KR100314987B1 - Automatic system for ship trial - Google Patents

Abstract

The present invention relates to an automatic speed measurement method, and a system for automating the speed measurement of a ship on the sea by a relative correction satellite positioning method using a satellite receiver and a computer.

Characteristic means for automation is to process the satellite information collected through the interface with a computer to check and analyze the ship's ship's speed performance. It consists of a graphic module that can be controlled and analyzed in real time by visualizing the interface (Graphic User Interface), the system name of the present invention HSTS (Hyundai Ship Trial System) is the number of satellites detected by the system, the monitoring of satellite information reception status, Function to provide indicators of speed, latitude and longitude, flight distance, average and instantaneous speed as real-time information, automatic and manual switching of speed measurement performance, conversion of speed measurement unit, visualization of flight trajectory, and input as control condition By setting up, reporting of measurement results and saving function It consists of providing automation functions for reason and manpower reduction.

Description

Automatic system for ship trial {Automatic system for ship trial}

The present invention relates to a ship speed automatic measurement method of a ship using a differential correction satellite positioning device (DGPS), more specifically, a ground reference station from a global positioning system (GPS) satellite over the earth Receiver and ship receiver on the sea receive satellite information, satellite force, standard time, etc., calculate the 3D position coordinate value of ship by propagation speed and geometric law, known coordinate value and measured position coordinate value When the difference is transmitted from the reference station to the ship's receiver, the ship's receiver transmits the information about the corrected latitude, longitude, standard time, altitude, etc. to the computer through the interface, so that the ship's moving distance, speed, bearing, unit conversion satellite status, etc. Displays real-time graphic information on the computer, reports, flight trajectory, time, file storage, ship position on the electronic chart, etc. Jung relates to an automatic measuring method of providing a means for controlling the input and output of various kinds of information necessary for evaluation analysis.

The ship speed measurement carried out by the ship building test is to test the performance of newly built ships. It proves whether the contract conditions are satisfied between the ship builder and the ship owner and provides the ship operator with the necessary data for operation. The purpose of this study is to obtain reference data for future ship design through the correlation between solid line and design.In general, when a ship speed of less than 0.1 knots is measured for the contract speed of a ship, a large penalty will be charged. Accurate and accurate line speed measurement on both sides is an important factor.

Referring to FIG. 2, a conventional speed measurement is described. The base station of Busan Gijang-myeon, which is installed on the land as the radiolog device 12 mounted on the ship 11 to measure the speed, becomes a master station (Master station). The vessel to transmit the radio wave to the slave station (13) and to receive the radio wave retransmitted by the base station 13 at the reference station 12 of the vessel 11 to calculate the vessel speed of the vessel (11) (11) has a limitation that it should always operate at 62 ° / 242 ° of the East Sea, the target route 14 at all times.

At this time, due to external influences such as tidal wave 15, wave 16, and wind 17 that change every moment, the operating route of the ship 11 often deviates from the planned target route 14. In order to maintain the target route 14, the ship 19 and the target route 14 that are actually operated are adjusted to the target route 14 by using the rudder 18 of the ship 11. Route measurement for optimum speed test, such as not only when the measured speed value obtained by dividing the flight distance by operating time is accurate, but also when the test is interrupted by the other ship 20 in the speed test area. There is a problem that has a lot of constraints.

An object of the present invention for improving the problems of the conventional radiolog system as described above is to provide an automated function of flux measurement to a system consisting of a DGPS receiver, an interface and a computer.

In addition, another object of the present invention is to improve the measurement efficiency and manpower saving by processing and providing all the information including satellite information in order to help the quick and accurate situation determination and interpretation of the test personnel.

First, GPS will be described briefly. GPS is a navigation system using satellites. The distance between the satellite and the receiver is obtained by multiplying the propagation speed by the time when the signal transmitted from the satellite reaches the satellite receiver. The information about the 3D position and time of the receiver is obtained.

