JPH0414287B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic navigation system that performs appropriate control so that a ship does not deviate from a preset course.

[Conventional technology]

Conventional ship navigation involves knowing the ship's position using electronic navigation instruments or satellite navigation instruments, determining the error between this and a preset route, and performing feedback control to correct this error. Therefore, it has come to operate and control ship maneuvering means such as the rudder and propulsion equipment.

However, apart from the open ocean, when navigating at low speed in congested sea areas such as in ports or narrow channels, the influence of wind or drifting due to waves is relatively large, and conventional feedback control does not control the set route. A great deal of attention must be paid to deviations from the system, and a large number of personnel are required.

[Problem that the invention seeks to solve]

The present invention has been made in view of these points, and is intended to significantly improve the navigational safety of ships by reducing the deviation of ships from their set routes, especially in congested sea areas. It is.

Further, the present invention is designed to reduce the number of personnel required for navigation in such a wide and congested sea area.

[Means for solving problems]

In order to measure the wind direction and wind force, the wind direction and wind force output from the anemometer placed on the ship and the draft amount from the draft meters placed at the bow and stern of the ship are input and stored in advance. A wind pressure vessel displacement calculation means that calculates and outputs the first hull displacement due to wind pressure by comparing it with a mathematical model of the hull shape, and a wave radar that measures the draft amount and wave height output from the draft meter. Input the wave height output from the wave sensor and the wave direction from the wave sensor that measures the wave direction, and compare it with the pre-stored mathematical model of the ship's drifting force to calculate the second amount of ship displacement due to the wave drifting force. The ship's next position is estimated from the calculation means for calculating the amount of ship movement against waves, the direction from the gyro compass that measures the ship's direction, and the speed from the Doppler speed log that measures the ship's speed, and the estimated value is calculated. Radar video data from a radar that informs the ship's position and surrounding target image data is input to the ship's position estimation calculation means to be output, and is compared with pre-stored nautical chart data to determine the ship's actual position. , a ship position actual measurement calculation means that outputs the result as an actual measurement value, the first ship displacement amount, the second ship displacement amount, and the estimated value output from the ship position estimation calculation means, and the estimated value is calculated from the ship displacement amount. In addition to outputting a correction value to be corrected, the error between the actual measured value and the corrected value outputted from the ship position actual measurement calculation means is filtered by a Kalman filter and the output value is fed back, and the estimated value is corrected, and the estimated value is corrected. control signal output means for outputting a control signal to be outputted to the rudder/propulsion device based on the value by adding the feedforward control based on the position error due to the feedforward control based on the solution of the hull motion equation; It is equipped with the following.

[Effect]

According to the present invention, the vessel movement amount calculation means against the wind pressure calculates the first movement amount of the ship body due to the wind pressure by comparing the wind direction, wind force and draft amount with a pre-stored mathematical model of the ship shape against the wind pressure, and further calculates the first movement amount of the ship body due to the wind pressure. The movement amount calculation means compares the draft amount, wave height, and wave direction with a pre-recorded mathematical model of the ship's hull due to wave drifting force, and calculates a second amount of ship movement due to the wave drifting force, and outputs it to the control signal output means; Further, the ship position estimation calculation means estimates the next position of the ship from the direction and speed, and outputs the estimated value to the control signal output means.

Further, the ship position actual value calculation means inputs the radar video data, collates it with pre-stored nautical chart data, determines the actual position of the ship, and outputs the result as an actual value to the control signal output means.

Then, the control signal output means outputs a correction value for correcting the estimated value from the first amount of ship movement, the second amount of ship movement and the estimated value, and the error between the actual measured value and the corrected value is filtered by a Kalman filter. The estimated value is corrected using the output value fed back by the ship, and based on the estimated value, the control signal output to the rudder/propulsion unit is adjusted to the position error caused by feedforward control based on the solution of the hull motion equation. It outputs to the rudder and propulsion machine after adding feed forward control based on the standard.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The automatic navigation system according to the present invention will be described in detail below based on embodiments shown in the accompanying drawings.

FIG. 1 shows an embodiment of an automatic navigation system according to the present invention. Also, in Figure 2,
An example of the arrangement of the apparatus shown in FIG. 1 on a ship is shown.

In FIGS. 1 and 2, the automatic navigation system is comprised of a navigation device 100 and various sensors 200. The automatic navigation device 100 includes an anti-aircraft body movement calculation unit 10
2. Ship displacement calculation unit 104 against waves, ship position estimation calculation unit 106, ship position actual measurement calculation unit 1
08 and a control signal output unit 110 for ship position determination and rudder/propulsion equipment.

Connected to unit 102 is a memory 112 in which a wind pressure ship shape mathematical model is stored, and the output of unit 102 is connected to unit 110. unit 10
4 is connected to a memory 114 in which a mathematical model of the anti-wave drift force hull is stored, and the output of unit 104 is connected to unit 110. In addition, the unit 110 includes
The output of unit 106 is also input. The output of the unit 110 and the output of the unit 108 are output to an arithmetic unit 116, and the output of the arithmetic unit 116 is applied to a Kalman filter 118. This Kalman filter 118
The output of is fed back to the unit 110, and the output of this unit 110 is
It is designed to be applied to the rudder/propulsion device 120 as appropriate. Note that a memory 122 in which digital chart data is stored is connected to the unit 108.

Next, the sensors 200 will be explained. First, an anemometer 202, a wave radar 204, a wave sensor 206, and a radar 208 are placed at appropriate positions on the mast, as shown in FIG. In the illustrated example, the sensors are arranged on one mast, but the sensors may be arranged on a plurality of masts, and the arrangement may be determined as appropriate. Next, the gyro compass 210 is connected to the automatic navigation device 10.
0 in the bridge. Also,
Draft gauges 212 and 214 are placed at the bottom and bottom of the ship, respectively, and a Doppler speed log 216 is placed near the draft gauge 212. Note that the draft meters 212 and 214 are connected to appropriate amplifiers 218 and 220.

