JPH026380Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> This invention relates to a device for measuring the position of a ship mounted on a tower.

<Conventional technology> Conventionally, when a ship measures its own position, it measures the direction of multiple lighthouses and mountain peaks on the ground as seen from the ship, and then draws a measurement direction line on a nautical chart that passes through the lighthouses and mountain peaks. The method used was to determine the intersection point as the own ship's position.

<Problems that the invention aims to solve> However, this method requires drawing multiple bearing lines on the chart by hand, which is time-consuming and requires careful maneuvering, especially when navigating through narrow channels. The problem was that it was dangerous to have to do this kind of work when you had to pay for it.

<Means for solving the problem> The means for solving the above problem consists of a display memory 2 into which display data is written, and a display memory 2 in which display data is written.
a display unit 4 that displays the display data read out from the nautical chart information storage unit 6 that stores nautical chart information;
, a nautical chart information writing means 8 for reading out the nautical chart information from the nautical chart information storage section 6 and writing it into the display memory 2; a positioning section 10 for generating a positioning signal representing the position of the vessel mounted on the tower; own ship mark writing means 12 for writing own ship mark data representing the ship at a position in the display memory determined based on the signal; an azimuth measuring section 14 that generates an azimuth signal; an azimuth line data writing means 16 that writes azimuth line data passing through a corresponding target in the display memory in a direction determined based on each of the azimuth signals; It is provided with a moving means 18 for moving the own ship mark data to the intersection of each azimuth line data.

<Operation> According to this means, nautical chart information is displayed on the display unit 4, and when the own ship is currently located on the displayed nautical chart information, the own ship mark is displayed at the position predicted based on the positioning signal. Then, based on the azimuth signal obtained by actually measuring the plurality of targets represented in the displayed nautical chart information with the azimuth measurement unit 14, the direction of passing through the plurality of targets in the displayed nautical chart information is Multiple bearing lines are displayed. Normally, a natural mark should be located at the intersection of these azimuth lines, but since there is an error in the positioning section 10, the own ship mark is not located at the intersection. Therefore, the own ship mark is moved by the moving means 18 so that the own ship mark is located at the intersection. The moved position represents the true own ship position.

<Embodiment> As shown in FIG. 2, this embodiment has a color picture tube 20 as a display section. This horizontal scanning of the picture tube 20 is performed by an x deflection amplifier 26 and an x deflection coil 28 based on the count value of an x counter 24 which counts a series of clock pulses generated by a clock pulse generator 22.
In addition, the vertical scanning is performed by the y-deflection amplifier 32 and the y-deflection coil 30 based on the count value of the y-counter 30 that counts the carry signal of the x-counter 24.
It is carried out by.

For the color video signal to the color picture tube 20, the digital signal read from the display memory 36 is supplied to the color conversion ROM 40 via the latch circuit 38, and after the color is specified here, the color video signal is input to the D/R for red, green, and blue. A-converters 42 , 44 , 46 are obtained, and the color picture tube 20 is supplied. For reading from the display memory 36, when the clock pulse is at L level, the changeover switch 48 selects the x counter 24, y counter 24,
This is done by switching to the counter 30 side and specifying an address using these counter values.
The latch circuit 38 is latched by delaying the clock pulse by 1/4 period in a delay circuit 50 as shown in FIG. This is done by a pulse generated by
That is, the latching occurs midway between the low levels of each clock pulse.

As shown in FIG. 4, a magnetic tape 56 is provided as a chart information storage section. This magnetic tape 5
The nautical chart information from 6 is input to the input device 58. Note that a number is assigned to each of the plurality of targets included in the nautical chart information, and the numbers are also stored on the magnetic tape. The input device 58 also includes a display range setting signal Dp indicating how much area of the nautical chart information is to be displayed.
Input from 0.

Also, one of Loran, Omega, Detsuka, etc. is installed as the positioning section 62, and the La and Lo signals from this positioning section 62 are input to the input device 58.