Among the error factors of GPS, the error due to the satellite orbit and the clock is very small because it is controlled by the US Department of Defense, but the speed when the radio wave enters the ionospheric and convection to reach the receiver There is an error of approximately 5 to 20m because of the error caused by the reduction and commercial select code S / A (Selective Availability), which artificially reduced the accuracy of satellite information so that it cannot be used for military purposes by the US Department of Defense.

In order to further improve the error of the GPS, there is a relative correction method using a phase of a carrier or removing a common error in two adjacent GPS receivers. Real-Time Differential Correction was used.

1 is a system configuration diagram of the system name HSTS of the present invention;

2 is an operation of the existing radiolog system,

3 is a graphical user interface embodiment of the present invention,

4 is a menu configuration diagram of the present inventor system name HSTS,

5 is an embodiment of a TEST dialog box according to the present invention;

6 is an embodiment of a SET dialog box according to the present invention;

7 is an exemplary view of a flux measurement diagram according to the present invention;

8 is an exemplary view of a flux measurement result according to the present invention;

9 is a time and unit conversion embodiment according to the present invention,

10 is a diagram illustrating an error measurement of a GPS device without a correction signal;

11 is an exemplary embodiment of error measurement by relative correction satellite positioning according to the present invention;

Table 1 is a static error measurement table of the present invention

Table 2 is a dynamic error measurement table of the present invention

Table 3 is a flux measurement comparison table of the present invention

<Description of the symbols for the main parts of the drawings>

(1): satellite (2): orbit

(3): ships (4): receivers of the ground reference station

(5): reference point coordinates

(6): Correction signal transmitter of land reference station

(7): receiver of the ship (9): interface

(10): computer

In order to achieve the object as described above and remove the drawbacks of the related art, the configuration and the operation of the device for measuring the ship speed using the real-time relative correction satellite positioning method implemented in the present invention will be described in detail with reference to the accompanying drawings. As follows.

Referring to Figure 1 in detail the basic principle of obtaining satellite information on the position of the ship (3) at sea, each of the six orbits (2) inclined at 55 degrees and the equator of about 20,200 km above the earth's surface 4 to 5 satellites (1) are arranged at the same time, and a pseudo random code is simultaneously generated by one satellite (1) and a reference station receiver (4) on land. The distance between the satellite 1 and the reference station receiver 4 is calculated by calculating the time of propagation and the time received at the reference station receiver 4, and the reference on the ground in the same way as the other three or more satellites 1. Information about the position and time for the three-dimensional (x, y, z) reference point coordinates 5 of the station receiver 4 is obtained.

For the present invention, first, the reference point coordinates (5) of the reference station on the land were surveyed, and the survey result was precisely measured by the Korea Institute of Standards and Science by setting the building roof of the marine marine research institute of Hyundai Heavy Industries at 1, Jeon-dong, Dong-gu, Ulsan. The measured reference point coordinates (5) had a longitude of 129 ° 26'45.43549 ", a latitude of 35 ° 3'55.24939", and a height of 46.481m, respectively.

The reference station on the land compares the reference point coordinates (5) already known correctly by the above-described precision measurement with the position value calculated by the information received from the satellite, and calculates a correction value which is the difference between the two position information. Transmitter 6 transmits to satellite receiver 7 of ship 3 at sea and uses it as calibrated signal in computer 10 of ship 3 for precise location information. It is in SC-104 format as defined by the RTCM Special Committee.

The receiver 7 of the ship 3 at sea measures the position of the ship by the GPS method, and receives the ASCII code information of the GPGGA format for the position and the time using the correction signal sent from the land reference station. The built-in RS-422 serial communication port (7) transmits to the computer (10) through the cable (8) and the interface (9).

The interface 9 has an RS422 / 2S2 signal converter for connecting satellite information to the RS-232C serial port of the computer 10. The serial communication settings include the Com1 port, 4800 baudrate, and 0 parity. (Parity), 8 data bits, 1 stop bit, and the numerical information inputted to the computer 10 is provided to the user with latitude, longitude, altitude, and time, and the calculated information is navigated. Distance, speed, and bearing are convenient features that are provided in graphical displays and data files.