Next, the connection of the above sensors 200 will be explained. First, the wind direction and speed meter 202 is connected to the unit 1.
Connected to 02. Draft total 212, 21
4 are connected to units 102 and 104, respectively. Further, a wave radar 204 and a wave sensor 206 are each connected to the unit 104. Furthermore, a gyro compass 210 and a Doppler speed log 216 are each connected to the unit 106, and a radar 208 is connected to the unit 108.

Next, the overall operation of the above embodiment will be explained. First, the entire system is brought into operation by the operator's switch operation, and the sensors 200
From the wind direction, wind speed, draft amount, as shown in Figure 1,
Data such as wave height is input to the automatic navigation device 100.

First, the unit receives the wind direction and speed data input from the wind direction and speed meter 202 and the draft meters 212 and 2.
The draft amount input from 14 is stored in memory 112.
The amount of movement of the ship relative to the balloon, that is, the amount of movement of the ship due to wind pressure, is calculated by comparing it with a mathematical model of the ship's shape due to wind pressure.

The unit 104 also includes a draft meter 212,
214, the wave height input from the wave radar 204, and the wave sensor 206.
The wave direction input from the wave drifting force is compared with the ship's mathematical model for wave drifting force stored in the memory 114, and the amount of movement of the ship against waves, that is, the amount of ship movement due to wave drifting force is calculated.

Furthermore, the unit 106 includes a gyroscope 2
The ship's position is estimated by integrating the azimuth input from 10 and the speed input from the Doppler speed log 216.

On the other hand, the unit 108 automatically matches the radar video data input from the radar 208 and the digital chart data stored in the memory 122 to measure the ship's position.

Next, the control signal output unit 110 outputs signals based on the amount of hull movement due to wind pressure and wave drifting force inputted from the units 102 and 104.
The estimated ship position input from 6 is corrected by feed forward. This corrected value is input to the calculator 116. On the other hand, the arithmetic unit 116 includes the unit 10
The actual measured value of the ship's position is inputted from 8, and this is compared with the above-mentioned corrected value to determine the error and inputted to the Kalman filter 118. The output of this Kalman filter 118 is input to the unit 110, and the rudder/propulsion unit 120 is controlled in an optimal state by the signal output from the unit 110.

〔Effect of the invention〕

As explained above, the first amount of hull movement is determined based on the wind pressure from the anemometer and the draft amount from the draft meter, and the second amount of hull movement is determined based on the draft amount, wave height, and wave direction, and a control signal is output. the next position of the ship is estimated from the direction and speed, the estimated value is output to the control signal output means, and the actual position of the ship is determined by comparing the radar video data with the nautical chart data. and outputs the result as an actual measurement value to the control signal output means, and the control signal output means corrects the estimated value from the outputted first ship movement amount, second ship movement amount, and estimated value. In addition to outputting the corrected value, the error between the actual measured value and the corrected value is filtered with a Kalman filter, and the estimated value is corrected using the feedback output value, and based on the estimated value,
Since the control signals output to the rudder and propulsion machine are output to the rudder and propulsion machine by adding feed-forward control based on the position error caused by feed-forward control based on the solution of the hull motion equation, This reduces the amount and possibility of deviation from the pre-set route, allowing for more accurate navigation, which prevents collisions with other vessels, contact, or grounding, improving navigation safety, and reducing the burden on ship operators. It also has the effect of reducing

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of an automatic navigation system according to the present invention, and FIG. 2 is an explanatory diagram showing an example of the arrangement of the device shown in FIG. 1 on a ship. DESCRIPTION OF SYMBOLS 100...Automatic navigation device, 102...Unit for calculating the amount of movement of the ship relative to the waves, 104...Unit for calculating the amount of movement of the ship relative to waves, 106...Ship position estimation calculation unit, 108...Ship position actual measurement calculation unit, 110...
...control signal output unit, 200...sensors.

Claims (1)

[Claims] 1. Input the wind direction and wind force output from a wind direction and speed meter placed on a ship to measure wind direction and wind power, and the draft amount from draft meters placed at the bow and stern of the ship. Then, the first wind pressure
a wave radar that measures the draft amount outputted from the draft meter and the wave height and wave direction outputted from the wave radar that measures the wave height; Wave direction ship movement amount calculation means inputs the wave direction from the sensor and compares it with a pre-stored wave drift force ship mathematical model to determine and output a second ship movement amount due to wave drift force; Ship position estimation calculation means for estimating the next position of the ship based on the direction from a gyro compass that measures the ship's direction and the speed from a Doppler speed log that measures the speed of the ship, and outputting the estimated value; Inputs radar video data from a radar that informs the position and image data of surrounding targets, and compares it with pre-stored nautical chart data.
ship position actual measurement calculation means for determining the actual position of the ship and outputting the result as an actual measurement value; and estimated values output from the first ship movement amount, the second ship movement amount, and the ship position estimation calculation means. is input, and outputs a correction value for correcting the estimated value based on the amount of movement of the ship, and an output in which the error between the actual measured value and the corrected value output from the actual ship position measurement calculation means is filtered by a Kalman filter and fed back. The estimated value is corrected using the estimated value, and based on the estimated value, the control signal output to the rudder/propulsion unit is adjusted based on the position error by feedforward control based on the solution of the hull motion equation. An automatic navigation system comprising control signal output means for outputting a control signal in addition to eid forward control.