KR20240062300A - System with algorithm for estimating wave spectrum in real-time, and vessel or offshore structure including the same - Google Patents

Abstract

The present invention is a single measuring instrument 110 that is placed at a specific single location of the hull and detects the first motion data of the hull in real time, and measures the first motion data detected by the measuring instrument 110 at a predicted location different from the specific single location. A motion data conversion unit 120 that converts into second motion data, an actual measurement DB 130 built from the first motion data and second motion data, and hull motion data according to changes in wave direction and wave period through analysis. A regular motion analysis DB (140) built by calculating and normalizing based on the first specific motion, and a regular motion measurement DB built by normalizing based on the second specific motion of the actual measurement DB (130), which is the same as the first specific motion. (150), and determine the wave direction and wave period from the regular motion analysis DB (140), which is most similar to the regular motion measurement DB (150), estimate the wave height information of the operating sea area based on linear characteristics, and operate through the operating guidance provision algorithm. Including the control unit 160, which provides navigation instruction information based on motion changes according to condition changes, presents changes in motion characteristics according to changes in operating conditions, such as ship speed and navigation direction of the vessel in the current operating state, through a single instrument. We are launching a real-time wave spectrum estimation system that provides optimal navigation guidance information.

Description

Wave spectrum real-time estimation system and ship or offshore structure including the system {SYSTEM WITH ALGORITHM FOR ESTIMATING WAVE SPECTRUM IN REAL-TIME, AND VESSEL OR OFFSHORE STRUCTURE INCLUDING THE SAME}

The present invention relates to a wave spectrum real-time estimation system and a ship or marine structure including the system. More specifically, the present invention relates to a change in motion characteristics according to changes in operating conditions such as ship speed and ship operating direction in the current operating state through a single measuring instrument. This relates to a real-time wave spectrum estimation system that provides optimal operation guidance information and a ship or marine structure including the system.

Typically, marine environmental data such as wind, waves, current, and swell in the sea area where a ship operates can be widely used in ship design, such as estimating sea margin and determining the optimal line. You can. In addition, it can be used in smart ships such as economic navigation solutions for ships, so accurate measurements of the actual marine environment are required.

For wave information, satellite measurement data or ocean buoy data are usually used. For example, the European Meteorological Agency (ECMWF) assumes that a grid area of about 14km*14km is the same marine environment and provides estimated information in the form of a grid every 6 hours. However, due to time and space constraints, it is difficult to use it during actual navigation. There are some difficult aspects.

In addition, some of the ships in operation are equipped with wave radars to directly measure waves, but since this equipment is quite expensive, it is difficult to apply it widely in terms of cost-effectiveness.

Accordingly, technology that can increase reliability and accuracy while measuring accurate wave information in the operating area at low cost is required.

Korean Patent Publication No. 10-1945441 (Real-time wave measurement device and vessel dynamic load monitoring system including the same, announced on February 7, 2019)

The technical task to be achieved by the idea of the present invention is to provide optimal navigation guidance information in real time through the wave spectrum by presenting changes in motion characteristics according to changes in operating conditions such as ship speed and ship operating direction in the current operating state through a single measuring instrument. The purpose is to provide an estimation system and a ship or offshore structure containing the system.

In order to achieve the above-described object, an embodiment of the present invention includes: a single measuring device disposed at a specific single location of the hull and detecting first motion data of the hull in real time; a motion data conversion unit that converts the first motion data detected by the measuring device into second motion data at a predicted position different from the specific single position; an actual measurement DB constructed by the first exercise data and the second exercise data; A regular motion analysis DB constructed by calculating hull motion data according to changes in wave direction and wave period through analysis and normalizing it based on the first specific motion; a regular motion measurement DB constructed by normalizing a second specific motion of the actual measurement DB that is the same as the first specific motion; And determine wave direction and wave period from the regular motion analysis DB that is most similar to the regular motion measurement DB, estimate wave height information in the operating sea area based on linear characteristics, and determine motion changes according to changes in operating conditions through the operating guidance provision algorithm. Provides a real-time wave spectrum estimation system that includes a control unit that provides navigation guidance information.

Here, the measuring device may include a rotational motion sensor that detects rotational motion displacements of pitch, roll, and yaw, and a translational motion sensor that detects translational motion displacements of surge, sway, and heave.

At this time, the exercise data conversion unit may respectively convert and predict the three-axis acceleration of the second exercise data from the measured value of the first exercise data.

Specifically, the acceleration is predicted by the following [Equation 1] and [Equation 2],

[Equation 1]

Here, Ax, _p1 and Ay, _p1 and Az, _p1 are the acceleration at a specific single location (p1) of the instrument placed at a distance of x1, y1, z1 from the COG of the hull, respectively, is the angular velocity or angular acceleration, g is the gravitational acceleration,

[Equation 2]

Here, Ax, _p2 , Ay, _p2 , and Az, _p2 may be the acceleration at the predicted position (p2), which is separated by x2, y2, and z2, respectively, from the COG of the hull.