The coordinate system used in GPS uses WGS 84 (World Geodetic System 1984) coordinate system which is commonly used all over the world.It is a specification of the reference ellipsoid used.The long radius a is 6378813.7m, the short radius b is 6357426.7m, and the flatness f is 1 / 298.257223563, and the coordinates used in the present invention are different from the Bessel coordinates widely used in Korea, but the measured coordinate values are not required for ship speed measurement, but the speed according to the travel distance and time required between two points. Since the value is calculated and the distance calculated by converting it to the Bessel coordinate system is the same, the speed of the ship is estimated using the value of the WGS 84 coordinate system as it is, and the distance between the two points is calculated as follows.

Difference in hardness, Latitude, 206265 to find the distance L between longitude and latitude S between two points.

here

Therefore, the distance between the two points Is calculated.

In the present invention, the operator performing the speed measurement test by the graphical user interface (GUl) using the icon displayed on the computer screen with a mouse in the Windows 3.1, Win 95, or Win 98 operating system of the computer 10 At first glance, it is possible to centrally control and automatically measure the performance of the ship test while checking various information and test conditions displayed on the screen, and provides an efficient convenience function to automatically perform the final result and evaluation process of the ship test.

The system operation and configuration of the main functions of the present invention by the graphical user interface appearing on the screen of the computer as shown in FIG. 3 are shown in FIG. 4. .

The Set button 22, the Exit button 23, the Plot button 24, and the Run button 25 located at the upper left of FIG. 3 are the Menu button 21 It is a dialog box that appears when you press) and it is used to perform the function of each icon without having to navigate through the sub menus.

When the Menu button 21 of FIG. 3 is selected, an embodiment diagram in which a dialog box of Test and Set appears is shown in FIGS. 5 and 6, respectively, and has an auxiliary function such as hiding an icon. have.

The set button 22 of FIG. 3 can initially set or modify the internal time of the computer, and the unit of the speed test can be set from nm to metric or knots to m / sec. The standard time is converted into Korean standard time and converted into the standard time to synchronize with the satellite standard time.If there is a difference between the satellite standard time and the internal time of the computer, it is automatically readjusted based on the satellite standard time. It has a function.

The exit button 23 of FIG. 3 is used to close the graphic user interface screen appearing on the computer and end the speed test.

If the Plot button 24 of FIG. 3 is selected, the latitude 51 and longitude of the trajectory 53 in which the vessel is operated at sea using the data acquired in the ship speed test as shown in FIG. Provides a two-dimensional graphical display (52) and a file upload button to read and display the print output (54), zoom in / out of the measurement distance (55), screen return (56), and stored flight records. Has 57

In FIG. 3, the communication state indicator 26 indicates a state in which satellite information is normally received when the red light is turned on, and the connection state of the satellite receiver cable is self-checked inside the system to turn off when a communication state is poor or abnormal. The user is informed of the poor or abnormal reception state of the satellite information to the user, and the error information is displayed on the reception information window 27 as a pop-up screen.

Also, in the reception information window 27 of FIG. 3, the data format ($ GPGGA), time ( 11614.00), latitude (3530.887572), azimuth (N), longitude (12926.721116), azimuth (E), GPS mode, the maximum number of satellites received, and so on.

In FIG. 3, information on the current date and time is provided in the display windows 28 and 29, respectively, and start and end times of the measurement operation are provided in the 30 and 31, respectively.

The satellite information window 32 of FIG. 3 shows whether or not the quality of the GPS satellite history, GPS satellite maximum number of GPS satellites, No. of SVS, the reception status of the reference station signal, and the accuracy of the position measurement are good. It provides a mini-window with four functions such as HDOP (Horizontal Dilution of Precision).

The height display window 33 of FIG. 3 indicates how many meters above sea level the satellite receiver is located in the height according to the WGS84 coordinate.

The stop distance input window 34 of FIG. 3 may set the voyage distance that the ship intends to operate with a 1 nm (neutical mile) or a zone input value arbitrarily set by the tester by manipulating the up and down decrease icons on the left side. It was made.

