KR100929598B1 - Method for the calculation of station keeping information - Google Patents

Abstract

PURPOSE: A method for calculation vessel navigation information is provided to transfer a vessel to a fixed specific location or a moving specific location, by calculating recommended course, a recommended speed and turnaround time. CONSTITUTION: Minimum distance to the area of figure showing the navigation location of a moving vessel is calculated(S910). Relative speed of the vessel is calculated for the transfer speed of the figure area(S920). Transfer turnaround time initial value of the vessel is obtained from a mathematical equation(S930). Distance to the shortest distance spot of the figure area at the transfer position of the vessel is calculated(S940). Required transfer speed of the vessel is calculated by dividing the shortest distance by the transfer turnaround time(S950). The difference between the required transfer speed and the speed of the vessel is compared with a value of a fixed range(S960). The shortest distance spot is calculated from the location of the vessel transferred from a final transfer location of the figure(S970).

Description

Method for the calculation of station keeping information}

The present invention relates to a method for calculating ship navigation information, and more particularly, to calculate ship navigation information for providing information such as the shortest route or moving speed for moving to a specific position such as a ship formation or anchorage site having a predetermined shape. It's about how.

In the past, the only visual and voice communication by radar and operator was the only way to obtain information on the surrounding conditions, in particular, the behavior of other vessels.

In recent years, however, it is easy to determine its position in real time by the Global Positioning System (GPS), which is developed and used worldwide by the United States.

To this end, ships such as cargo ships, fishing vessels, warships and passenger ships sailing through the sea are equipped with a GPS receiver that receives the position of the vessel currently sailing from the satellite, and a terminal composed of a database containing marine topographic information such as electronic charts required for navigation. I wear it.

Accordingly, each ship can navigate along the desired route in the sea by grasping the location of the current sailing through the GPS receiver, and in the case of a fishing boat, the location of the fish where the fish found are gathered using fish detection. You can also move to

However, various types of ships such as straight line, circle, sector, polygon, etc., or providing information such as the shortest distance or moving speed for moving to a specific position can be directly controlled by the operator using the electronic chart and GPS equipment installed on the ship. It can only be calculated.

The present invention is to the anchoring position of the ship returning to the port after completing the navigation information calculation or navigation for quickly moving to a specific position of the predetermined form area by interlocking the electronic chart and the Global Positioning System (GPS) equipment mounted on the vessel The present invention provides a method of calculating movement information such as a distance and a moving speed for moving.

The technical problem to be achieved by the present invention relates to a navigation information calculation method of a ship for moving to a specific location fixed or a specific location to move through the electronic chart and GPS equipment interlocking.

One embodiment of the ship navigation information calculation method according to the present invention for solving the above technical problem, the first shortest distance to calculate the shortest distance to the predetermined figure area indicating the position to be sailed by the ship moving at the speed of S Calculating step; A relative speed calculation step of calculating a relative speed of the ship with respect to the moving speed V of the predetermined figure region; first travel time required to obtain a first travel time by dividing the first shortest distance by the relative speed of the ship (t0) A) calculating step; A second shortest distance calculating step of calculating a shortest distance to the predetermined figure area from the position at which the ship has moved after the first travel time t0 has elapsed; A first travel required speed calculating step of calculating a travel required speed of the ship by dividing the second shortest distance by the first travel required time t0; Obtaining a difference between the required travel speed of the ship and the speed S of the ship; And a final travel time and final position calculation step of calculating the travel time and the shortest distance point of the ship when the difference between the required travel speed of the ship and the speed S of the ship is within a predetermined range.

Preferably, the predetermined figure region is at least one of a straight line, a circle, a fan, or a polygon.

Preferably, when the difference between the required travel speed of the ship and the speed S of the ship is outside the predetermined range, the first travel required time (t0) is obtained by dividing the first travel required speed by the relative speed of the ship. Calculating a second movement time t1 by multiplying to obtain a second movement time t1; A third shortest distance calculating step of calculating a shortest distance to the predetermined figure area from the position at which the ship has moved after the second travel time t1 has elapsed; A second movement required speed calculating step of calculating a moving required speed of the vessel by dividing the third shortest distance by the second movement required time (t1); and further comprising a movement required speed of the vessel and a speed S of the vessel. It is characterized by repeating until the difference reaches the predetermined range.

