KR20200137100A - System with algorithm for estimating wave spectrum in real-time and providing navigation guideline, and ship or offshore structure having the same - Google Patents

Abstract

According to the present invention, disclosed are a system embodying an algorithm for wave spectrum real-time estimation and sailing guideline provision and a vessel or a marine structure including the same system. The system includes: a measurement instrument sensing motion data of a vessel body in real time; a normalized motion analysis DB built by calculating motion data of the vessel body in accordance with a wave direction and a wave period change through analysis and normalizing the same based on a first specific motion; and a control part building an actual measurement DB by receiving the displacement and acceleration sensed by the measurement instrument, forming a normalized motion measurement DB by normalizing the actual measurement DB based on a second specific motion of the actual measurement DB, which is identical to the first specific motion, determining a wave direction and a wave period from the normalized motion analysis DB which is the most similar to the normalized motion measurement DB, estimating wave height information of a sailing sea area by a linear characteristic, and providing sailing guideline information by a motion change in accordance with a sailing condition change. Therefore, as the real-time wave spectrum estimation system uses motion data measured in real time from a sailing vessel or marine structure, the system can provide optimal sailing guideline information by suggesting a motion characteristic change in accordance with a sailing condition change of a sailing direction of the vessel and a vessel velocity in a current sailing state, thus enabling stable sailing even in a tough marine environment.

Description

A system implementing algorithms for real-time estimation of the wave spectrum and providing navigation instructions, and ships or offshore structures equipped with the system {SYSTEM WITH ALGORITHM FOR ESTIMATING WAVE SPECTRUM IN REAL-TIME AND PROVIDING NAVIGATION GUIDELINE, AND SHIP OR OFFSHORE STRUCTURE HAVING THE SAME}

The present invention relates to a system implementing an algorithm for real-time estimation of a wave spectrum and providing navigation instructions, and a ship or offshore structure equipped with the system, and more particularly, it is optimal by providing a change in motion characteristics according to a change in operating conditions in a current operating state. The present invention relates to a system implementing an algorithm for real-time estimation of a wave spectrum and providing an operation guideline, which can provide navigation guide information of, and a ship or offshore structure equipped with the system.

Marine environmental data such as wind and wave, current and swell of the sea area in which the ship operates can be widely used in ship design, such as estimation of simajin and determining the optimal alignment. . In addition, since it can be applied to smart ships such as a ship's economic navigation solution, accurate measurements of the actual marine environment are required.

For wave information, satellite measurement data or maritime buoy data is usually used. For example, the European Meteorological Administration (ECMWF) assumes that the area corresponding to the grid of about 14 km * 14 km is the same marine environment, and provides estimated information in the form of a grid every 6 hours, but due to the constraints of time and space, it is difficult to use it during actual operation. There is a rather difficult aspect.

In addition, some of the ships in operation are equipped with a wave radar to measure directly, but it is a situation that is difficult to be widely applied in terms of cost performance because it is quite expensive equipment.

Accordingly, there is a need for a technology capable of increasing reliability and accuracy while measuring accurate wave information of a navigational sea area at low cost.

Korean Registered Patent Publication No.1945441 (Real-time wave measuring device and dynamic load monitoring system including the same)

The technical problem to be achieved by the idea of the present invention is to estimate high-accuracy wave information by using a real-time measurement value from a sailing vessel or offshore structure by a motion measuring device without having an expensive wave observation radar, and Provides a system that implements an algorithm for real-time estimation of the wave spectrum and provision of navigation instructions, which can provide optimal navigation information by providing motion characteristics change according to operating conditions change in the state, and ships or offshore structures equipped with the system. have.

In order to achieve the above object, a system implementing an algorithm for real-time estimation of a wave spectrum and providing a navigation guide according to an embodiment of the present invention includes: a measuring instrument for real-time sensing of motion data of a ship; A regular motion analysis DB constructed by calculating the motion data of the hull according to the wave direction and wave period change through analysis and normalizing it based on the first specific motion; And constructing an actual measurement DB based on the motion data detected by the measuring device, and normalizing it based on a second specific motion of the actual measurement DB identical to the first specific motion to form a regular motion measurement DB, and the regular motion It includes a control unit that determines the wave direction and wave period from the regular motion analysis DB that is most similar to the measurement DB, estimates wave height information of the operating sea area based on linear characteristics, and provides navigation guidance information by motion change according to the change of operating conditions. .

