EP2849994A1 - Verfahren zur vorhersage mindestens einer bewegung eines schiffes unter einwirkung von wellen - Google Patents

Verfahren zur vorhersage mindestens einer bewegung eines schiffes unter einwirkung von wellen

Info

Publication number
EP2849994A1
EP2849994A1 EP13723095.9A EP13723095A EP2849994A1 EP 2849994 A1 EP2849994 A1 EP 2849994A1 EP 13723095 A EP13723095 A EP 13723095A EP 2849994 A1 EP2849994 A1 EP 2849994A1
Authority
EP
European Patent Office
Prior art keywords
ship
lull
swell
measurement
movement
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
EP13723095.9A
Other languages
English (en)
French (fr)
Other versions
EP2849994B1 (de
Inventor
Céline DROUET
Nicolas CELLIER
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.)
D'Ingenierie De Recherches Et D'etudes En Ste
Original Assignee
D'Ingenierie De Recherches Et D'etudes En Ste
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by D'Ingenierie De Recherches Et D'etudes En Ste filed Critical D'Ingenierie De Recherches Et D'etudes En Ste
Publication of EP2849994A1 publication Critical patent/EP2849994A1/de
Application granted granted Critical
Publication of EP2849994B1 publication Critical patent/EP2849994B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude

Definitions

  • the present invention relates to a method for predicting at least one movement of a ship lying on a body of water, under the effect of the swell of this body of water.
  • a movement of the ship a translational movement along an axis, or rotation about an axis.
  • the movement considered will generally be chosen from:
  • a translational movement of the ship along a longitudinal axis also called a caval
  • the swell causes the ship according to at least one of the aforementioned movements.
  • the object of the invention is in particular to remedy these drawbacks, by providing a relatively simple prediction method, and allowing a sufficiently precise prediction and sufficiently in advance of the movements of the ship under the effect of the swell.
  • the invention particularly relates to a method for predicting at least one movement of a ship under the effect of the swell of a body of water, characterized in that it comprises:
  • this detection step comprising a measurement of a duration of a lull detected
  • the invention proposes to measure the swell upstream of the ship, to detect the lulls of the swell upstream and to estimate the propagation of these lulls downstream to the ship, in order to predict the times when the ship is at the right of a calm of the swell.
  • This principle of the invention is based in particular on the fact that for sufficiently long lull periods, it is possible to neglect the deformation of the wave envelope between an upstream measurement point and the position of the downstream vessel. Thus, it is possible to consider only a single rate of lull propagation, rather than a different speed for each component of the wave spectrum.
  • Such a method is particularly simple to implement because it seeks simply to provide a lull for the movement of the ship, not to predict the precise behavior of this movement.
  • the method according to the invention has sufficient accuracy.
  • the method according to the invention may further comprise one or more of the following characteristics, taken alone or in any technically possible combination.
  • the method comprises, following the measurement step, a step of filtering the revolution of the measured characteristic quantity, by means of a discrete filter whose inputs are the characteristic quantities measured periodically, and the outputs forming an output signal represent the effect of this change in the characteristic quantity on the considered movement of a fictitious ship that would be identical to the ship and located at the measurement point, and a step of calculating a envelope of the output signal of the filter.
  • the step of detecting a lull of the swell at the measurement point comprises: a comparison of the envelope with a predetermined amplitude threshold, and the measurement of the duration of lull, carried out by measuring the duration during which the envelope is below said amplitude threshold, a lull being considered as detected when said lull period is greater than a first threshold of predetermined duration.
  • the step of calculating an envelope comprises applying a Hilbert transform to the filter output signal.
  • the Hilbert transform is performed on a sliding window applied to the filter output signal, the sliding window being selected to coincide between two passes by 0.
  • the method comprises, following the step of calculating an envelope and prior to the step of detecting a lull, a step of decomposing the envelope into wavelets.
  • the wavelets are Meyer wavelets.
  • the filtering step is carried out by means of a linear discrete and causal filter, and having the following form:
  • the method comprises, following the step of calculating the time interval, a step of estimating a probability that the movement of the ship under the effect of the swell, at the moment when the lull detected is reflected on the movement of the ship, is less than a predetermined movement threshold for a duration greater than a second threshold of predetermined duration, this estimate being made in particular according to the duration of the lull detected.
  • the characteristic magnitude of the swell is selected from an elevation of the surface of the body of water at the measuring point, a rate of elevation of the surface of the body of water at the point of measurement, or a pressure of water at the measuring point.
  • FIG. 2 represents the steps of the method according to the invention, for the purpose of predicting at least one movement of the ship of FIG. 1.
  • FIG. 1 a ship N being on a body of water, intended to perform at least one operation requiring stability of the ship, such as a deployment operation or recovery of a drone.
  • the movement considered is chosen from the caval, the lurching, the heave, the roll, the pitch or the yaw of the ship N.
  • Figure 2 the steps of a method for predicting at least one movement of the ship N under the effect of the swell of the body of water, according to an exemplary embodiment of the invention.
  • the method according to the invention comprises a preliminary step 10 for estimating a direction D of propagation of the swell, as well as a step 20 for estimating a propagation velocity of this swell in said direction of propagation D.
  • estimation steps 10, 20 are performed using means for estimating the direction and velocity of propagation of the swell. Such means are known per se, and will not be described in detail.
  • these estimation means comprise a RADAR type monitoring system known per se, carried by the ship N, and / or adapted buoys arranged on the body of water to carry out measurements, and suitable for communicating these. measurements to the ship N.
  • These estimation steps 10, 20 can be performed again at any time of the forecasting method, so as necessary, to provide an update of the direction D and the speed of propagation of the swell.
  • the method comprises a step 30 of measuring the evolution of a magnitude characteristic of the swell, in at least one measurement point P upstream of the ship N in the direction D propagation, as shown in Figure 1.
