KR20160131352A

KR20160131352A - Embedded-type transmitting heading device

Info

Publication number: KR20160131352A
Application number: KR1020150063567A
Authority: KR
Inventors: 이영섭; 이광근; 최범규; 윤진영
Original assignee: 주식회사 리영에스엔디
Priority date: 2015-05-07
Filing date: 2015-05-07
Publication date: 2016-11-16
Also published as: KR101741895B1

Abstract

We embed a series of processing such as the position of the current ship and the position of the celestial body due to the ceiling force and the navigation triangulation method to find the true north, and calculate the deviation value of the magnetic sensor relative to the current true north value calculated by the embedded system The present invention relates to an embeddable player's heading dispatching apparatus which can be easily modified by a mate, and is provided with a magnetic sensor for providing an accurate magnetic north of the present time; Azimuth Circle, which is located at the top of the repeater of the magnetic sensor and displays the direction of the celestial object relative to the current true north when the person observes the celestial body while observing the object. Embedded ship bearing calculation that obtains the current position and time information in real time, saves the celestial orbit as a database, calculates the bearing of the ship based on the bearing value and the celestial orbital data obtained from the electronic bearing and magnetic sensor part; An embedded type heading dispatching apparatus is implemented by comparing the azimuth values obtained from the electronic bearing and the magnetic sensor in real time and calculating the difference value as a deviation correction value for correcting the deviation.

Description

[0001] Embedded-type transmitting heading device [0002]

In particular, the present invention relates to an embedding type heading dispatching apparatus which embeds a series of processing such as a navigation triangle method for knowing the position of a current vessel and a position of a celestial body by a ceiling force, The present invention relates to an embedded type heading dispatching apparatus capable of easily modifying a deviation value of a deviation of a magnetic sensor from a current true north value calculated by a navigation system.

Generally, a Transmitting Heading Device (THD) is an International Maritime Organization (IMO) Resolution MSC. 116 (73), and supplies information to the navigator about the true heading of the ship. True defense is defined as the angle between the true meridian and the heading of the ship as defined in the relevant regulation.

DNOs (Det Norske Veritas) have already made mandatory IMO regulations and are working hard to make ship safety more effective. According to these regulations, ships subject to THD should, in principle, be equipped with two mechanical gyro compasses, so that even if the main gyro compass fails in case of emergency, it should be able to navigate smoothly using the spare gyro compass. However, if the ship is in a situation where it is difficult to install two mechanical gyro compasses, THD, that is, a compass capable of positioning the bearing based on the true north, is provided to satisfy the requirements.

As international regulations go on, all shipyards have installed one gyro compass and one relatively low-cost THD, generally in order to meet the requirements of each class, including DNV, and the economics of ship owners. .

Most of these THD regulations are replaced by magnetic compass. The magnetic compass points to the north, which is called magnetic north. These magnetic north, north and south, have a considerable error in each area. These magnetic compasses have a variation due to the influence of magnetic substances such as the surrounding environment of the ship. The above-mentioned magnetic discs and the general magnetic compass including the sum of these deviations have a tolerance of even 20 ㅀ or more .

In order to improve this, the magnetic compass corrects and corrects the bearing so as to exhibit a function similar to true north using a deviation correction device or a degaussing device. However, the correction of this deviation can be done by experts or by expensive equipment, and in order to know the present true north, we have to refer to the defense of the existing gyro compass. Or astronomical observations can be used to calculate the accuracy of the sun or celestial bodies, but these formulas and procedures are complicated and complex, and in reality, astronomical navigation is rarely used. Therefore, in the situation where the gyro compass already has an error of 0.5 에서, the cumulative error of magnetic compass increases with the lapse of the time of the correction of the deviation, and in order to operate the ship so as not to be color- In addition, frequent modification of the magnetic compass of the magnetic compass by the specialist may be effective in the THD due to the failure of the gyro compass, which is the assertion cost of the ship.

In addition, there are optical gyro compass and ring laser gyro compass, but these equipments are too expensive to be used for commercial purposes for military purpose, and there are orientation sensors such as MEMS. However, It is hard to argue for its effectiveness because of lack of credibility or stability of defense.

On the other hand, conventional techniques for calculating or measuring an azimuth angle for ship navigation are disclosed in Patent Documents 1 to 2 below.

The prior art disclosed in the patent document 1 is based on the position of the ship itself measured by the GPS receiver, the position obtained by searching for the radio wave nearest to the radio wave position by the GPS receiver, The heading of the charity is calculated by spherical triangulation on the other side from the charity of the radio wave marker station obtained by measuring the arrival direction of the radio wave by the direction detector. This provides a high-precision and inexpensive compass as a replacement for expensive gyro compasses and magnetic compasses that are unsatisfactory in precision.