Furthermore, a compass 64, a bearing compass sensor 66, and a writing switch 6 serve as a direction measuring section.
8. Flip-flop 70 and number setting section 71
A compass 64 generates a signal φ representing the direction of the own ship relative to the north, and a sensor 66 generates a signal θ representing the direction of the ground target relative to the own ship's heading.
When write switch 68 is closed, flip-flop 70 is set in response to the rising edge of the pulse generated by the closing of write switch 68, and generates the Q signal at that time as a write signal. do. Further, the number setting section 71 generates a signal No. for setting a number attached to the target object measured by the sensor 66.
The φ signal, θ signal, write signal, and number setting signal No. are input to the input device 58.

As a moving means, a △x, △y setting device 72 such as a joy stick or a track ball is provided, and future △x, △y signals are also input to the input device 58.
is input.

In addition to these, a depth sounder 74, an erase switch 76, and a flip-flop 78 are provided, and the depth sounding signal D from the depth sounder 74 is also input to the input device 58, and when the erase switch 76 is closed, The Q signal of the flip-flop 78, which is set in response to the rising edge of the generated pulse, is also input to the input device 58 as an erase signal.

The input device 58 sends the above-mentioned La, Lo signals, φ signal, θ signal, write signal, number setting signal No., chart information, Dp signal, D signal, △x, △y signal, and erase signal to the CPU 80, The data is input to a microcomputer 86 consisting of RAM 82 and ROM 84. This microcomputer 86 functions to write various data into the display memory 36 as a chart information writing means, own ship mark writing means, and azimuth line data writing means. These will be described later.

The various data sent from the microcomputer 86 are once latched in the latch circuit 90 of the output device 88, and the microcomputer 86 is used to specify the position where these data are to be written.
The address signal sent from the output device 88 is also latched by the latch circuit 92 of the output device 88. Note that the latch signals to these latch circuits 90 and 92 are sent to the output device 8.
8 is provided by decoder 94 within 8. The address signal latched in the latch circuit 92 is generated by the clock pulse generator 22, and when the clock pulse is at H level, the selector switch 48 switches the address signal to the latch circuit 92.
The signal is switched to the 2nd side and applied to the display memory 36. Further, as a write command signal to the display memory 36, as shown in FIG.
The H level output of the AND circuit 100, which is supplied with the trigger signal generated by the flip-flop 98 and the output of the flip-flop 98 set by the decoder 94, is used. In addition, flip flop 9
8 is reset by the H level output of the AND circuit 100. Note that decoder 94 also provides a reset signal for flip-flops 70 and 78.

Next, the functions of the microcomputer 86 as each writing means will be explained based on the flowchart shown in FIG. First, in step 102, the i register is set to 0, and in step 104, the i register is set to 0.
Read La, Lo, Dp, △x, △y, D. Note that initially, Δx and Δy are 0. Next step 106
At this point, the chart of the range Dp centered on La and Lo is read from the magnetic tape and written into the memory 36. As a result, nautical chart information is displayed on the color video tube 20 as shown in FIG. Note that a, b, and c each represent a target in the chart information. Next, in step 108, △x, △y are changed to △Lo, △
Then, Lo+ΔLo and La+ΔLa are obtained, and these are written together with D into a predetermined position in the memory 23 as numbers. As a result, as shown in FIG. 6, the east longitude, north latitude position, and water depth (not shown) of the own ship are digitally displayed. And step 110
Then, Lo+△Lo is converted to x, La+△La is converted to y, and own ship marks are written in x and y in the memory 36. As a result, the own ship mark is displayed as shown by P1 in FIG.

Next, in step 112, the flip-flop 70
It is determined whether the Q output is at H level or not, and it is determined that it is at H level, that is, it is determined that the direction has been measured with respect to a specific target, for example, b, and step 114
The i register is incremented by one at step 116, and φ, θ, and setting number No. are read to obtain (φ+θ).
Then, in step 118, La, Lo, (φ+θ),
x, y, setting number No. La _i , Lo _i , (φ+θ) _i , x _i ,
y _i (No.) _i , and the flip-flop 70 is reset in step 120. Then, in step 122, i azimuth lines from j=1 to j=i are written in the memory 36 from the target with the setting number (No.) _i in the (φ+θ) _j direction. Note that since i is currently 1, only one azimuth line passing through target b is displayed.