Additionally, the measuring instrument is disposed in the cabin area, and the motion data conversion unit may convert the first motion data of the cabin area into the second motion data of the cargo loading area.

In addition, the regular motion analysis DB calculates the displacement and acceleration of the hull according to changes in wave direction and wave period based on unit significant wave height through analysis while changing the loading condition and ship speed information of the hull, and calculates the first specific motion. It can be constructed by normalizing based on .

Here, the regular motion measurement DB receives the displacement and acceleration of the first motion data and the second motion data and configures actual measurement raw data for each certain time unit, and the actual measurement DB is the same as the first specific motion. It can be constructed by normalizing based on the second specific motion of .

At this time, the control unit determines the wave direction and wave period from the regular motion analysis DB that is most similar to the regular motion measurement DB, and motion analysis data and the first motion data obtained from the unit significant wave height corresponding to the determined wave direction and wave period. And wave height information can be estimated from the second motion data using a wave estimation algorithm.

In addition, the operation guidance providing algorithm uses the expected wave conditions of the motion table estimated by the wave estimation algorithm, the actual ship speed of the currently operating ship, and the motion movement 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 in ship speed and wave direction in a certain unit, a navigation guide DB can be constructed for each motion, and the ship speed or ship operating direction at which the magnitude of motion of a relatively large value is optimized can be provided. .

Additionally, the actual measurement DB may store the displacement of the first motion data and the acceleration of the second motion data as effective values in a specific time unit.

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

Additionally, a combination that minimizes the covariance value with data from the regular motion measurement DB can be selected from the regular motion analysis DB.

In addition, the wave estimation algorithm uses the data of the regular motion analysis DB built based on the unit significant wave height, based on linear characteristics, and the motion value detected by the instrument using the least squares method to provide wave height information. It can be estimated in real time.

Another embodiment of the present invention provides a vessel including the wave spectrum real-time estimation system listed above.

Another embodiment of the present invention provides an offshore structure including the wave spectrum real-time estimation system listed above.

According to the present invention, it is possible to estimate high-accuracy wave information on a sailing ship or marine structure by utilizing the predicted value at a different predicted position from the sensed value detected through a single motion measuring device.

In addition, it has the effect of providing optimal navigation instruction information by presenting changes in motion characteristics according to changes in operating conditions such as ship speed and vessel operating direction in the current operating state.

Furthermore, by estimating wave information with high accuracy, it is possible to more accurately estimate sea margin due to waves and use it for economic operation solutions in shipyards.

Figure 1 shows a schematic diagram of a real-time estimation system for the blue spectrum according to an embodiment of the present invention.
Figure 2 shows the flow of estimating wave information using the real-time estimation system for the wave spectrum of Figure 1.
Figure 3 illustrates a regular motion analysis DB using the real-time estimation system for the blue spectrum of Figure 1.
Figure 4 illustrates the wave estimation process of the wave spectrum of Figure 1 from the actual measurement DB and regular motion analysis DB by a real-time estimation system.
Figure 5 illustrates the results of regression analysis for the actual measurement data and raw data in (d) of Figure 4.
Figure 6 shows a comparison between the wave conditions of the model test and the wave conditions inversely obtained by the wave estimation algorithm of the present invention using the values measured in the model test.
Figure 7 illustrates the implementation of the navigation guidance providing algorithm by the wave spectrum real-time estimation system of Figure 1.
Figure 8 is a graph comparing the 3-axis rotational displacement measured by the sensor with the input value.
Figure 9 is a graph comparing the 3-axis acceleration predicted using the values measured by the sensor with the input values.

Hereinafter, embodiments of the present invention having the above-described features will be described in more detail with reference to the attached drawings.

In one embodiment of the present invention, the wave spectrum real-time estimation system includes a single measuring instrument 110 that is placed at a specific single location on the hull and detects the first motion data of the hull in real time, and the first motion data detected by the measuring instrument 110. Through the exercise data conversion unit 120, which converts the exercise data into second exercise data at a specific single location and other predicted positions, the actual measurement DB 130 built by the first exercise data and the second exercise data, and analysis A regular motion analysis DB (140) constructed by calculating hull motion data according to changes in wave direction and wave period and normalizing it based on the first specific motion, and a second specific motion of the actual measurement DB (130) that is the same as the first specific motion. The wave direction and wave period are determined from the regular motion measurement DB (150), which is built by normalizing based on and includes a control unit 160 that provides operating instruction information based on motion changes according to changes in operating conditions through an operating instruction provision algorithm, and provides the ship speed and operating direction of the ship in the current operating state through a single instrument. The point is to provide optimal operation guidance information by presenting changes in motion characteristics according to changes in operating conditions.

