KR20230080027A - Direction calculation method of magnetic compass for interworking with ship radar - Google Patents

Abstract

The present invention relates to a direction calculating method of a magnetic compass for ship radar linkage, which stabilizes an observed value measured from a magnetic compass installed in a small ship without a gyro compass through recursive calculation, and accurately calculates a direction to provide the same for equipment (e.g., radar and the like) which requires a precise direction. The direction calculating method of the present invention, comprises the steps of: obtaining an observed value measured from a magnetic compass; driving a direction (R) through calculation on the basis of the obtained observed value; confirming a location where the direction (R) derived in the previous step exists, and applying a direction-derived value as a direction value when the direction exists on a second or third quadrant; and compensating the observed value in accordance with the location where the direction (R) exists when the location where the direction (R) exists is not placed on the second or third quadrant, and deriving a precise direction through recursive calculation using the compensated observed value to provide the same for equipment requiring a precise direction, such as a ship radar and the like.

Description

Direction calculation method of magnetic compass for interworking with ship radar

The present invention relates to azimuth calculation of a magnetic compass for interlocking a ship radar, and in particular, stabilizes an observed value measured by a magnetic compass installed on a small ship without a gyro compass through a recursive operation, and accurately uses the stabilized observation value. It relates to a method of calculating the bearing of a magnetic compass for interlocking with a ship radar so that the bearing can be calculated and provided to equipment (eg, radar, etc.) that requires precise bearing.

Marine radar is a sensing means that transmits radio waves using microwaves and receives a reflection signal reflected from a target to measure distance, speed, and angle information.

These ship radars have various radar waveforms such as Pulsed Doppler Radar, Frequency Modulated Continuous Wave, Stepped-Frequency Continuos Wave, and Frequency Shift Keying radar. Radar Waveform) is used to measure target information.

When detecting an object using radar, important technical details are time and bearing.

In terms of time, radar radio waves are reflected from an object and observe the time until the reflected wave is received. Since it is an established fact that radio waves travel at the speed of light, the observed time becomes a measure of how far away an object is from an observer.

On the other hand, time can be processed by the radar's own function, but bearing is impossible without external device help. That is, when an object is detected, in order to know the bearing of the object, the accurate heading of the ship must be known, and the heading of the detected object is combined with the ship's heading and offset information using the installation information of the radar installed on the ship. can know

The problem here is that in order to know the heading of a ship, a bearing signal is generally received from the outside. In the case of a large ship, it is sufficient to receive an input from a gyro compass, but since a gyro compass is not installed on a small ship, such as a fishing boat, there is no appropriate means for inputting a bearing. Of course, small fishing boats are also equipped with magnetic compasses, but these magnetic compasses cannot provide a stable bearing due to hunting (a phenomenon that is not fixed left and right in the sea).

As a technique for stabilizing non-fixed observation values, it is a widely known fact that this can be implemented by grafting many filtering techniques including the Kalman filter. There are various types of filters such as an average filter, a moving average filter, a low pass filter, a high pass filter, a particle filter, a complementary filter, a Kalman filter, and the like.

However, most filters have the disadvantage of having to know the total value in advance to obtain the average.

Republic of Korea Registered Patent No. 10-0764320 (registered on September 28, 2007) (GPS information and geomagnetic sensor simultaneous acquisition method and device for optimum azimuth data)

Therefore, the present invention has been proposed so that azimuth information using a magnetic compass can be accurately supplied even to a ship without a gyro compass by improving the error problem that occurs when calculating a direction using a magnetic compass in a general small ship as described above. For interlocking a ship radar to stabilize the observed value measured by a magnetic compass installed on a small ship without a ship, calculate a bearing accurately through a recursive formula, and provide it to equipment (e.g., radar, etc.) that requires precise bearing. Its purpose is to provide a method for calculating the direction of a magnetic compass.

In order to achieve the above object, the "method of calculating the bearing of a magnetic compass for linking a ship radar" according to the present invention,

A method of calculating the orientation of a magnetic compass in an orientation calculation device that calculates and provides an orientation based on observation values observed in a magnetic compass,

(a) obtaining an observation value measured by a magnetic compass;

(b) deriving a direction (R) through calculation based on the obtained observation value;

(c) checking the location where the direction (R) derived in the step (b) exists, and if it exists in the 2/4 quadrant or 3/4 quadrant, applying the derived azimuth value as an azimuth value; and

(d) If the position where the direction R exists in the step (b) is not in the 2/4 quadrant or the 3/4 quadrant, the observed value is corrected according to the position where the direction R exists in the step (b) and deriving a precise orientation through a recursive operation using the corrected observation values .