Then, in step 124, it is determined whether the output of the flip-flop 78 is at the H level, and if it is not at the H level, the process moves to step 126.
Here, La, Lo, Dp, △x, △y, D are read again, and in step 128 Lo is converted to x and La is converted to y. If it is within the frame, it is determined in step 132 whether Dp has changed, and if it has not changed, it is stored in the memory in step 134. 36 and the own ship mark are deleted, and the process returns to step 108. Then, steps 108 and 110 are executed again, and the new east longitude, north latitude position, and water depth of the own ship are digitally displayed, and the own ship mark is displayed on the parent. Since no time has elapsed, the own ship mark is at almost the same position as P1. Then, step 112 is executed again, and if the output of the flip-flop 70 is at the H level, it is determined that the position of a new target, for example C, has been measured, and steps 114 and 11 are executed again.
6, 118, 120, and 122 are executed, and in addition to the azimuth line passing through target b, the azimuth line passing through target c is also displayed. However, although these azimuth lines should originally pass through the position P1 of the own ship's mark, they do not pass through P1 due to an error in the positioning section 62 or the like. Here △
Operate the x, △y setting device 72 and proceed to step 124.
126, 128, 130, 132, 134, 10
When executing 8,110, own ship mark is △x, △
Translate by y. Therefore, when the own ship mark is moved in parallel so that the own ship mark is located at the intersection of the two azimuth lines, the position P2 to which P1 has moved represents the current position of the own ship.

In addition, in step 112, the flip-flop 7
If 0 is not at H level, the process moves to step 122. Further, if flip-flop 78 is at H level in step 124, step 136 is performed.
At the same time as deleting all the orientation lines in the memory 36, Lo _j , La _j , (φ+θ) from j=1 to j=i
_j , (No.) _j , x _{j and} y _j are erased, the flip-flop 78 is reset in step 138, i is set to 0, and the process moves to step 126. Furthermore, step 1
In step 30, if both x and y are not within the frame, in step 140 all the memories in the memory 36 are erased, and in step 142 they are erased from the magnetic tape.
The nautical chart in the range Dp centered on La and Lo is read and written into the memory 36, and the process moves to step 134. Similarly, when Dp changes in step 132, steps 140 and 142 are executed, and step 134 is executed.
Move to.

That is, in this example, two targets b and c
The ship's own position P1 at that time is measured.
, the two azimuth lines passing through targets b and c are shown on the video tube 20.
to be displayed. Then, the own ship mark is moved to the intersection of the two azimuth lines to obtain the true own ship position P2.

<Effects> As described above, according to this invention, the true position of one's own ship can be known by a simple operation of moving the own ship's mark to the intersection of azimuth lines using the moving means. Therefore, even when the ship must be very careful when maneuvering, such as when navigating through a narrow waterway, the ship's own position can be easily known, and navigation safety can be improved.

[Brief explanation of the drawing]

Fig. 1 is a diagram corresponding to claims of the ship position measuring device according to this invention, Fig. 2 is a block diagram of the main part of one embodiment of the ship position measuring device according to this invention, and Fig. 3 is a block diagram of other parts of the same embodiment. , FIG. 4 is a block diagram of other parts of the same embodiment, FIG. 5 is a flowchart of the same embodiment, and FIG. 6 is a diagram showing an example of an image displayed on the picture tube of the same embodiment. . 2...Display memory, 4...Display section, 6...Nautical chart information storage section, 8...Nautical chart information writing means, 10...Positioning section, 1
2...Own ship mark writing means, 14...Direction measuring unit, 1
6...Direction line data writing means, 18...Movement means.

Claims (1)

[Scope of utility model registration request] a display memory in which display data is written; a display section that displays the display data read from the display memory; a chart information storage section that stores chart information; and a chart information storage section that reads the chart information from the storage section. nautical chart information writing means for writing into the display memory; positioning signal input means for inputting a positioning signal representing the position of the ship on which the ship positioning device is installed; Own ship mark writing means for writing own ship mark data representing the ship at the position, and bearings of a plurality of targets included in the nautical chart information measured by a bearing measuring unit mounted on the ship, respectively. azimuth signal input means for inputting a azimuth signal representing the azimuth; azimuth line data writing means for writing azimuth line data passing through the corresponding target in the display memory in a direction determined based on each of the azimuth signals; A ship position measuring device comprising a moving means for moving the own ship mark data to the intersection of each azimuth line data.