JPS62113080A - Ship position recognizing instrument - Google Patents

Abstract

PURPOSE:To increase the accuracy and reliability of a ship position recognition in the whole and in the whole seasons by estimating optimum acceleration and speed on the basis of the data from a GPS receiver, an inertial navigation instrument and a pattern matching instrument. CONSTITUTION:The data from a GPS receiver 10 for outputting the speed and the position of a navigating ship on the basis of the received signals from an artificial satellite, an inertial navigation instrument 20 for outputting the data of an acceleration, the speed and the position on the basis of the acceleration and the angular velocity of the ship and a pattern matching instrument 30 of a radar video and an electronic chart are inputted to a navigation processor 40. Optimum acceleration and speed are estimated on the basis of the effective data in accordance with the effectiveness of the data. Further, an abnormality in sensors is detected on the basis of an estimated present position and the speed and an optimum speed, an optimum position and the estimated position are computed by a Kalman filter to be displayed on a display 50.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a ship position recognition device optimal for use in ship navigation.

[Conventional technology]

NN5S (navy) is a conventional non-independent positioning device.
navigation 5atellite 5yat
*m) There are navigation devices, Loran navigation devices, and Omega navigation devices, and each of these has been used independently. Recently, hybrid navigation devices that combine these have appeared, but data that is considered to be the most accurate is selected from among the ship position information output from multiple devices (ship position information switching selection method)
The only methods that have been proposed are ones that simply take the average value.

[Problem to be solved by the invention] The above-mentioned NN5S navigation device can only measure at long intervals (for example, every hour) and has a measurement error (for example, every 100 minutes).
m to 500 m). Although the Loran navigation device described above is capable of constant measurement, the measurement error (for example, several hundred meters) varies considerably depending on the location. The Omega Navigation Equipment +1 can be used almost all over the world, but its measurement accuracy varies depending on the sea area.

For this reason, conventional hybrid navigation devices are available, but as described above, the information obtained from the individual positioning devices is not optimally used to designate a position, resulting in insufficient accuracy.

On the other hand, ship position recognition is the most basic requirement for navigation, and requires greater accuracy than current positioning devices in order to save labor and navigate through narrow channels and ports. Moreover, it can be used anywhere in the world and at any time. Moreover, it is necessary to be able to measure position in a short period of time.

The present invention was made based on these circumstances, and
The objective is to provide a highly accurate and reliable ship position recognition device that can perform optimal ship position recognition all over the world and in all seasons.

[Means for solving problems]

Therefore, the ship position recognition device of the present invention includes a GPS receiver that outputs data on the speed and position of the ship during navigation, an inertial navigation device that outputs data on the acceleration, speed, and position of the ship, and position data. A best acceleration/best speed estimation processor that estimates the best acceleration and speed based on various data from the GPS receiver, inertial navigation device, and bump matching device that outputs the radar video and electronic chart, and the best acceleration and speed estimation processor. , a time synchronization processing processor that estimates time-synchronized speed and time-synchronized position, an abnormal sensor removal processor that removes abnormal sensors and calculates observation error variance, and extracts best speed, best position, and error information using a Kalman filter. It is characterized in that it is equipped with a best speed/best position estimating processor that calculates the predicted speed and predicted position at the next synchronization time, and a display that displays the husk speed, best position, etc.

[Effect]

According to the ship position recognition device of the present invention, the best acceleration and best speed are estimated by the navigation processor based on various data obtained from the GPS receiver, inertial navigation device, and quantity matching device, time synchronization processing is performed, and the abnormality sensor is removed, the observation error variance is calculated, and the best speed, best position, and error information are obtained using a Kalman filter, making it possible to determine the best ship position all over the world and in all seasons, making it highly accurate and reliable. Ability to know the ship's position.

〔Example〕

An embodiment of the ship position recognition device of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram of the equipment configuration of a ship position recognition device according to the present invention, and FIG. 2 is a block diagram embodying FIG. 1.

GPS (Global position myst
am) The receiver 10 performs preamplification, frequency conversion, spectrum despread demodulation, Donnora measurement, and distance measurement based on the received signal from the artificial satellite, and outputs data on the speed and position of the ship during navigation.

The inertial navigation device 20 calculates an acceleration vector, corrects gravitational acceleration, and Coriolis acceleration based on input data of acceleration and angular velocity of a ship during navigation, and outputs data on acceleration, velocity, and position.

