JPH042593A - Position display device - Google Patents

Abstract

PURPOSE:To eliminate display position dislocation at the time of switching by performing the inverse computation of a reference position after switching using own- ship position information before switching at the time of switching navigation modes mutually, and computing the navigation mode of a new own-ship position after switching on the basis of the inversely computed reference position and sensor signals. CONSTITUTION:In an own-ship position computing part 10 provided with an electromagnetic position computing means 1A, an acoustic position computing means 1B, a radar position computing means 1C, the Decca position computing means ID and a ode switching means 1E, the own-ship position during the navigation of a ship is computed by signals from various position measuring sensors after performing manual setting on reference positions. The own-ship position is determined by selecting the own-ship position computed by the computed navigation mode. In the case of switching the navigation mode, however, that is in the case of switching the mode switching means 1E in order to use the signal of a radar reference position computing part 20 or the Decca reference position computing part 30, the reference position of each position measuring sensor after switching is inversely computed using position information before switching, and the position after switching is computed using this inversely computed reference position.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a position display device that displays the position of own ship on a display, and more specifically, a position display device that displays the position of own ship on the display. The present invention relates to a position display device that can prevent positional deviation of a track display when switching between navigation modes based on sensor input.

<Conventional technology> Previously, own ship position was determined using a gyro compass or electromagnetic log.

Using a combination of sonic logs, various types of radar, etc., and measurement sensors, dead reckoning and relative position navigation are calculated based on the position information from these, and the ship's own ship is calculated based on these navigation methods. A device is installed on the ship that continuously displays the position while switching the display. This kind of conventional technology is the fifth
This will be explained below using FIGS. 8 to 8.

FIG. 5 is a block diagram of a conventional position display device, and FIGS. 6 to 8 are diagrams for explaining FIG.

In FIG. 5, reference numeral 1 denotes own ship position calculation means capable of calculating dead reckoning navigation and relative position navigation. This own ship position calculation means 1 includes own ship value 1 calculation means (hereinafter referred to as "electromagnetic/position calculation means") 1A using electromagnetic log mode for calculating dead reckoning, and own ship position calculation means using sonic log mode. means (hereinafter abbreviated as "sonic wave/position calculation means") 1B, own ship position calculation means (hereinafter abbreviated as "radar/position calculation means J") Ic in radar mode for calculating relative position navigation, and Ic in deck mode. There is a navigation calculation means consisting of own ship position calculation means (hereinafter abbreviated as "DETSUKA/position calculation means J") 10, and various position measurement sensors such as a gyro compass, electromagnetic log, sonic log, radar, and DETSUKA. (Figure omitted) signals (described below) are calculated by these navigation calculation means, and the calculated own ship position according to each navigation mode is converted into a navigation mode signal.
The own ship position is determined by selecting the navigation mode switching means (hereinafter referred to as "mode switching means") 1 which appropriately selects and switches the own ship position information s (l
Output as It.

More specifically, a gyro signal (azimuth signal) θ from a gyro compass and a velocity signal (S magnetic log number) Ve from an electromagnetic log are guided to the electromagnetic/position calculation means 18, and a sound wave/position calculation is performed. The radio signal θ9 and the sonic log signal V from the sonic log are guided to the means 1B, and the radar signal ρθ and the manually set radar reference position signal ρSM are guided to the radar/position calculation means 1C. - A deck signal Ds and a manually set deck reference position signal DSM are guided to the position calculation means 1D. Further, own ship position information 5ltA after switching by the moto switching means 1e is fed back into the electromagnetic/position calculating means 1A and the sonic wave/position calculating means 1B. Note that 1F cannot obtain the feedback signal of own ship position 1 information S [LltA at the beginning of measurement, so instead, the manual initial value Pe of own ship position information is used.
This is a switching element (hereinafter referred to as "initial value means") provided for setting. Own-ship position information 5OulA from the own-ship position calculating section configured as described above is led to the display section H, and the track of the own-ship position crp as shown in FIG. 6 is displayed.

In Figure 6, J&L is a wake based on the combined position information of the gyro compass and the sonic log (information by dead reckoning navigation),
(2) indicates the track based on Detsuka's position information (relative position navigation), Sρ indicates the switching point, and ap indicates the current own ship position.

The operation shown in Fig. 5 for calculating this bare wake is shown in Fig. 7 below.
This will be explained using FIG. 8 and FIG.

(a) Estimated ship position calculation by dead reckoning is performed by the electromagnetic/position calculation means 1^ and the sonic/position calculation means 1B (more specifically referred to as water mode navigation or sonic log mode navigation).