In the above step (d),

In step (b), if the location where the direction R exists exists in the 1/4 quadrant or 4/4 quadrant, the observed value is stabilized by correcting the observed value.

In the above step (d),

In the step (b), if the location where the direction R exists is in the 4/4 quadrant and the observed value (x) appears in the 1/4 quadrant, the observed value is corrected and stabilized through the following formula, and then the stabilized It is characterized in that the direction (R _n ) is recalculated using the observed value (x _n ).

In the above step (d),

In the step (b), if the location where the direction R exists is in the 1/4 quadrant and the observed value (x) appears in the 4/4 quadrant, the observed value is corrected and stabilized through the following formula, and then the stabilized It is characterized in that the direction (R _n ) is recalculated using the observed value (x _n ).

According to the present invention, an observation value measured by a magnetic compass installed on a small ship without a gyro compass is stabilized through a recursive operation, and a bearing is accurately calculated using the stabilized observation value, so that equipment requiring precise orientation (for example, There is an effect that can be provided to radar, etc.).

In particular, by calculating a precision bearing using observation values of a magnetic compass installed on a small ship, there is an advantage in that a general bearing can be stably obtained without the aid of a precision bearing sensor.

1 is a flowchart showing a direction calculation method of a magnetic compass for linking a ship radar according to the present invention.

Hereinafter, a direction calculation method of a magnetic compass for linking a ship radar according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in the present invention described below should not be construed as being limited to a conventional or dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his/her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical spirit of the present invention based on the principle that it can be.

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

1 is a flowchart showing a direction calculation method of a magnetic compass for interlocking with a ship radar according to a preferred embodiment of the present invention, (a) acquiring the observed values measured by the magnetic compass (S11), (b) obtaining the Deriving a direction (R) through calculation based on an observation value (S12), (c) confirming the location where the direction (R) derived in step (b) exists, If it exists in the / quadrant, applying the derived azimuth value as an azimuth value (S13-S14), and (d) the position where the azimuth (R) exists in the step (b) is in the 2/4 quadrant or 3/4 quadrant If not, correcting the observed value according to the location where the bearing R exists in step (b), and deriving a precise bearing through recursive calculation using the corrected observation value (S15 to S16). do.

The detailed description of the direction calculation method of the magnetic compass for interlocking with the ship radar according to the preferred embodiment of the present invention configured as described above is as follows.

First, although not shown in the drawing, the present invention is a magnetic compass for providing azimuth values, an azimuth calculation device that calculates and provides an azimuth based on observed values observed in the magnetic compass, and a direction value calculated by the azimuth calculation device. It is assumed that a direction providing module for interworking with necessary equipment (eg, radar, etc.) is provided.

First, the direction calculating device obtains an observation value measured from a magnetic compass in step S11.

Here, the observed value measured from the magnetic compass is an unstable value that is not fixed due to the phenomenon of hunting (a phenomenon that is not fixed left and right in the sea).

Therefore, in the present invention, a recursive calculation method is used to stabilize unstable observed values. Here, the recursive calculation method does not need to know the entire value in advance to obtain the average, and is an calculation method in which a more stable observed value is inferred by calculating a new value for the previous filters.

This recursive calculation method is applied to all fields using electronic sensors such as MEMS, and when the range is precisely processed, it is applied to most of all bearing calculations such as gyro compass, so a detailed description thereof is given. will be omitted.

The direction (R) is derived through calculation using the observed value (S12).

For example, assuming an average filter is used, the recursive expression It can be expressed in the following form.

Equation 1

R _n = (n-1)/n*R _{n -1} + 1/n*x _n

here, R _n silver This is the result derived from the calculation at this stage, R _{n -One} silver than the present One means the result of a step ahead. also, x _n silver Indicates the current observed value. On the other hand, n means the number of data up to now or the order of the current step. By using n as a subscript for all data variables, it is possible to know at what stage the values were assigned.

Here, since the calculated value of the orientation is 0° ≤ R ≤ 360°, it can be seen that it is a circular structure in which 1° greater than 359° should be 0°, not 360°. Therefore, when using the filters mentioned in the background of the invention, the average of 359 ° and 0 ° should be 359.5 °, but an error of arithmetically displaying 179.5 ° occurs. In order to solve this problem, in the present invention, in step (b) the resulting value is Observations according to the position of R by correcting Stabilize and accurately calculate bearings based on stabilized observations.