  • the evolution of the quantity is measured by periodically measuring said quantity.
  • the measured quantity may be any characteristic magnitude of the swell, making it possible to obtain the instantaneous wave energy, for example the elevation of the free surface, the elevation speed of this free surface, or the pressure at a height. determined. Note that the measurement can be performed at a point P, or on a defined space, for example on a measurement grid.
  • These measurements can be made using means known per se, such as a RADAR type system, LIDAR type, or other, carried by the ship, or by adapted buoys arranged on the body of water for carry out the measurements and to communicate these measurements to the ship N.
  • means known per se such as a RADAR type system, LIDAR type, or other, carried by the ship, or by adapted buoys arranged on the body of water for carry out the measurements and to communicate these measurements to the ship N.
  • dt is the period during which measurements are taken, called the sampling period
  • i is the rank of the measure considered.
  • the set of periodic measurements of the quantity forms a discrete sequence, representing the evolution of this measured characteristic quantity.
  • the method then comprises a step 40 of filtering the evolution of the measured characteristic quantity, by means of a discrete filter whose inputs are the measurements h (t ⁇ ) of the characteristic quantity measured periodically, and the outputs represent the effect of the evolution of this characteristic quantity on the movement considered.
  • the outputs of the filter correspond to the fictitious movement, under the effect of the swell, of a fictitious ship (designated by the reference N 'in FIG. the same characteristics that the ship N, which would be located at the point of measurement P.
  • the signal formed by outputs of this filter will be called "upstream dummy movement".
  • the chosen filter is a linear discrete and causal filter, having the following form:
  • A, B, C and D are constant matrices.
  • the values of the constant matrices A, B, C and D are determined experimentally, and are chosen to minimize the difference between the real movements of the ship in response to the swell, and the fictitious movements reconstituted by this filter. In particular, these values are a function of the characteristics of the ship, the speed of that ship and the impact of the swell in relation to the heading of that ship, as well as the vessel movement considered.
  • the filter is for example of order 4, namely a first filter of order 2 for approximating the natural mechanical resonance of the ship, and a second filter of order 2 in cascade allowing to approximate the excitation at the moment of roll generated by the swell.
  • the method comprises a step 50 of calculating an envelope of this upstream fictitious motion signal.
  • a Hilbert transform H (s (t)) is applied to the output signal of the filter s (t), in order to obtain the imaginary part of an analytic signal S mal ti (t).
  • the envelope of the signal s (t), denoted S (t), is the norm of the analytical signal.
  • the envelope is calculated by the following algorithm:
  • the Hilbert transform is performed on a sliding window applied to the filter output signal.
  • the signal is then extended by a mirror operation which ensures a continuity of the periodic function and its derivative, and thus attenuates the windowing effects.
  • This mirror operation known per se, consists in considering that the signal upstream or downstream of the window is symmetrical to the signal inside the window, with respect to the point of the signal at the input, respectively at the exit, from the window.
  • the method comprises a step 60 of decomposition of the wavelet envelope, which makes it possible to isolate the lowest frequency components of this envelope.
  • the number of components to be considered can be predetermined, or established on a criterion of fractions of the energy. For example, we can use Meyer wavelets.
  • the method then comprises a step 70 of detecting a lull of the swell at the measurement point P, this step being performed from the obtained wavelets.
  • the envelope is compared with a predetermined amplitude threshold.
  • This detection step 70 also provides a measurement of a lull period, that is to say a duration during which this envelope is less than said predetermined amplitude threshold. It is then considered that a lull is detected when the measured lull time is greater than a first threshold of predetermined duration.
  • the method therefore then comprises a step 80 for calculating a time interval between the detection of the calm of the swell at the measurement point P and a moment when this lull has repercussions on the movement of the ship N. This calculation is notably performed as a function of the wave propagation velocity previously estimated during the estimation step 20.
  • the calculation of the time interval also depends on the distance from the point P with respect to the ship N. Thus, if it is desired to have a time interval large enough to prepare the operation, it will be possible to choose a point P further away.
  • the method preferably comprises in step 80 of calculating the time interval, a step 90 of calculating a probability so that the detected lull has an effect on the movement of the ship, that is to say for this movement of the vessel under the effect of the swell is less than a predetermined movement threshold for a duration greater than a second threshold of predetermined duration.
  • This second threshold of predetermined duration corresponds to the minimum time necessary to perform the operation.
  • This calculation is made in particular according to the duration of the lull detected.
  • This estimation of probability can be performed by calculation, using the theory of detection, known per se, detection probability formulas, and false alarms.
  • the probability estimate can be made by learning, this learning can for example be performed by counting, for a determined number of lulls detected, how much is propagated to the ship, in order to deduce a percentage.
  • Examples of probabilities obtained during tests of the process according to the invention are shown in the table below.
  • a first threshold of duration (duration of a lull at point P) of 50 seconds was considered, and a second threshold of duration (duration during which the movement of the ship is less than the predetermined threshold of movement) of 40 seconds.
  • the first column specifies the distance from point P to vessel N, in meters
  • each double column relates to an example of a particular movement, and comprises:
  • the movements considered are heave, rolling and pitching. Indeed, a lull of these three movements is generally necessary for a deployment operation or recovery of a drone.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
EP13723095.9A 2012-05-16 2013-05-14 Verfahren zur vorhersage mindestens einer bewegung eines schiffes unter einwirkung von wellen Active EP2849994B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1254503A FR2990681B1 (fr) 2012-05-16 2012-05-16 Procede de prevision d'au moins un mouvement d'un navire sous l'effet de la houle
PCT/EP2013/059871 WO2013171179A1 (fr) 2012-05-16 2013-05-14 Procédé de prévision d'au moins un mouvement d'un navire sous l'effet de la houle