The prior art disclosed in Patent Document 2 includes a first step of measuring a declination value corresponding to a predetermined azimuth angle while rotating the electronic compass 360 degrees, a second step of fitting the measured declination value to a sinusoidal function, A third step of displaying the sine function, and a fourth step of applying offset correction, amplitude correction and azimuth correction to the displayed sine function. This process corrects the azimuth error of the electronic compass.

Korean Patent Publication No. 10-2005-0025037 (published on March 11, 2005) Korean Patent Publication No. 10-2011-0126450 (published on 23rd November, 2011)

However, the above-described conventional techniques can only be performed by experts or expensive equipments when correcting a deviation, and there is a disadvantage in referring to the orientation of the existing gyro compass in order to know the current true north.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to embed a series of processing such as a navigation triangle method to know the position of a current ship, And an object of the present invention is to provide an embedded type heading dispatching apparatus which enables a navigation company to easily correct a deviation value of a deviation of a magnetic sensor from a current true north value calculated by an embedded system.

Another object of the present invention is to provide an embeddable player's heading dispatching apparatus capable of providing an inexpensive player's heading dispatching device by allowing a sailor to conveniently and easily correct the slanting difference.

According to an aspect of the present invention, there is provided an embedded-type heading defense apparatus comprising: a magnetic sensor for providing an accurate magnetic north; An azimuth circle located at an upper end of a repeater of the magnetic sensor and displaying an azimuth of a celestial body relative to a current true north when the ceiling is viewed with human eyes; An embedded ship bearing which acquires the current position and time information in real time, stores the astronomical orbit in a database, and calculates the bearing of the ship based on the bearing value and the astronomical orbit data obtained from the electromagnetic bearing and magnetic sensor Calculating section; And an azimuth correction value calculating unit for comparing the azimuth values obtained by the magnetic bearing and the magnetic sensor in real time and calculating the difference value as a deviation value correction value for correcting the azimuth difference.

Further, the embedded head direction transmitting apparatus according to the present invention may further include an indicator for displaying the deviation correction value calculated by the deviation correction value calculating unit so that the sailor can recognize it.

The embedded ship orientation calculation unit may include a GPS module that acquires current position coordinate values and time information through a GPS satellite; An astronomical orbit database storing astronomical data including the position information (position) of the astronomic object with respect to the current time acquired through the GPS module; And a ship orientation calculation module for calculating the azimuth angle by calculating the position coordinate value, the time information, and the ceiling force data based on the ceiling measured values obtained from the electromagnetic bearing and the magnetic sensor.

The embedded ship bearing calculation unit may further include a communication module for transmitting the azimuth calculated by the ship bearing calculation module to the electronic bearing.

Wherein the deviation correction value calculator comprises: a comparator for comparing the azimuth value acquired by the electromagnetic bearing with the azimuth value acquired by the magnetic sensor and calculating the difference value; And a deviation value correction value output unit for outputting the difference value output from the comparator to the display unit as a deviation value correction value.

According to the present invention, a series of processing such as the position of the current ship and the position of the celestial body by the ceiling force and the navigation triangulation method for knowing the true north are embodied, and the deviation of the deviation of the magnetic sensor from the current true north value calculated by the embedded system By providing the correct value, it is effective to allow the sailor to easily correct the deviation in the field.

Further, according to the present invention, it is possible to provide an inexpensive player's heading transmitting device by allowing a navigator to easily and easily correct the pitch difference.

Also, according to the present invention, it is possible to supply THD equipment suited to the requirements of each country and to contribute to social safety by supplying appropriate equipment for the environment at home and abroad, where understanding of safety is increasing rapidly.

Also, according to the present invention, it is possible to create new items by combining the past astronomy navigation technique with current ICT technology, and to contribute to the development of shipbuilding equipment through development of COMPASS at all times.

1 is a block diagram of an embedded head direction transmitting apparatus according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of an embodiment of the embedded ship bearing calculation unit of FIG. 1;
3 is a block diagram of an embodiment of the deviation correction value calculation unit of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embedded head direction transmitting apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an embedded head direction transmitting apparatus according to a preferred embodiment of the present invention.

An embedded type heading defense apparatus according to the present invention includes an azimuth circle 10, a magnetic sensor 20, an embedded naval orientation calculation unit 30, a deviation correction value calculation unit 40, 50).