Here, the measuring instrument detects motion motion data of the displacement and acceleration of the ship in real time, and the regular motion analysis DB changes the loading condition and ship speed information of the ship through analysis, and wave direction and wave period based on unit significant wave height. It is constructed by calculating the displacement and acceleration of the hull according to the change and normalizing it based on the first specific motion, and the control unit receives the displacement and acceleration sensed by the measuring instrument and constructs actual measurement raw data for each predetermined time unit. And, by normalizing based on the second specific motion of the actual measurement DB identical to the first specific motion, a regular motion measurement DB is constructed, and wave direction and wave period are determined from the regular motion analysis DB most similar to the regular motion measurement DB. , Wave height information obtained from the unit significant wave height corresponding to the determined wave direction and wave period and a motion value detected by the measuring device may be estimated by a wave estimation algorithm.

In addition, the navigation guide providing algorithm is a schedule based on the current ship speed information, the expected wave condition of the motion table estimated by the wave estimation algorithm, the actual ship speed of the currently operating ship, and the motion motion data of the actual measurement DB. By extracting the displacement change and acceleration change of the hull according to the unit ship speed change and wave direction change, a navigation guide DB is constructed for each motion, and the size of a relatively large motion that interferes with efficient navigation under severe marine environments is optimized. It can provide the navigation direction of the ship.

In addition, the measuring instrument is a rotation motion sensor that detects the rotational motion displacement of pitch, roll, and yaw, a translational motion sensor that detects the translational motion displacement in the x, y, and z directions, and the acceleration in the x, y, and z directions. A three-degree-of-freedom acceleration sensor may be included, and the control unit may construct the actual measurement DB using the displacement and acceleration as effective values in a specific time unit.

Here, the measuring device is installed at the stern, bow or cabin to detect displacement and acceleration.

In addition, the regular motion analysis DB constructs a motion table based on a unit significant wave height consisting of raw data of motion corresponding to the loading condition and ship speed, and normalizes the size of the first specific motion among the motions of the motion table to 1. By constructing a regular motion table in which data is normalized, the regular motion analysis DB can be constructed.

Further, a combination in which the covariance value with the data of the normal motion measurement DB is minimum can be selected from the normal motion analysis DB.

In addition, the wave estimation algorithm estimates the wave height information in real time by using the data of the regular motion analysis DB built on the basis of the unit significant wave height and the motion value detected by the measuring device based on the linear characteristic using the least squares method. can do.

In addition, a ship or offshore structure according to an embodiment of the present invention may have a system implementing the above-described wave spectrum real-time estimation and navigation guide providing algorithm.

According to the present invention, high-accuracy wave information is estimated by utilizing real-time measurement values of a ship or offshore structure operated by a motion measuring device without having an expensive wave observation radar, and By presenting the change in motion characteristics according to the change in the operating conditions in the navigation direction, the optimal navigation guide information is provided, and there is an effect of stably operating even in the harsh maritime environment.

In addition, by estimating the wave information with high accuracy, there is an effect of deriving a shipyard economic operation solution, estimating Shimjin, and determining the optimal line or speed.

1 shows a schematic configuration diagram of a system implementing an algorithm for real-time estimation of a wave spectrum and providing a navigation guide according to an embodiment of the present invention.
FIG. 2 shows a flow of estimation of wave information by a system implementing an algorithm for real-time estimation of the wave spectrum of FIG. 1 and provision of navigation instructions.
FIG. 3 is a diagram illustrating a regular motion analysis DB by a system implementing an algorithm for real-time estimation of the wave spectrum of FIG. 1 and provision of navigation instructions.
FIG. 4 illustrates a wave estimation process from an actual measurement DB and a normal motion analysis DB by a system implementing the real-time estimation and navigation guide providing algorithm of the wave spectrum of FIG. 1.
5 illustrates the results of regression analysis on the actual measured data and raw data of FIG. 4(d).
6 is a comparison of the wave condition of the model test and the wave condition obtained inversely by the wave estimation algorithm of the present invention by using the value measured in the model test.
7 is an illustration of an implementation of a navigation guide providing algorithm by a system implementing the real-time wave spectrum estimation and navigation guide providing algorithm of FIG. 1.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms, and is not limited to the embodiments described herein.