In FIG. 3, the instantaneous speed of the ship is calculated by calculating the instantaneous speed of moving to the ship position and the current position immediately before the measurement test at a period of 1 second and represented by the analog indicator 35 and the digital display 36.

The Start button 37 of FIG. 3 has a function of manually or automatically stopping the start of the measurement test. The Stop button 38 has a function of pausing the measurement work.

In Figure 3, the test mode selection switch 39 is an automatic measurement mode (Auto stop) for automatically measuring the flux measurement, and a manual measurement mode in which the tester manually measures by operating a button of Start (16) and Stop (17) ( Manual stop) can be selected.

In FIG. 3, there is an analog display 40 and a digital display 41 for indicating a ship's traveling direction, and the digital display 41 has a resolution of 0.1 ° in the range of 0 to 36 ° with a resolution of 0.1 °. To be displayed.

Line number (HULL NUMBER) input window 42 of Figure 3 was to enter the unique number of the vessel to measure the speed so that it can be referenced in the report file.

In the description window 43 of FIG. 3, a character and a number are used to distinguish the repetition frequency of the flux measurement test.

Abort button 44 of FIG. 3 has a function of canceling the current flux measurement operation and initializing the test condition again.

In FIG. 3, the latitude (LATI_DATA) window 45 and the longitude (LONGI_DAIA) window 46 display each of the current latitude and longitude values in real time in 60th order in units of 1/100 second, and the window 47 and the window ( 48) displays the coordinates of the measurement starting point.

In Fig. 3, the average flux display window 50 displays the coordinate values on the latitude 47 at the start of the flux test, the latitude 45 at the end, the longitude 48 at the start, and the longitude 46 at the end. The moving distance 49 is displayed from the receiver, and the start time 30 and the end time 31 are calculated to obtain the position information of the test ship.

In the control program of the present invention, a total of five graphic screens including one main menu and four submenus are provided, and the menu configuration is as shown in FIG. 4, and a diagram for selecting a submenu is illustrated in FIGS. 6 and 6. Indicated.

Referring to FIG. 7, a dialog box for displaying a mileage is described. The screen size is automatically or arbitrarily reduced or enlarged while displaying measured values as two-dimensional data with the longitude and latitude of the X-axis in the two-dimensional graph on the screen. It has the function to check the function and status of the speed test and print out.

Referring to Fig. 8, the display screen of the flux measurement results will be described.The window 59 showing the start, end, and time required for the flux measurement and the window 60 for distinguishing the repetition frequency of the test, and the start and stop of latitude and longitude are shown. A position display window 61 indicating a position together with a direction, a button window 62 having a function of storing and closing a measurement result, and a window 63 displaying a mileage distance, an azimuth angle and an average ship speed are provided.

FIG. 9 shows a dialog box for setting a time for report output, including a window 64 for correcting and inputting a date, a time input window 65, a conversion window 66 for the measurement unit of speed of light, and a dialog function of FIG. 9. It consists of the window 67 which terminates and the window 68 which has the function of showing or hiding the help of an icon function to a user.

In order to verify the performance evaluation and the accuracy of the flux measurement of the present invention, a series of tests were planned and performed. First, the first test to examine the accuracy according to the present invention, the static test was performed at a distance of 18 nm from the reference base station. At a precision measured reference point located in heavy industry, the following was performed:

In FIG. 10, the position of the satellite receiver measured by GPS alone without receiving the correction signal is shown, and the error is shown to be about 20 to 100 m.

11 is better than the case where the position error is less than 1 m when the correction signal is used as the position of the satellite receiver measured by the relative correction satellite positioning of the present invention. Table 1 shows the relative correction equation. The statistical characteristics of the position error in case of using satellite positioning are shown.

The second test is a dynamic test performed on land in order to verify the accuracy of the present invention. A straight line course of 1852m, which is a normal speed test course, is designated as an emergency runway section of Unyang Interchange at Gyeongbu Expressway. After measuring the 50m distance between the start point and the end point, the measurement speed according to the present invention and the speed measured by a stop watch were compared.

In order to reduce the error of the two measuring methods, the vehicle was started after the test was started at the starting point, and after the same test was started, the test was completed after stopping at that point exactly 1852m.