Preferably, the position of the vessel and the position of the predetermined figure region are characterized in that it is received through a satellite positioning system (GPS) receiver.

Preferably, the method for calculating the ship navigation information further comprises the step of displaying the final travel time and the final distance on the electronic chart.

The ship navigation information calculation method according to the present invention recommends that a ship moves quickly to a region of a straight line, circle, sector, or polygonal shape defined as a position relative to a moving flag, that is, a specific position or area to which the ship is to move. It can be used directly for ship steering by calculating course, recommended speed and duration.

In the ship navigation information calculation method according to the present invention, if the speed of the moving flagship is set to 0, the navigation information for rapid movement to an area having a fixed geographical location, for example, an anchorage site, can be provided.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining the navigation information of the ship according to the present invention.

The specific position 110 to which the vessel is to be moved may be represented by an area of a straight line, a circle, a fan, and a polygonal shape.

The specific location 110 may be a formation of a ship moving in formation,

It may be a relative position or a specific area for maintaining a specific distance from the flagship 100.

The specific position 110 of the vessel may be moved at a constant speed or may be a fixed position of the anchorage designated by the relevant laws.

The ship navigation information calculation method according to the present invention may be configured in conjunction with an electronic chart and satellite positioning system (GPS: Global Positioning System) mounted on the vessel, to move to a specific position 110 to move for the formation configuration It can be used to calculate the ship's movement information, to calculate the information to move to anchorage, or to monitor the anchoring condition of anchoring.

2 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a straight line.

All headings and azimuth angles applied in the present invention are absolute azimuths in true north, unless stated otherwise.

2 shows an embodiment in which the figure defined by the relative position with respect to the flagship M 200 is a straight line BC 210.

Look at in detail the method of calculating the shortest distance point from the current vessel position (A) 230 to a straight line (BC) (210).

In FIG. 2, the foot H 220 of the waterline lowered on the straight line BC 210 from the ship position (A) 230 is the shortest distance point. The point closest to A among points B and C is selected as the shortest distance point.

3 is a view showing another embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a straight line.

FIG. 3 redefines the coordinate system centering on point B, which is one end point of the straight line (BC) 210 in FIG. 2.

In FIG. 2, the shortest distance from the ship position (A) 230 to the figure straight line (BC) 210 defined as the relative position calculates the distance to the foot H (220) of the waterline which falls on the straight line BC. It is possible by doing.

Calculation of repair foot H 220 is as follows.

The geographic location of points A, B, and C is received via a GPS (Global Positioning System) receiver.

 θ is the absolute orientation of true north of straight line BC, and α is the absolute orientation of true north of straight line BA.

는 수학식 1과 같이 정의된다. Straight BC vector

Is defined as in Equation 1.

는 수학식 2과 같이 정의된다. Straight line BA vector

Is defined as in Equation 2.

를 시계 및 반시계방향 90도 만큼 회전한 벡터는 수학식3과 같다.

Is rotated clockwise and counterclockwise by 90 degrees.

벡터의 원점은 점 A 이다.

The origin of the vector is point A.

이고

이면 점 H(220)는 직선 BC(210) 상에 있지 않으며 최단거리 지점은 점 B 또는 점 C 중 점 A로부터 가까운 점이 될것이다. therefore

ego

If point H 220 is not on straight line BC 210 and the shortest distance point will be the point B or point C that is closest to point A.

인 조건을 만족하는

에 대해 (단, n = 1 또는 2) 점 H는 수학식4와 같이 계산된다.

Satisfying the condition

(Where n = 1 or 2), the point H is calculated as shown in Equation 4.

4 is a view showing an embodiment of a navigation information calculation method when the specific position to move the ship according to the present invention.

4 shows an embodiment in which the figure defined by the relative position with respect to the flagship M 400 is the circle 410.