If R is the result derived from the operation, n is the number of measurements, and x is the observed value, R _n-1 this 2/4 quadrant or in the 3/4 quadrant observed value when present x _n go Wherever observed, R _n Values are not affected.

however R _{n -One} this in the 4/4 quadrant when there is x _n go in the 1/4 quadrant appear (e.g. R _{n -One} = 359°, x _n = 1° is observed, then x _n = 361° must be recognized to calculate the exact value) x _n It must be calculated by adding 360° to the value of

in the same way R _{n -One} this in the 1/4 quadrant when there is x _n this in the 4/4 quadrant appear (e.g. R _{n -One} = 1°, x _n = 359° was observed, then x _n = -1° to calculate the correct value) x _n It must be calculated by subtracting 360° from the value of

That is, the location where R, the azimuth result value derived through the calculation, exists in step S12 is checked (S13), and if it exists in the 2/4 quadrant or 3/4 quadrant, the derived azimuth value is applied as the azimuth value (S14). ).

In contrast, if the location where the direction R exists in step S12 is not in the 2/4 quadrant or the 3/4 quadrant, the observed value is corrected according to the location where the direction R exists in step S12, and the corrected observation value A precise bearing is derived through a recursive operation using (S15 - S16).

That is, if the position at which the direction R exists in step S12 exists in the 1/4 quadrant or 4/4 quadrant, the observed value is stabilized by correcting the observed value, and then the bearing is calculated and calculated.

In other words, if the position where the orientation R exists in step S12 is in the 4/4 quadrant and the observed value (x) appears in the 1/4 quadrant, the observed value is corrected and stabilized through Equation 2 below. Afterwards, the direction (R _n ) is calculated again using the stabilized observation value (x _n ).

If, in step S12, the location where the direction R exists is in the 1/4 quadrant and the observed value (x) appears in the 4/4 quadrant, the observed value is corrected and stabilized through Equation 3 below , the bearing (R _n ) is calculated again using the stabilized observation value (x _n ).

In this way, the present invention can accurately calculate and provide the azimuth value of the magnetic compass for interworking with devices that require precise azimuth, including a radar installed on a ship, so that a general azimuth can be stably obtained without the help of a precision azimuth sensor. There are advantages that can be

In particular, even if small ships try to use the ARPA Radar, it is possible to provide a stable bearing by utilizing the magnetic compass placed on the existing ship, which could not be used because the input value of the direction sensor was not obtained, so even small ships can use the ARPA Radar. It helps to make it easy to use.

At the national level, the defense providing device has been very expensive, so there has been a limit to supporting ARPA Radar, etc. to fishermen. From this point of view, it can facilitate the support of ARPA Radar to fishermen.

Although the invention made by the present inventors has been specifically described according to the above embodiments, the present invention is not limited to the above embodiments, and it is common knowledge in the art that various changes can be made without departing from the gist of the present invention. It is self-evident to those who have

Claims (4)

A method of calculating the orientation of a magnetic compass in an orientation calculation device that calculates and provides an orientation based on observation values observed in a magnetic compass,
(a) obtaining an observation value measured by a magnetic compass;
(b) deriving a direction (R) through calculation based on the obtained observation value;
(c) checking the location where the direction (R) derived in the step (b) exists, and if it exists in the 2/4 quadrant or 3/4 quadrant, applying the derived azimuth value as an azimuth value; and
(d) If the position where the direction R derived in the step (b) exists is not in the 2/4 quadrant or the 3/4 quadrant, the observed value according to the position where the direction R exists in the step (b) Correcting and deriving a precise bearing through a recursive operation using the corrected observation value.
In claim 1, the (d) step,
If the position where the direction (R) exists in step (b) exists in the 1/4 quadrant or 4/4 quadrant, the magnetic compass for linking the ship radar, characterized in that the observed value is stabilized by correcting the observed value. Defense Calculation Method.
In claim 1, the (d) step,
In the step (b), if the location where the direction R exists is in the 4/4 quadrant and the observed value (x) appears in the 1/4 quadrant, the observed value is corrected and stabilized through the following formula, and then the stabilized A direction calculation method of a magnetic compass for linking a ship radar, characterized in that the direction (R _n ) is recalculated using the observed value (x _n ).

In claim 1, the (d) step,
In the step (b), if the location where the direction R exists is in the 1/4 quadrant and the observed value (x) appears in the 4/4 quadrant, the observed value is corrected and stabilized through the following formula, and then the stabilized A direction calculation method of a magnetic compass for linking a ship radar, characterized in that the direction (R _n ) is recalculated using the observed value (x _n ).

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