The radar video and electronic chart matching device 30 performs dynamic matching of the radar video and electronic chart based on input data of the two, and outputs position data.

The various data outputted from the GPS receiver 10 and the inertial navigation device zO1 pattern matching device 30 are input into the navigation processor 40, where they are subjected to the following various processes.

(1) The best acceleration/best speed estimation processor 41 estimates acceleration and speed based on valid data according to the validity of the data, and outputs the best acceleration and best speed.

(2) In the time synchronization processing processor 42, according to the validity of the 6-data, if the data is valid, the speed and 6γ position are updated by dead reckoning, thereby outputting the time-synchronized speed and the time-synchronized position. do.

(3) The abnormal sensor removal processor 43 checks the speed and position of each sensor based on the current predicted speed and predicted position by the Kalman filter, and detects an abnormal sensor. The observation error variance of the Kalman filter corresponding to the cell determined to be an abnormal sensor is set to be sufficiently large, and the observation error variance is output.

(4) Best speed/best position estimation The grosser 44 uses a Kalman filter to estimate the best speed, best position, and
The difference information is calculated and outputted, and the predicted speed and predicted position 1d of the next synchronization time are calculated and outputted.

Through the various processes described above, the navigation processor 40 outputs the best speed, best position, and error information, and the display 5
It is input to 0. As a result, the display 50 displays, for example, as shown in FIG.

As detailed above, according to the embodiment of the ship position recognition device of the present invention, each GPS receiving t9.10% inertial navigation device 20,
of'? The operation of the navigation processor that combines, synchronizes, and optimizes the characteristic data of the tongue matching device 30 has the following effects.

(1) Positioning is possible in a short time all over the world and in all seasons.

(2) The long-term stability of the GPS receiver 10, the short-term stability of the inertial navigation device 20, and the high precision of the radar video and electronic chart matching device 30 complement each other in both the short and long term. Highly accurate position and speed can also be obtained.

(3) The GPS receiver 10 is a non-self-contained type, and the inertial navigation device 20 and radar video/electronic chart matching device 30 are self-contained types, so the probability that one malfunctions and the other malfunctions is extremely low and reliable. It becomes an expensive system.

As described above, the system is highly accurate and reliable and does not require land support, making it ideal as a ship position recognition system for unmanned ships such as intelligent ships.

〔Effect of the invention〕

According to the present invention described above, the navigation processor estimates the best acceleration and speed based on various data obtained from the GPS receiver, inertial navigation device, and tandem matching device, performs time synchronization processing, and removes abnormal sensors. Then, the observation error variance is calculated and the Kalman filter is applied to obtain the best speed, best position, and error information, making it possible to recognize the best ship position all over the world and in all seasons, making it a highly accurate and reliable ship position recognition device. can be provided.

[BRIEF DESCRIPTION OF THE DRAWINGS] Fig. 1 is a schematic diagram of the equipment configuration showing one embodiment of the ship position recognition device according to the present invention, Fig. 2 is a diagram illustrating the second embodiment of Fig. 1, and Fig. 3 is a diagram of the It is a figure which shows the example of a display of the display of figure. 10...GPS receiver, 20...Inertial navigation device, 3
0... Radar video and electronic chart matching device, 40... Navigation processor, 41... Best acceleration/best speed estimation speed processor, 42... Time synchronization processing speed processor, 43... Abnormal sensor removal processor, 44
...Best speed/best position estimation processor, 50-・1
Display. Applicant's agent Patent attorney Takehiko Suzue

Claims (1)

[Scope of Claims] A GPS receiver that outputs data on the speed and position of the ship during navigation, an inertial navigation device that outputs data on the acceleration, speed, and position of the ship, and data on the position of the ship. a radar video and electronic chart pattern matching device that outputs; a best acceleration/best speed estimation processor that estimates the best acceleration and best speed based on various data from the GPS receiver, inertial navigation device, and pattern matching device; A time synchronization processing processor that estimates time-synchronized speed and time-synchronized position, an abnormal sensor removal processor that removes abnormal sensors and calculates observation error variance, and a Kalman filter that calculates the best speed, best position error information, and the next synchronization time. A ship position recognition device comprising: a best speed/best position estimation processor that calculates a predicted speed and a predicted position; and a display that displays the best speed, best position, etc.