The electromagnetic/position calculating means 1A estimates the ship's position when the ship's speed is relative to the water, and the sonic wave/position calculating means 1B estimates the ship's position when the ship's speed is relative to the ground. First, an initial value (manual initial value) Pθ of information regarding the own ship's position is given via the initial value means 1F.

Thereafter, the initial value means 1F is switched to form a feedback circuit. In this way, the manual initial value P. After this has been learned, the own ship position will be updated at regular intervals (e.g. every second) based on the current own ship position information 5CUtA (in other words, the new own ship position will be based on the previous own ship position as the reference position). In order to do this, calculations are performed in which a new amount of movement is added to the previous same port position 1 and the position of the mortar Q;)) is updated. That is, after setting the initial ti, the electromagnetic/position calculation means 18 inputs the gyro signal θ9 and the electromagnetic log signal V6 at regular intervals, and calculates the movement type of the own ship relative to seawater by estimation calculation. Mode navigation.However, if correction is made for the amount of movement of seawater over the ground, ``drift,'' the final amount will be the amount of movement over the ground of the own ship.) Ground mode navigation is a method of calculating absolute direction and velocity, and one example of this is sonic log mode navigation using the sonic/position calculation means 1B (@
This also applies to Ray mode navigation and Detsuka mode navigation, which will be described later). In the sound wave/position calculation means 1B, after setting the initial values, the gyro signal θ9 and the sound wave log signal V
By inputting W at regular intervals, the amount of ground movement of own ship is estimated by calculation (the specific calculation method is the same as for water mode navigation), but if the ship's speed is relative to the ground, the drift amount is set to ``0'' in the calculation. ”. The calculation formula at that time is as follows.

Now, set the speed over the water (or speed over the ground) to 87 (knots ~), drift north-south direction per minute (however, not required when using the R-wave log) to VNSD (knots), and drift east-west direction per minute (however, when using the R-wave log). (Not required when using) is VEWD (knots), old Korean degree is φo1d (radian), old longitude is λoia (radian), new latitude is φ1ew (radian), freshness is λT1
．． When expressed as ew (radians), the velocity per minute in the north-south direction relative to the ground VN (
knots) and the speed per minute in the east-west direction over the ground VE (knots) are:
VN=Sf−cosθ+VNso−(
IA) (VN s o is empty when it is a sonic log), where,
COSθ does not represent the gyro orientation.

VE=S/-5inθ+VE w o −(I
B) (VE WD is null when it is a sound wave log), where stnθ represents the gyro orientation.

On the other hand, the initial value of latitude is φsum, and the initial value of longitude is λsu.
m, these are φsum=VN(Kl ・Δt −s i n2φO
1d+2 ・Δt)...(2A) λs u 1K = "E ((K 3 ・Δt /
c o sφotd)+, −Δt −cosφo
It can be expressed as i d 1-(2B). However, Δ
Calculate the interval (time, 1 second period in this example), K, to 4
is a constant, Kl = E3f (f-2>/ (2Ro (1f)2 )]...(3) K2 = 1
．． / (Ro (1-f) 2 to 3 = (1, +
(1/2)! (7-2) l/R,o...(4)
K,=-f(f-2)/(2Ro)
...(5), where I is the oblateness of the earth, R
Let o be the equatorial radius. Therefore, the new latitude φTLekl and freshness λπew are calculated using (2A), +28), and φT
Lekl-φold 1φs u t −f6
A) λ1eku=λojd+λs u +1
- (6B). However, 1φ1ewl<π/2.1
When ^πewl<π, it is necessary to check the signal. Note that the reference position is in the form of latitude and longitude. Same below.

The above (1A) to 12B) and formulas [68) to (6B) are repeated at every calculation interval.

(b) Radar mode navigation, which is one type of relative position navigation, is performed by the radar/position calculation means 1C.

This will be explained using FIG. 7.

First, the position of the fixed target Me on the radar or the reference position (manually set radar reference position) ρSM is first given to the radar/position calculation means 1C, and then the point P□
Information regarding the direction (θ,) from own ship to the fixed target Me at information based on the radar signal ρ.

Receive as. Based on this reception, information regarding the orientation is converted from the gyro signal θ9 to a true orientation signal θN□,
Information regarding the distance is converted into a distance signal ft. Thereafter, the course and travel distance of the own ship are calculated by continuously and repeatedly measuring points P, , P, . . . in the same manner.

(c) Deca mode navigation, which is one type of relative position navigation, is performed by the deck/position calculation means 1D.

This will be explained using FIG.