Looking at the current method (A) 430 from the shortest distance point calculation method from the circle 410 in detail.

In FIG. 4, the shortest point H 420 is selected as the shortest point among the intersection points between the extension line 440 connecting the ship position (A) 430 and the center point 415 of the circle 410 and the circle 410. .

5 is a view showing another embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention.

5 is a redefine coordinate system centering on the ship position (A) 430 in FIG.

In FIG. 5, the shortest distance from the ship position (A) 430 to the figure circle 410 defined as a relative position is an extension line 440 connecting the ship position (A) 430 and the center point 415 of the circle 410. The closest point H 420 of the intersection with the circle 410 is possible by calculating the distance.

The foot (H) 420 calculation of the repair is as follows.

θ is the absolute orientation of the true north of straight line BA 440.

는 수학식 5과 같이 정의된다.Straight line BA vector

Is defined as in Equation 5.

The foot H 420 of the repair line is defined as in Equation 6.

6 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the invention the fan.

In FIG. 6, the shortest distance is determined from the relationship between the sector BBC or sector BED defined as the ship position (A) 610 and the relative position with respect to the flagship M 600.

If the position of the vessel position (A) belongs to the region a, the intersection point H (620-1) of the extension line connecting the vessel position (A) 610-1 with the fan-shaped azimuth center point B and the fan-shaped inner curve to the shortest distance point. Choose.

When the position of the vessel position A belongs to the zones b and c, the vessel H (620-2 or 620-3) of the waterline on the sides of the fan is removed from the vessel position (A) 610-2 or 610-3. Choose the shortest point.

If the foot of the waterline is not included in each side, the point closest to the ship position A (610-2 or 610-3) among the two points C, D, or E, F defining the straight line is selected as the shortest distance point.

If the position of the ship position (A) 610-4 belongs to the area d, the intersection point H (620-4) of the extension line connecting the ship position (A) 610-4 and the fan-shaped azimuth center point B and the fan-shaped outer curve Choose as the shortest point.

The shortest distance from the current ship's position (A) (610-1,610-2,610-3,610-4) to the sector, depending on the sector of the sector represented by the relative position to the flagship 600 (regions a, b, c, d). Take a closer look at the calculation method.

The fan center point is defined as (B) 630, and the radius of the sector B C is defined as r and the radius R of the sector BDE.

α is the absolute orientation of the true north of the straight line BCD, and β is the absolute orientation of the true north of the straight line BFE.

θ is the absolute orientation of the true north of the straight line BA, D is defined as the length of the straight line BA.

The shortest distance points H 620-1, 620-2, 620-3, 620-4 along the sectors a, b, c, and d are defined as in Equations 4 and 6.

The shortest distance point (H) 620-1 in the sector (a) (α <θ <β, D <r) indicates the position (A) 610-1 of the ship and the center point B 630 of the sector. The intersection of the extension line and the curve CF can be obtained using Equation 6.

The shortest distance point H 620-2 in the sector b (θ <α, r <D <R) is the foot of the waterline lowered on the straight CD from the position (A) 610-2 of the ship. H (620-2) can be obtained using Equation (4).

The shortest distance point H 620-3 in the sector region c (β <θ, r <D <R) is the foot of the waterline lowered on the straight line EF from the ship's position (A) 610-3. H (620-3) can be obtained using Equation 4.

The shortest distance point H 620-4 in the sector region d (α <θ <β, D> r) indicates the position (A) 610-4 of the ship and the center point B 630 of the sector. The intersection of the extension line and the curve DE can be obtained using Equation 6.

7 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a polygon.

FIG. 7 shows an embodiment in which the figure defined by the position relative to the flagship M 400 is the polygon 710.

The method for calculating the shortest distance point from the current vessel position (A) 730 to the polygon 710 will be described in detail.

In FIG. 7, two sides B [n] [n + 1] and B {n including a point B 720 having a closest distance between the ship position A 730 and each boundary point constituting the polygon 710. -1] [n]) is the shortest distance point between the feet H740 and H'750 of the waterline on each side.