Publications (2)

Publication Number Publication Date
EP2849994A1 true EP2849994A1 (de) 2015-03-25
EP2849994B1 EP2849994B1 (de) 2016-07-06

Family

ID=47019095

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13723095.9A Active EP2849994B1 (de) 2012-05-16 2013-05-14 Verfahren zur vorhersage mindestens einer bewegung eines schiffes unter einwirkung von wellen

Country Status (7)

Country Link
US (1) US9371116B2 (de)
EP (1) EP2849994B1 (de)
BR (1) BR112014028372B8 (de)
FR (1) FR2990681B1 (de)
MY (1) MY172234A (de)
SG (1) SG11201407464PA (de)
WO (1) WO2013171179A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2990681B1 (fr) * 2012-05-16 2014-06-13 Ingenierie De Rech S Et D Etudes En Hydrodynamique Navale Par Abreviation Sirehna Soc D Procede de prevision d'au moins un mouvement d'un navire sous l'effet de la houle
CN109923436A (zh) 2016-09-16 2019-06-21 应用物理技术公司 使用多个雷达进行波浪感测和船舶运动预报的系统和方法
US10780968B2 (en) * 2017-11-27 2020-09-22 Applied Physical Sciences Corp. Systems and methods for wave sensing and ship motion forecasting with operational period indicators
CN110702110A (zh) * 2019-10-16 2020-01-17 江苏科技大学 一种基于无迹卡尔曼滤波的舰船升沉运动测量方法

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WO2003075715A2 (en) * 2002-03-06 2003-09-18 Vssl Commercial, Inc. Active suspension for a marine platform
JP3992101B2 (ja) * 2003-05-16 2007-10-17 よこはまティーエルオー株式会社 個別波予測・警報システム
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Also Published As

Publication number Publication date
EP2849994B1 (de) 2016-07-06
SG11201407464PA (en) 2015-04-29
WO2013171179A1 (fr) 2013-11-21
FR2990681B1 (fr) 2014-06-13
FR2990681A1 (fr) 2013-11-22
BR112014028372B1 (pt) 2023-03-07
US9371116B2 (en) 2016-06-21
US20150183497A1 (en) 2015-07-02
BR112014028372B8 (pt) 2023-04-18
MY172234A (en) 2019-11-18
BR112014028372A2 (pt) 2017-06-27

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