In this case, the time gets the same value, so the velocity is influenced by the distance measurement result by the relative compensated satellite positioning.

(Variants, applications and legal interpretations)

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

It can be seen that the comparison of the flux calculated by the present invention and the stopwatch satisfies the accuracy required for flux measurement as shown in Table 2.

As a final step, the ship was built at Hyundai Heavy Industries and tested in the East Sea near Hyundai Heavy Industries. The distance from the reference station is about 50 nm, which is known to have no significant effect on the DGPS.

For the objective comparison of the speed test results, the speed measurement was carried out simultaneously with the radiolog device, and the results are shown in Table 3. The difference between the speed of the radiolog system and the speed of the present invention is 0.02 knots or less on average, which is good even in the relative comparison evaluation. Not only are the results obtained, but these slight differences are not always constant and may vary slightly depending on the sea state at the time of the ship comparison test, but in all cases the difference is less than 0.2 knots. The flux of the invention was found to be better with a slight difference than the radiolog measurement result. In the case of poor resolution, it is determined that the results of the present invention are less affected by the test environment.

Considering the precision accuracy of the comparative experiment results, if the velocity measurement error due to relative correction satellite positioning has a normal distribution with a statistical average of 0.0, the probability that the measurement error of the velocity is within 0.1 knots is 99% or more. To do this, the standard deviation of the measurement error must be less than 0.033 knots.

The container ship, which is a high-speed elongated ship with a contract speed of 30 knots, should have a position error of less than 2m by DGPS test measurement, and VLCC (Very Large Crude-oil Carrier) with a contract speed of 15 knots. In the same low-speed hypertrophic line means that the position error should be 4 m, the comparative test results confirmed the results that satisfies all these requirements to verify the practicality and accuracy of the present invention.

Therefore, the present invention automates manpower and expense by automating the retest, which occurred once or twice per 10 ships in the conventional radiolog system, by moving distance, flight coordinates, flight trajectory, unit conversion, fault monitoring, result analysis, and test control functions. It is effective to reduce.

TABLE 1

Mean Latitude Error (m) 0.05 m Average hardness error (m) 0.14 m Mean error (m) 0.42 m Standard deviation (m) 0.16 m

TABLE 2

Exam number Knots Knots Knots One 13.802 13.802 0.000 2 13.388 13,386 0.002 3 14.063 14.061 0.002 4 22.642 22.680 0.001 5 21.685 21.680 0.005 6 15.518 15.506 0.012 7 13.140 13.143 0.003 8 14.009 14.006 0.003 9 13.434 13.432 0.002

TABLE 3

Exam number Radiologs (knots) HSTS (knots) Knots Full Load 1 13.243 13.229 0.014 Full Load 2 13.149 13,148 0.001 Full Load 3 12.987 12.969 0.018 Full Load 4 12.874 12.872 0.002 Ballast 16.209 16.197 0.012

Claims (1)

In the flux measurement method using satellite information collected by a satellite receiver, an interface device and a computer, From the GPS (Global Positioning System) satellite (1) in the Earth's low orbit, the receiver (4) of the terrestrial reference station and the receiver (7) of the ship (3) at sea receive satellite information, satellite power, and standard time. Obtaining the three-dimensional position coordinate value of the ship (3) by the propagation velocity and the geometric law; Transmitting the difference between the known reference point coordinate (5) value and the measured coordinate value of the measured position from the calibration signal transmitter (6) of the land reference station of the reference station (4) to the ship receiver (7), Transmit information of latitude, longitude, standard time, altitude, etc. corrected by the receiver 7 of the ship to the computer 10 through the interface 9, so that the moving distance, speed, azimuth, unit conversion satellite state of the ship 3 Displaying information such as report, flight trajectory, time, file storage, and position of ship on electronic chart through display of real-time graphic information on computer 10. The graphical user interface GUl (Graphic User Interface) uses icons displayed on the screen of the computer for convenient control by the operator who performs the test. And an automatic speed measurement method comprising a method of automatically performing a final result of the speed test and an evaluation process.