If the foot of the repair is not included on each side, point B 720 is selected as the shortest point.

In FIG. 7, the calculation of the intersection H 740 between the ship's position (A) 730 and the polygon 710 is as follows.

B [n] represents the point closest to the ship's position (A) 730 among the boundary points constituting the polygon 710.

(theta) shows the orientation of the straight line which has the polygon point B [n] and the ship's position (A) point, and D shows the length of the straight line which has the polygon point B [n] and the ship's position (A) point.

The repair foot H 740 can be obtained using Equation 4.

The shortest distance point (H) 740 from the ship's position (A) 730 is the foot of the waterline lowered from point A to the edge B [n] [n + 1] of the polygon.

8 is a view showing an embodiment of a method for calculating navigation information when a specific position to move the ship according to the present invention at a constant speed.

In FIG. 8, a figure (straight line, circle, sector, polygon) defined as the position M of the flagship 800 and the position M of the flagship 800 is moved at a speed v.

In FIG. 8, a figure defined as a position relative to the position M 800 of the flagship is described as an embodiment of a straight line.

The position (M) 800 of the flagship moves to the position of M (800)-> M '(800-1)-> M' '(800-2) over time.

At the same time, the straight line BC also moves to the position BC 820-> BC '(820-1)-> BC' '820-2.

The position A of the ship moves at the moving speed S.

The position of the vessel is moved to A (830)-> A '(830-1)-> A' '(830-2).

The navigational information of the ship, that is, the calculation of the shortest distance point and the moving speed when the linear figure moves at the specified speed v is as follows.

Calculate the shortest distance (distance of AH) at present (t = 0).

Calculate the relative speed of the ship with respect to the moving speed v of the straight line BC, divide the shortest distance (distance of AH) by the relative speed of the ship, and move from ship position (A) 830 to H (810). Find the time t0.

The time it takes for the ship's position (A) 830 to reach point H (810) at speed S, the position of the flagship from the ship's position (A ') 830-1, which has moved during the travel time t0. The distance of the shortest distance A'H 'from (M (800)-> M' (800-1)) to the straight line BC (820)-> BC '(820-1) is calculated.

From the calculated shortest distance A'H 'and travel time t0, the expected travel speed or recommended speed Sn is obtained.

Find the ratio of the ship's required travel speed (Sn) to the ship's travel speed, S.

The travel time is repeatedly calculated by using Equation 7 until the ratio of the ship's travel speed Sn and the ship's travel speed S is within a certain allowable level.

tn = tn-1 * (Sn / S)

Where tn is the nth travel time of the ship, tn-1 is the n-1th travel time of the ship, Sn is the travel speed or the recommended travel speed of the ship, and S is the current travel speed of the ship.

The final position (BC``, 820-2) of the straight line is calculated from the calculated time required when the ratio of the required travel speed (Sn) of the ship and the moving speed S of the ship reaches within a certain allowable level, and the position of the ship is calculated. The shortest distance point from (A '') 830-2 is calculated.

 FIG. 9 is a flowchart illustrating a method of calculating navigation information when a specific position to which a ship moves according to the present invention moves at a constant speed.

In FIG. 8, the calculation of the shortest distance point for reaching the figure in which the ship moving at speed S moves at speed v can be obtained as follows.

 Using Equation 4 or Equation 6, the distance from the current position (t = 0) to the ship's position A (830 in FIG. 5) to the shortest distance point H0 (830-1 in FIG. 5) for each figure type is calculated ( S910).

  The relative speed of the ship's moving speed and the figure's moving speed is calculated using Equation 8 (S920).

Where Srel is the ship's relative speed to the speed of the figure, AH0 is the shortest distance from the ship to the figure at t = 0, v and α represent the moving speed and course of the figure, respectively, and θ is the shortest distance (AH0). ) Is a defense against true north.

The initial movement time t0 of the ship is obtained from equation (9) (S930).

