antikollisionssystem für die seefahrt Expired - Lifetime EP0273953B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8609763A FR2601168B1 (fr) 1986-07-04 1986-07-04 Systeme anticollision pour la navigation maritime.
FR8609763 1986-07-04

Publications (2)

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

Family

ID=9337098

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87904393A Expired - Lifetime EP0273953B1 (de) 1986-07-04 1987-07-06 Antikollisionssystem für die seefahrt

Country Status (5)

Country Link
EP (1) EP0273953B1 (de)
JP (1) JP2541596B2 (de)
FR (1) FR2601168B1 (de)
SG (1) SG9995G (de)
WO (1) WO1988000379A1 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2661536B1 (fr) * 1990-04-27 1995-01-27 Lmt Radio Professionelle Procede de codage pour systeme anticollision pour la navigation maritime.
DE4116667A1 (de) * 1991-05-22 1992-11-26 Telefunken Systemtechnik Verfahren zur erfassung der verkehrslage und anordnung zur durchfuehrung des verfahrens
RU2108627C1 (ru) * 1991-07-01 1998-04-10 Ланс Хокан Система индикации положения
FR2680897A1 (fr) * 1991-08-29 1993-03-05 Giacalone Frederic Systeme de gestion et de surveillance des deplacements de mobiles pour l'evitement des collisions.
SE9201864D0 (sv) * 1992-06-17 1992-06-17 Saab Scania Combitech Ab System foer informationsoeverfoering med flera transpondrar
FR2689282B1 (fr) * 1992-03-27 1995-09-08 Thomson Csf Procede de controle de la navigation maritime.
FR2706659B1 (fr) * 1993-06-17 1995-09-01 Dassault Electronique Dispositif électronique anti-collision pour navires.
FR2706660B1 (fr) * 1993-06-17 1995-09-01 Dassault Electronique Aide anti-collision permanente pour aéronefs.
WO1995003598A1 (en) * 1993-07-20 1995-02-02 Philip Bernard Wesby Locating/map dissemination system
FR2716028B1 (fr) * 1994-02-08 1996-04-12 Sextant Avionique Procédé et dispositif pour la prévention des collisions entre aérodynes.
DE19721023A1 (de) * 1997-05-20 1998-11-26 Hanjo Dr Kreitz Selbststeuernde Motorschiffe
GB2379570A (en) * 2001-09-05 2003-03-12 Robert Leighton Harding Maritime ship safety system

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GB874261A (en) * 1956-10-24 1961-08-02 Avel Corp Geneva Improvements in co-operative collision data exchange systems for ships and aircraft
US3208064A (en) * 1957-05-31 1965-09-21 Bendix Corp Aircraft collision warning system
FR1173611A (fr) * 1957-06-29 1959-02-27 Dispositif pour la prévention de collisions maritimes ou aériennes
US3725918A (en) * 1970-11-18 1973-04-03 Sperry Rand Corp Collision avoidance display apparatus for maneuverable craft
JPS5045597A (de) * 1973-08-24 1975-04-23
US3949860A (en) * 1974-07-26 1976-04-13 Monsanto Company Apparatus for removing articles from a molding machine and depositing them on a conveyor
JPS53119700A (en) * 1977-03-29 1978-10-19 Tokyo Keiki Kk Turning information oscillator

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The Jounal of Oceanic Engineering, vol. OE 2., avril 1977, (New York, US), C.S. Mathews et al.: "Marine radar interrogator-transponder", pages 179-184. *

Also Published As

Publication number Publication date
JPH01501177A (ja) 1989-04-20
SG9995G (en) 1995-06-16
FR2601168B1 (fr) 1988-09-16
FR2601168A1 (fr) 1988-01-08
JP2541596B2 (ja) 1996-10-09
EP0273953A1 (de) 1988-07-13
WO1988000379A1 (fr) 1988-01-14

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