Hereinafter, with reference to FIGS. 1 to 9, the blue spectrum real-time estimation system of the above-described configuration will be described in detail as follows.

First, the measuring instrument 110 has a single configuration and is placed at a specific single location on the hull to detect the first motion data of the hull in real time (S120).

For example, the measuring instrument 110 is a rotational motion sensor that detects displacement, which is motion data of a ship in operation, in real time, and detects rotational motion displacement of pitch, roll, and yaw. (111), and may include a translational motion sensor (112) that detects translational motion displacement of surge, sway, and heave.

In addition, the measuring instrument 110 can be installed in various locations of the hull, such as the stern, bow, and cabin, to detect rotational motion displacement and translational motion displacement, respectively. However, for convenience of placement and maintenance, it may be preferable to be placed in the cabin area. .

Additionally, since the hull can be assumed to be a rigid body, rotational motion displacement can be obtained as a single measured value regardless of the measurement location.

Meanwhile, the rotational motion displacement and translational motion displacement detected by the measuring device 110 may be stored in the actual measurement DB 130 as effective values in a specific time unit.

Next, the exercise data conversion unit 120 converts the exercise data detected by the measuring device 110 into second exercise data at a predicted position different from the specific single position (S130).

For example, as mentioned earlier, rotational motion displacement can be obtained as the same measured value regardless of the measurement location, without requiring separate calibration, and 3-axis acceleration, or 3-axis translational acceleration, may vary depending on the detection location. , it can be predicted by calculating the 3-axis acceleration at the position to be predicted.

Specifically, the exercise data conversion unit 120 converts the x, y, It can be predicted by converting each acceleration into z-axis direction.

Here, Ax, _p1 , Ay, _p1 and Az, _p1 are the acceleration at a specific single position (p1) of the instrument 110 placed at a distance of x1, y1, z1, respectively, from the COG (Center Of Gravity) of the hull, is the angular velocity or angular acceleration, g is the gravitational acceleration,

Here, Ax, _p2 , Ay, _p2 , and Az, _p2 may be the acceleration at the predicted position (p2), which is separated by x2, y2, and z2, respectively, from the COG of the hull.

In this way, the acceleration at a specific single position (p1) and the distance difference (x ₂ -x _1, y ₂ -y _1, z ₂ -z ₁ ) between the specific single position (p1) and the predicted position (p2) , the three-axis acceleration at the predicted position (p2) can be calculated from the angular acceleration.

Meanwhile, Figures 8 and 9 show 3 input in time series from the experimental equipment, under the assumption of a rigid body, through an experimental equipment that generates 3-axis translational motion and 3-axis rotational motion, and through a measuring instrument that is not placed at the center of the equipment movement. A graph of the results of comparing axial translational motion and 3-axis rotational motion (input) with the 3-axis rotational motion (sensor) and 3-axis acceleration values measured and predicted by the instrument, as illustrated in FIG. 8, arrangement of the instrument. Regardless of the location, the input values of roll, pitch, and yaw, and the detection values detected by the measuring instrument are quite similar, so there is no need for separate calibration, and as illustrated in Figure 9, the input values in time series from the experimental equipment The 3-axis acceleration input value (input) based on the two time difference method of motion and the 3-axis acceleration calculated value (“A”) at the center of equipment movement predicted by the measuring device are quite similar, so the predicted position is possible regardless of the measuring device placement position. The acceleration can be predicted with high accuracy.

Accordingly, the motion data conversion unit 120 converts the first motion data of the cabin area into the second motion data of the cargo loading area, and in particular converts the acceleration of the first motion data to the acceleration of the second motion data, and measures ( 110) By predicting the acceleration of cargo loading areas where placement is difficult, the status of cargo requiring attention can be monitored in real time.

Next, the actual measurement DB 130 is constructed by the first motion data and the second motion data, and the motion of the actually sensed displacement of the first motion data and the predicted acceleration of the second motion data is measured as an effective value (RMS) in a specific time unit. RMS) can be saved (S140).

Next, the regular motion analysis DB 140 is constructed by calculating the motion data of the hull according to changes in wave direction and wave period through analysis and normalizing it based on the first specific motion.

In other words, the regular motion analysis DB 140 provides unit significant wave height for various loading conditions and ship speeds of the relevant hull through analysis that considers loading conditions and ship speed information, including the draft and center of gravity of a specific ship. It is constructed by calculating the displacement and acceleration of the hull according to changes in wave direction and wave period based on wave height and normalizing it based on the first specific motion (S110). At this time, the unit significant wave height may be 1 m.