1 to 7, a system implementing an algorithm for real-time estimation of a wave spectrum and providing a navigation guide according to an embodiment of the present invention includes, as a whole, a measuring instrument 110 for real-time sensing the displacement and acceleration of the ship being operated. , The displacement and acceleration of the hull according to the wave direction and wave period change built through the analysis are calculated, and the normal motion analysis DB 120 built by normalizing based on the first specific motion, and the displacement detected by the measuring instrument 110 And acceleration are received and the actual measurement DB 131 is constructed, and a regular motion measurement DB is constructed by normalizing the second specific motion of the actual measurement DB 131 identical to the first specific motion. The wave direction and wave period are determined from the regular motion analysis DB 120 through the most similar normalized first specific motion, the wave height information of the navigation sea area is estimated based on the linear characteristics, and the navigation guide information by the motion change according to the change of the operating conditions. Including the control unit 130 to provide, by utilizing motion motion data measured in real time from the operating ship or offshore structure, the motion characteristic change according to the change in the operating conditions of the ship speed and the navigation direction of the ship in the current operating state is presented Therefore, the main point is to provide the optimal navigation guide information so that it can operate stably even in harsh marine environments.

First, the measuring instrument 110 detects displacement and acceleration, which are motion motion data of the ship being operated, in real time (S120), but a rotation motion sensor that detects the rotational motion displacement of pitch, roll, and yaw. (rotational motion sensor) 111, a translational motion sensor 112 that detects translational motion displacement in x,y,z directions, and a 3-degree of freedom acceleration that detects acceleration in x,y,z directions A sensor 113 may be included, and the control unit 130 may construct an actual measurement DB 131 with effective values of displacement and acceleration in a specific time unit (S130).

Here, the measuring device 110 may be installed at various positions of the hull such as a stern, a bow, and a cabin to detect displacement and acceleration.

In addition, in the case of the hull, it is assumed that it is a rigid body, and the rotational motion displacement is obtained as a single measurement value regardless of the measurement position, but the translational motion displacement and acceleration are different depending on the installation location of the measuring instrument 110. The analysis DB can be configured by doing this.

Next, the regular motion analysis DB 120 is analyzed by considering the loading condition and ship speed information including the draft and the center of gravity of a specific ship, and the unit significant wave height for various loading conditions and speed of the ship. Significant wave height) is calculated by calculating the displacement and acceleration of the hull according to the wave direction and wave period change, and is constructed by normalizing it based on the first specific motion (S110). At this time, the unit significant wave height may be 1m.

Specifically, the regular motion analysis DB 120 sets a motion table 122 composed of raw data of a motion selected by a specific loading condition and a ship speed, and a specific motion among the motions of the motion table 122 as a first specific motion, It consists of a regular motion table 123 in which the original data is normalized by setting the size of the specific motion to 1. In this embodiment, a regular motion table in which the original data is normalized by setting the first specific motion as the pitch and the pitch size as 1 is constructed, and 3 rows may be referred to in FIG. 4B.

More specifically, as shown in (a) of FIG. 3, the database 121 for each loading and each speed according to the change of loading and the change of ship speed is configured in a matrix form through a preliminary analysis, and FIG. 3(b) As shown in, the motion table 122 corresponding to the loading condition and the ship speed (Motion_Vn_Lm) determined from the database is configured, and the motion table 122 is a heading and a wave based on a unit significant wave height (Hs = 1m). It can be composed of the roll, pitch of the hull according to the change of the period Tp, and the acceleration in the x, y, and z directions at various positions.

Here, the roll, pitch, and acceleration are configured, but in addition to the yaw and translation motion displacement at various positions may be additionally configured.

In addition, as shown in (c) of FIG. 3, from the motion table 122 composed of raw data, a specific motion among motions is assumed as the first specific motion. Here, the pitch among several motions is set as the first specific motion and the pitch The original data is normalized with the size of 1 to build the regular motion table 123.

Next, the control unit 130, first, as shown in Figure 4 (a), receives the displacement and acceleration sensed by the measuring instrument 110 to configure the actual measurement raw data for each predetermined time unit, and the first The size of the second specific motion of the actual measurement DB 131 which is the same as the specific motion is normalized to 1 to establish an actual regular motion measurement DB. In other words, just as the original data was normalized by setting the pitch size to 1, the pitch size of the actual measurement DB can be normalized to 1.