First, the standard position of the digital device (manual setting, the digital standard position) I) sh
Information on the position given initially and later determined by the Detsuka device (distance from the reference position/X direction: Xi, x node...
-〇～±39,000 yards "yd" Y direction: Yi
, Y,i, -=O\39,0OOVd) as the digital signal Ds, and calculates the current absolute position. still,
It is also possible to perform dead reckoning between the points X i / Y i and X j / Y j using the water mode and the sonic log mode. At this time, navigation is performed to determine the amount of movement from comparison with the previous position.

<Problem to be solved by the invention> In such a conventional position display device, as is clear from FIG. There has been a problem in that when the previous track display JAL is switched to display a new track, the display position shifts.

The present invention has been made in view of the above problems of the conventional technology, and its purpose is to match the position information of the calculation result using the position information between the sensors at the time of switching. Therefore, it is possible to provide a position display device that can eliminate displacement of the display position.

Means for Solving the Problems> In order to achieve the above object, the present invention provides own ship position calculation means for calculating own ship position using signals from a plurality of position measuring sensors by dead reckoning navigation or relative position navigation. It has own ship position calculation means that guides each ship to a corresponding location, calculates own ship position in each navigation mode, selects and switches between navigation modes, and outputs own ship position information, In a position display device that switches and displays own ship's position on a display based on the relative position navigation, when selecting and switching between the navigation modes, the own ship position information before switching is used to determine the corresponding position after switching. The present invention is characterized in that the reference position of the input signal value of the position measuring sensor is calculated backwards, and the digit 1 after switching is calculated based on the backward calculated reference position.

Function: When switching between navigation modes calculated based on signals from various position measurement sensors, the reference position after switching is calculated backwards using own ship position information before switching.

Then, by calculating the navigation moto of the new ship's position after switching based on the back-calculated reference position and the input sensor signal, small table position deviations that occur at the time of switching are eliminated.

<Example> Examples will be described with reference to the drawings.

In the following drawings, parts that overlap with those in FIGS. 5 to 8 are given the same numbers, and the explanation thereof will be omitted.

FIG. 1 is a diagram showing a specific embodiment of the position display device of the present invention.

Figure 2 is a flowchart 1-1 3 for explaining Figure 1.
FIGS. 1 to 4 are diagrams for explaining FIGS. 1 to 2.

In FIG. 1, 10 is an electromagnetic/position calculating means 1A and a sonic position calculating means IB for calculating dead reckoning, a radar/position calculating means 1C and a detsuka/position calculating means 1D for calculating relative position navigation, and the result of dead reckoning. and a mode switching means for switching between modes of the results of relative position navigation (between dead reckoning, between relative value 1 navigation, between dead reckoning and relative position navigation, etc.), and own ship position information. S
This is own ship position calculation means that outputs cut s. 20
30 is a rotor reference position calculation means, and 30 is a decker reference position 1 calculation means.

Here, when the own series is selected based on the contents of the switching signal of the mode switching means 1F, the controller reference position calculation means 20 and the detsuka reference position calculation means 30 are operated by a signal based on the input signal at that time. The signal is fixed and then output as a reference signal. 40 and 50 are auto/manual switches (hereinafter referred to as rA/MSW and A/MSW2J). At this time, A/'MSW, 40 is a signal from the radar reference position calculation means 20 and a radar reference position signal. ρSM is derived, and these signals are switched and selected as necessary. Normally, the radar reference position signal ρ5M is used as a manual input when inputting the initial value for the first time as described above (used as a lick that is separately set when the navigation mode is first selected), or before switching. It is used for manual usage such as setting and adjusting when the error in the own ship's position is large, and from then on, it is used by switching to output the signal from the O1~ side, that is, the radar reference position calculation section 20. It will be done. Here, the signal after switching is referred to as the rater reference position signal ρ. Represented as S. Further, the A/MSW 250 receives a signal from the deck reference position calculating means 30 and the deck standard position signal DSM, and these signals are switched and selected as necessary. Normally, the DETSUKA reference position signal 1) 6 M is used as a manual input when first inputting the initial value as described above, and thereafter it is used on the auto side, that is, the DETSUKA reference position calculation section 30.
It is used by switching to output the signal from. Here, regarding the signal after switching, the following is the Detsuka reference position signal 1) s
Expressed as s.

In the device configured in this manner, after manually setting the reference position in the own ship position calculation unit 10, the own ship position is calculated based on signals from various position measurement sensors and the own ship position is displayed. can do. At this time, the calculated own ship position is selected according to the calculated navigation mode to determine the own ship position.

When switching the navigation mode (of course, the signals from the navigation mode sensor before and after switching are the input signals),
Calculate the reference position after switching using the own ship position before switching,
Thereafter, if the own ship position is calculated using the reference position, the ship's position will be smoothly connected before and after the switch without any positional deviation that occurs at the time of the switch. The specific flowchart is shown in Figure 2.