Calculate the distance to the shortest distance point H '(810-1 in FIG. 5) of the figure area at the position A' (830-1 in FIG. 5) where the ship moved after the elapse of travel time t0 ( S940)

The required travel speed of the ship is calculated by dividing the shortest distance A'H 'by the travel time t0 (S950).

It is determined through Equation 10 whether the difference between the required travel speed of the ship and the speed S of the ship is within a predetermined range (S960).

Where Sn is the nth travel required speed and Sn = | AHn | / t (n-1), t (n-1) is the travel time of the previous stage, and AHn is the figure calculated from the figure position moved from the ship's position A to the travel time t (n-1) It is the shortest distance by type.

When the difference between the required travel speed of the ship and the speed S of the ship is within a predetermined range, the shortest distance from the position of the foil moved at the last moving position of the figure at the last required travel time (tf) is obtained by using Equation 4 or Equation 6. The calculation is made (S970).

If the difference between the required travel speed of the ship and the speed S of the ship is not within a predetermined range, the travel required time is obtained through Equation 11, and the shortest distance of the ship at tn is obtained (S980). Repeat until the difference of ship's speed S is within the prescribed range.

Where Sn is the nth travel required speed and Sn = | AHn | / t (n-1), t (n-1) is the travel time of the previous stage, and AHn is the figure calculated from the figure position moved from the ship's position A to the travel time t (n-1) It is the shortest distance by type.

Although the present invention has been described with reference to one embodiment shown in the accompanying drawings, it is merely an example, and those skilled in the art may realize various modifications and equivalent other embodiments therefrom. I can understand. Accordingly, the true scope of protection of the invention should be defined only by the appended claims.

1 is a view for explaining the navigation information of the ship according to the present invention.

2 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a straight line.

3 is a view showing another embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a straight line.

4 is a view showing an embodiment of a navigation information calculation method when the specific position to move the ship according to the present invention.

5 is a view showing another embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention.

6 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the invention the fan.

7 is a view showing an embodiment of the navigation information calculation method when the specific position to move the ship according to the present invention is a polygon.

8 is a view showing an embodiment of a method for calculating navigation information when a specific position to move the ship according to the present invention at a constant speed.

FIG. 9 is a flowchart illustrating a method of calculating navigation information when a specific position to which a ship moves according to the present invention moves at a constant speed.

Claims (5)

A first shortest distance calculating step of calculating a shortest distance to a figure area indicating a position to which a moving vessel is to sail; A relative speed calculation step of calculating a relative speed of the ship with respect to a moving speed of the figure region; Calculating a first travel time t0 by dividing the first shortest distance by the relative speed of the ship to obtain a first travel time; A second shortest distance calculating step of calculating a shortest distance to the figure region from the position where the ship has moved after the first travel time t0 elapses; A first travel required speed calculating step of calculating a travel required speed of the ship by dividing the second shortest distance by the first travel required time t0; Obtaining a speed difference between the required speed of the vessel and the speed of the vessel; And Ship navigation information, characterized in that the final travel time and the final position calculation step of calculating the required travel time and the shortest distance point of the ship when the speed required to move the ship and the speed difference of the ship within the reference range; Calculation method. The method of claim 1, wherein the figure area is Ship navigation information calculation method characterized in that at least one of a straight line, circle, sector or polygon. The method of claim 1, wherein the speed difference between the ship's required travel speed and the ship's speed is outside the reference range. Calculating a second moving time t1 to obtain a second moving time t1 by multiplying the first moving time required by the relative speed of the ship by the first moving time t0; A third shortest distance calculating step of calculating a shortest distance to the figure region at a position where the ship has moved after the second travel time t1 has elapsed; And A second movement required speed calculating step of calculating a moving required speed of the vessel by dividing the third shortest distance by the second movement required time t1; and further comprising a movement difference between the required movement speed of the vessel and a speed difference between the vessel. Ship navigation information calculation method characterized in that it is repeated until the reference range is reached. The method of claim 1, The position of the vessel and the position of the figure region is received by the GPS navigation system (GPS: Global Positioning System) receiver. The method of claim 1, And displaying the final travel time and the final distance on the electronic chart.

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