Here, the control unit 130 may construct the actual measurement DB 131 as an effective value (RMS) in a specific time unit of motion of displacement and acceleration.

Subsequently, as shown in (b) of FIG. 4, the control unit 130, from the regular motion analysis DB 120, the normalized first specific motion most similar to the related motion data normalized to the second specific motion criterion. The corresponding wave direction and wave period are determined by searching for related motion data (regular motion). In this case, the combination with the minimum covariance value of the two combinations can be selected from the regular motion analysis DB. That is, in order to select the normalized first specific motion-related motion analysis data most similar to the normalized second specific motion-related motion measurement data, a combination having a minimum covariance value may be selected.

Subsequently, the controller 130 minimizes the motion value of the unit significant wave height corresponding to the determined wave direction and wave period and the motion value sensed by the measuring instrument 110, as shown in FIGS. 4(c) and (d). The wave height information is estimated in real time using the square method (S140, S150).

Specifically, the wave estimation algorithm may estimate the wave height information in real time by using the least squares method using motion analysis data obtained from a unit significant wave height and a motion value detected by a measuring device based on a linear characteristic.

For example, if each term in the motion table 122 obtained under the unit significant wave height condition is referred to as Bi, each motion value detected by the measuring instrument is referred to as Zi, and the total number of measurements is referred to as N, the result value below is A You can dig up the value and estimate it with information. In this case, i means the terms to be measured such as roll and pitch.

Accordingly, as shown in FIG. 6, in a state in which the loading condition and the ship speed are determined by the wave estimation algorithm of the control unit 130, the wave height, the wave period, and the wave direction can be estimated in real time with high accuracy.

Subsequently, the control unit 130 extracts a quantitative change in the motion of the hull according to the change of the ship speed or the navigation direction, which is the operating condition, from the regular motion analysis DB 120 to construct the navigation guide DB 132 (S160).

Here, the navigation guide DB 132 is the blue information of the motion table 122 corresponding to the ship speed of the currently operating ship extracted from the database 121 for each loading and each ship speed, and the current measurement DB 131 It is constructed by extracting the change in displacement and acceleration of the hull according to the change in ship speed and wave direction (for example, 15° interval) from the ship speed information.

For example, the navigation instruction providing algorithm includes a wave height Hs, a wave period Tp, and a wave direction of the motion table 122 estimated by the wave estimation algorithm, as shown in FIGS. 7A and 7B. The expected wave condition of the heading), the actual ship speed (Vs) of the ship currently in operation, and the roll and pitch, which are motion motion data of the actual measurement DB 131, and the current ship speed information (Vs=20 knots). As a standard, the displacement change and acceleration change of the hull according to a certain unit speed change (e.g., 2 knots interval) and wave direction change (e.g., 15° interval) are extracted, and the operation guide DB (for each motion (roll or pitch)) 132), and it is possible to provide a ship speed or a navigation direction of a ship in which the magnitude of motion of a relatively large value that hinders efficient navigation under severe maritime environments is optimized.

In particular, in the case of rolls, the size of the roll can be greatly reduced even with small changes in ship speed and direction of the ship due to the resonance phenomenon, and the navigation instruction providing algorithm is effective by changing the current wave direction (300°) and ship speed (20 knots). It is possible to provide an optimum line speed corresponding to a roll having this possible size.

That is, by displaying and providing the corresponding roll value extracted while changing the ship speed by 2 knots and the wave direction by 15° from the regular motion DB 120, the optimal ship speed information corresponding to the minimum roll value or the navigation guide for the navigation direction By providing information, it is possible to conduct efficient navigation.

Meanwhile, a system implementing an algorithm for real-time estimation of a wave spectrum and providing navigation instructions according to an embodiment of the present invention may be applied to a ship or an offshore structure.

For reference, although the description is mainly given on the premise of a ship in operation, it is not limited thereto and may be equally applied to various offshore structures.