The magnetic sensor 20 is a sensor for providing an accurate magnetic north of the present time, and it is preferable to use a magnetic precision sensor which does not hunting left and right (left and right swinging of the display).

The electromagnetic bearing 10 is located at the upper end of a repeater of the magnetic sensor 20 and serves to indicate the bearing of a celestial object relative to the current true north when viewed from the sky with human eyes.

The embedded ship bearing calculation unit 30 acquires the current position and time information in real time and stores the astronomical orbit in a database and stores the orientation value acquired by the electromagnetic bearing 10 and the magnetic sensor 20 And to calculate the azimuth of the vessel based on the orbital information.

The embedded ship orientation calculation unit 30 includes a GPS module 31 for acquiring current position coordinate values and time information via GPS satellites; An astronomical orbit database (DB) 32 storing astronomical data including the position information (position) of the astronomic object with respect to the current time acquired through the GPS module 31; A ship bearing calculation module (33) for calculating an azimuth angle by calculating its position coordinate value, time information, and ceiling force data based on a ceiling measurement value acquired by the electromagnetic bearing (10) and the magnetic sensor (20); And a communication module (34) for transmitting the azimuth calculated by the ship bearing calculation module (33) to the electronic bearing (10).

The eccentricity correction value calculation unit 40 compares the azimuth values acquired by the electromagnetic bearing 10 and the magnetic sensor 20 in real time and calculates the difference value as the eccentricity correction value for eccentricity correction .

The deviation value calculating unit 40 includes a comparator 41 for comparing the azimuth value acquired by the electromagnetic bearing 10 with the azimuth value acquired by the magnetic sensor 20 and calculating the difference value. And a deviation value modification output unit 42 for outputting the difference value output from the comparator 41 to the display unit 50 as a deviation correction value.

The indicator 50 serves to display the deviation correction value calculated by the deviation correction value calculator 40 so that the sailor can recognize it. It is preferable that the display device 50 uses a liquid crystal display (LCD) or the like.

The operation of the embedded head direction transmitting apparatus according to the preferred embodiment of the present invention will now be described in detail.

First, when an observer (for example, a navigator) observes the object with a human eye using the electromagnetic bearing 10 installed at the upper end of the repeater of the magnetic sensor 20 and performs the upper side, 10) displays the orientation of the object to the current true north on the indicator.

When the orientation of the celestial body with respect to the current true north is displayed in the electronic bearing 10, the magnetic sensor 20 also provides an orientation with respect to the current magnetic north.

The embedded ship orientation calculation unit 30 extracts the current position coordinate value and the current time information from the GPS satellite signal through the GPS module 31 and transmits it to the ship orientation calculation module 33. [ At this time, the ceiling power data including the position information (position) of the celestial body with respect to the current time acquired through the GPS module 31 is transmitted to the ship orientation calculation module 33 through the celestial body trajectory database 32.

Here, the celestial body trajectory database 32 serves to provide the ceiling power data including the position information of the celestial body according to the time. When observing a celestial body such as the sun and a star for sailing on the earth, most of the stars and constellations can observe the constant movement of the celestial body. These surveillance powers can be used to find the ship's direction and position, including sun, moon, planet, and star positions, as well as the sunrise, sunset, and time of sunset required for observing the object when the ship sails. It is an edited version. In astronomical observations, astronomical observations are possible in the case of the sun and moon (full moon) as the direction of shadows, and astronomical observations are possible in other general planets and stars, including telescopes and goniometers.

Next, the ship orientation calculation module 33 calculates its azimuth angle by calculating its position coordinate value, time information and ceiling force data based on the azimuth value. It is preferable to determine the position of the celestial object based on the current time information at the time of azimuth calculation and to calculate the azimuth using the ceiling power data corresponding to the position coordinate value of the own celestial object and the determined position of the celestial object.

The azimuth calculation process will be described in more detail as follows.

The point where the straight line connecting the celestial body and the center of the earth meets the surface of the earth is called the Geographical Position (GP). This position changes regularly with time due to the motion of the celestial body, and can be interpreted as the projection of the position of the celestial object on the earth's coordinates. It is presupposed that the coordinate system that deals with the celestial object uses the spherical coordinate system instead of the general coordinate system. The characteristics of the spherical coordinate system are composed of three components: radius, horizontal angle, and vertical angle. The distance from the observer to the celestial object on the surface of the earth is not apparently visible, so they all feel as if they are attached to the inner surface of one large sphere, regardless of their perspective. Therefore, a hypothetical sphere called a celestial sphere assuming that all spheres are attached to this sphere, imagining spheres with an infinite radius centering on the viewer's eyes.