At this time, in the electromagnetic log mode and the sonic log mode, the own ship position itself becomes the reference position 1. In addition, the radar reference position calculation section 2
0 or when the mode switching means 1 is switched to use the signal from the digital reference position calculation unit 30, the reference position of the fill FI fixed sensor after switching is calculated backward using the position information before switching, and the reference position calculated from this back calculation is calculated using the position information before switching. The radar reference position signal ρ is calculated by calculating the position after switching using the position. A standard position signal I)ss is obtained.

Here, for example, as shown in Fig. 4, the track (01) in sonic log mode navigation is different from the track (01) in detsuca mode navigation.
In connection with the case where the display is switched to D), the calculation formula regarding the tread and lightness of the ship position at the time of the switch is shown.

The latitude and longitude of the reference position are (φdot αcio), and the latitude and longitude (radians) of the ship position at sP at the time of switching are (φd+
+αd, ), depth position information (yd) relative to the reference position
Assuming that (χ, &) is the latitude of the reference position at the time of switching, the latitude (φdot αdO) is φ(io=φd).

P(K+ ・sin' φ d l 10
K2 ) −(78) α d O° α d+
- χ (K / cosφdt+-, -cosφ
a+)...(8A) It can be determined by the following. Then, the latitude and longitude (φdTL, αdπ) of the subsequent ship position are as follows: φdTL=φdo+ &(K+ ・sin'φd o +K 2 ) −(
7B) αdTL”=ado 1χ (K)/cos φcto+4−cos
φdo ) −f8B).

In addition, when the above-mentioned Deca mode navigation is changed to Rator mode navigation, from Fig. 3, the latitude and longitude (radian) of the ship position with respect to the target at the time of switching are (φL++λ+-+),
D, which expresses the distance between own ship's position and the target in the north-south direction using equation (9)
l, Dj7=DIXcosθL ・(9)
(However, DL is the distance expressed as li, !4..., θ[
is the direction expressed by θNt + θNJI...), and the distance between the own ship's position and the target in the east-west direction is expressed by the GO) formula I) e
p, Dep = Dc
The reference position at the time of switching when tλ1-0) is φ1-0=φL+ − DI (K+ ・sin'φL + + K 2 )
-(11A) λLO: λL1 Dep(K3/cosφL+ 1, -cosφL I ) = 112^). Then, the subsequent own ship position is φLπ=φ[Q0Dl(K, -5in2φL O1K 2 > −(11
B) λ and π = λ Lo +De p (K3 /cos φ
Sh. +4−cosφt o )−f12B).

Note that the present invention is not limited to the above explanation.

For example, it goes without saying that in relative position navigation, only one of the radar signal and the deck signal may be used (the same applies to dead reckoning navigation). For example, to put it in extreme terms, dead reckoning is calculated using gyro signals and electromagnetic log signals, relative position navigation is calculated using only radar signals or only radar signals, and switching between these methods is possible.
Needless to say, it may be something that displays the position.

<Effects of the Invention> Since the present invention is configured as described above, it produces the following effects.

Since the signals from each sensor each contain their own errors such as drift and variation, conventionally, when switching the calculation result of the navigation mode based on the sensor signal, it was necessary to display t.
However, according to the present invention, it is possible to display continuous positions without any deviation in display position even when switching.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a specific embodiment of the position display device of the present invention, FIG. 2 is a flowchart for explaining FIG. 1, and FIGS. 3 and 4 are explanations for FIGS. 1 and 2. diagrams to be served,
FIG. 5 is a block diagram of a conventional position display device, and FIGS. 6 to 8 are diagrams for explaining FIG. 1.10... own ship position US calculation means, 1A... electromagnetic/position 1 calculation means, 7B... sound wave/position calculation means, 1C...
・Radar/position calculation means, 1D...Deck position calculation means, 1F...Moto switching means, 20...Radar reference position 111F calculation means, 30...Deck position 1 calculation means,
40.50 is the auto/manual switch (A/MSW.

Claims (1)

[Claims] The signals from the multiple position measurement sensors are guided to the corresponding locations of own ship position calculation means that calculate own ship position by dead reckoning navigation or relative position navigation, and after calculating the own ship position in each navigation mode, the navigation mode is activated. In the position display device, the position display device has an own-ship position calculation means for outputting own-ship position information by selecting and switching between the positions, and switches and displays the own-ship position on a display based on the own-ship position information. When position navigation is selected or switched between the navigation modes, the reference position of the input signal value of the corresponding position measurement sensor after switching is calculated backward using the own ship position information before switching, and the reference position calculated in the backward calculation is calculated. A position display device characterized in that a position after switching is calculated based on.