Therefore, by the system implementing the algorithm for real-time estimation of the wave spectrum and providing navigation instructions as described above, and the configuration of a ship or offshore structure equipped with the system, a sailing ship by a motion measuring device without having an expensive wave observation radar Alternatively, by using real-time measurement values from offshore structures, high-accuracy wave information is estimated, and motion characteristics change according to changes in the operating conditions of the ship speed and the ship's operating direction in the current operating state is provided to provide optimal navigation guide information. Thus, it is possible to operate stably even under severe maritime environments, and by estimating high-accuracy wave information, it is possible to derive a shipyard economic operation solution, estimate Shimajin, and determine the optimal line or ship speed.

The embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention, so various equivalents that can replace them at the time of the present application It should be understood that there may be water and variations.

110: measuring instrument 111: rotation motion sensor
112: translation motion sensor 113: 3-degree of freedom acceleration sensor
120: regular motion analysis DB 121: database
122: motion table 123: regular motion table
130: control unit 131: actual measurement DB
132: Flight Instruction DB

Claims (10)

Measuring instrument for real-time detection of the ship's motion data;
A regular motion analysis DB constructed by calculating the motion data of the hull according to the wave direction and wave period change through analysis and normalizing it based on the first specific motion; And
Constructs an actual measurement DB based on the motion data detected by the measuring device, and normalizes it based on the second specific motion of the actual measurement DB identical to the first specific motion to form a regular motion measurement DB, and the regular motion measurement Including a control unit that determines wave direction and wave period from the regular motion analysis DB that is most similar to the DB, estimates wave height information of the operation sea area based on linear characteristics, and provides operation guide information by motion change according to the change of operation conditions
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 1,
The measuring instrument detects motion motion data of the displacement and acceleration of the hull in real time,
The regular motion analysis DB calculates the displacement and acceleration of the hull according to the wave direction and wave period change based on the unit significant wave height through analysis while changing the loading condition and ship speed information of the corresponding ship, and based on the first specific motion. Is built by normalization,
The control unit receives the displacement and acceleration sensed by the measuring device, configures actual measurement raw data for each predetermined time unit, and normalizes it based on the second specific motion of the actual measurement DB that is the same as the first specific motion. Establish a measurement DB, determine a wave direction and wave period from the regular motion analysis DB, which is most similar to the normal motion measurement DB, and detect motion analysis data obtained from the unit significant wave height corresponding to the determined wave direction and wave period, and the measuring device Characterized in that the wave height information is estimated by the blue estimation algorithm of the motion value,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 2,
The navigation guide providing algorithm includes an expected wave condition of a motion table estimated by the wave estimation algorithm, an actual ship speed of a currently operating ship, and motion motion data of the actual measurement DB, based on the current ship speed information. By extracting the displacement change and acceleration change of the hull according to the change and wave direction change, a navigation guide DB is established for each motion, and the size of a relatively large motion that interferes with efficient operation under severe marine environments is optimized. Characterized in that it provides the direction of navigation,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 2,
The measuring instrument is a rotation motion sensor that detects rotational motion displacement of pitch, roll, and yaw, a translational motion sensor that detects translational motion displacement in the x, y, and z directions, and a 3-freedom sensor that detects acceleration in the x, y, and z directions. Including an acceleration sensor,
The control unit, characterized in that to construct the actual measurement DB as effective values of the displacement and acceleration in a specific time unit,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 4,
The measuring instrument is installed in the stern, bow or cabin to detect displacement and acceleration,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 2,
The regular motion analysis DB
Construct a motion table based on unit significant wave height consisting of raw data of motion corresponding to loading condition and ship speed, and normalize the original data by normalizing the size of the first specific motion among the motions of the motion table to 1. By configuring, characterized in that to build the regular motion analysis DB,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 2,
It characterized in that the combination of the minimum covariance value with the data of the normal motion measurement DB is selected from the normal motion analysis DB,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. The method of claim 2,
The wave estimation algorithm, based on the linear characteristics, estimates the wave height information in real time by using the data of the regular motion analysis DB built on the basis of the unit significant wave height and the motion value detected by the measuring device using a least squares method. Characterized by,
A system that implements an algorithm for real-time estimation of the wave spectrum and providing navigation instructions. A ship equipped with a system implementing an algorithm for real-time estimation of the wave spectrum and provision of navigation instructions according to any one of claims 1 to 8. An offshore structure equipped with a system implementing an algorithm for real-time estimation of the wave spectrum and provision of navigation instructions according to any one of claims 1 to 8.

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