In other words, the celestial body has coordinates in the celestial sphere, and the movement of the celestial body is regular as the constellation is always constant. Therefore, the observer observes the celestial body, recognizing the celestial coordinates. However, since these bodies have the position of the surface of the earth corresponding to the coordinates of the celestial sphere, the azimuth angle can be calculated by using this position and its position.

The position of the celestial body has a value corresponding to the degree of the Earth's latitude. The value corresponding to the Earth's hardness is called the Greenwich Hour Angle (GHA), and the value corresponding to the Earth's latitude is called Dec (Declination). However, while the Earth's hardness is about 180 ° west longitude and west longitude, the GHA is represented by 360 ° in the west direction. Based on this concept, the azimuth angle is calculated based on the ceiling measurement value (azimuth value), the current position of the observer acquired, and the position of the celestial object calculated from the ceiling power data of the ceiling power database according to the observation time. To calculate the azimuth angle here means to seek the direction of a celestial body based on true north in my position.

The azimuth angle thus calculated is displayed on the display device and is transmitted to the electronic bearing 10 through the communication module 34 as well.

Meanwhile, the most important feature of the present invention is to provide a correction value of a deviation value so that a sailor can conveniently modify the deviation data in real time.

For example, the deviation correction value calculating unit 40 compares the azimuth values obtained by the electromagnetic bearing 10 and the magnetic sensor 20 in real time, and outputs the difference value as a deviation correction value for the deviation correction . Specifically, the comparator 41 of the deviation correction value calculating section 40 compares the azimuth value acquired by the electromagnetic bearing 10 with the azimuth value acquired by the magnetic sensor 20 and calculates the difference value And the deviation value correction value output unit 42 outputs the difference value output from the comparator 41 to the indicator 50 as a deviation correction value.

The display device 50 displays the deviation correction value calculated by the deviation correction value calculator 40 so that the sailor can recognize the sailor so that the sailor can easily and conveniently use the sailor It is possible to facilitate the correction. Here, it is desirable to adjust the knob correction to 1 ㅀ or less.

Although the present invention has been described in detail with reference to the above embodiments, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the spirit of the present invention.

The present invention is applicable to a compass technique for navigation on a ship, and is also applicable to a technique for obtaining a bearing on land or in air. Particularly, the present invention can be effectively applied to a technique of calculating an azimuth angle using a celestial object and correcting the deviation by using the calculated azimuth angle.

10: Azimuth Circle
20: Magnetic sensor
30: Embedded ship bearing calculation section
31: GPS module
32: Orbit DB
33: ship bearing calculation module
34: Communication module
40: deviation value correction value calculating section
41: comparator
42: deviation value correction value output section
50: Indicator

Claims

A magnetic sensor for providing accurate magnetic north of the present time;
An azimuth circle located at an upper end of a repeater of the magnetic sensor and displaying an azimuth of a celestial body relative to a current true north when the ceiling is viewed with human eyes;
An embedded ship bearing which acquires the current position and time information in real time, stores the astronomical orbit in a database, and calculates the bearing of the ship based on the bearing value and the astronomical orbit data obtained from the electromagnetic bearing and magnetic sensor And an arithmetic and logic unit for calculating the arithmetic unit.

The system of claim 1, further comprising: a deviation correction value calculator that compares the azimuth values acquired by the electromagnetic bearing and the magnetic sensor in real time and calculates the deviation value as a deviation value correction value for the deviation correction; And an indicator for displaying the deviation correction value calculated by the deviation correction value calculator so that the marine engineer can recognize the deviation value.

The system of claim 1, wherein the embedded ship orientation calculation unit comprises: a GPS module for acquiring current position coordinate values and time information via a GPS satellite; An astronomical orbit database storing astronomical data including the position information (position) of the astronomic object with respect to the current time acquired through the GPS module; And a ship bearing calculation module for calculating an azimuth angle by calculating its position coordinate value, time information and ceiling force data based on the ceiling measured value obtained by the electromagnetic bearing and magnetic sensor, Sending device.

The embedded type heading defense device according to claim 3, wherein the embedded ship bearing calculation unit further comprises a communication module for transmitting the azimuth calculated by the ship bearing calculation module to the electronic bearing.

[3] The apparatus of claim 1, wherein the deviation value correction calculating unit comprises: a comparator for comparing the azimuth value acquired by the electromagnetic bearing with the azimuth value acquired by the magnetic sensor and calculating the difference value; And an eccentricity correction value output unit for outputting the difference value output from the comparator as a deviation correction value to a display device.