For example, the regular motion analysis DB 140 calculates the displacement and acceleration of the hull according to changes in wave direction and wave period based on unit significant wave height while changing the loading condition and ship speed information of the hull through analysis of model tests, and calculates the displacement and acceleration of the hull according to changes in wave direction and wave period. It can be constructed by normalizing based on a specific motion.

In addition, the regular motion analysis DB 140 includes a motion table 142 composed of raw data of motions selected by specific loading conditions and line speeds, and a specific motion among the motions of the motion table 142 as the first specific motion, and the corresponding It consists of a regular motion table 143 that normalizes the raw data by setting the size of a specific motion to 1. In this embodiment, a regular motion table was constructed by normalizing the raw data with the first specific motion as the pitch and the size of the pitch as 1, and row 3 in (b) of FIG. 4 can be referred to.

More specifically, as shown in (a) of FIG. 3, through preliminary analysis, the database 141 for each loading and line speed according to the change in loading and line speed is configured in a matrix form, and (b) in FIG. 3. As shown, a motion table 142 corresponding to the loading condition and line speed (Motion_Vn_Lm) determined from the database 141 is configured, and the motion table 142 is based on the wave direction (heading) based on the unit significant wave height (Hs = 1 m). ) and wave period (Tp) changes, and can be composed of the hull's roll, pitch, and three-axis acceleration in the x, y, and z directions at various positions.

Here, it consists of roll, pitch, and acceleration, but in addition, yaw and translational motion displacement at various positions can be additionally configured.

In addition, as shown in (c) of FIG. 3, a specific motion among the motions is assumed to be the first specific motion from the motion table 142 composed of raw data, and here, among several motions, the pitch is set as the first specific motion and the pitch By setting the size of to 1, the raw data is normalized to construct a regular motion table 143.

Next, the regular motion measurement DB 150 is constructed by normalizing the second specific motion of the actual measurement DB 130, which is the same as the first specific motion, that is, the displacement and acceleration of the first motion data and the second motion data. It can be constructed by receiving input, constructing actual measurement raw data for each certain time unit, and normalizing the size of the second specific motion of the actual measurement DB 130, which is the same as the first specific motion, to 1. In other words, just as the raw data was normalized by setting the pitch size to 1, the pitch size of the actual measurement DB can be normalized to 1.

Next, the control unit 160 determines the wave direction and wave period from the regular motion analysis DB 140, which is most similar to the regular motion measurement DB 150, estimates wave height information in the navigation area based on linear characteristics, and operates an algorithm for providing navigation instructions. It provides operation instruction information based on motion changes according to changes in operating conditions.

For example, the control unit 160 determines the wave direction and wave period from the regular motion analysis DB 140 that is most similar to the regular motion measurement DB 150, and combines the motion analysis data obtained from the unit significant wave height corresponding to the determined wave direction and wave period with the first Wave height information can be estimated from the motion data and the second motion data using a wave estimation algorithm.

For example, as shown in (b) of FIG. 4, the control unit 160 receives the normalized first specific motion-related motion data most similar to the related motion data normalized based on the second specific motion from the regular motion analysis DB 140. Motion data (regular motion) is searched to determine the corresponding wave direction and wave period. In this case, the combination that minimizes the covariance value of the two combinations can be selected from the regular motion analysis DB. That is, in order to select the motion analysis data related to the normalized first specific motion that is most similar to the motion measurement data related to the normalized second specific motion, a combination with a minimum covariance value may be selected.

In addition, as shown in (c) and (d) of FIGS. 4, the control unit 160 converts the motion value of the unit significant wave height corresponding to the determined wave direction and wave period and the motion value detected by the instrument 110 into least squares The wave height information is estimated in real time using the law (S150).

Specifically, the wave estimation algorithm can estimate wave height information in real time based on linear characteristics, using motion analysis data obtained from unit significant wave height and motion values detected by the instrument using the least squares method.

For example, as in the following [Equation 3], each term of the motion table 142 obtained under the unit significant wave height condition is Bi, each motion value detected by the instrument is Zi, and the total number of measurements is N. Then, the value of A that minimizes the result below can be estimated using digging information. In this case, i refers to the terms being measured, such as roll and pitch.

Accordingly, as shown in FIG. 6, the wave height, wave period, and wave direction can be estimated in real time with high accuracy while the loading condition and line speed are determined by the wave estimation algorithm of the control unit 160.

For example, the wave estimation algorithm uses the data of the regular motion analysis DB 140, which is built on the basis of unit significant wave height, based on linear characteristics, and the motion value detected by the measuring instrument 110 using the least squares method to calculate the wave height. Information can be estimated in real time.

In addition, the control unit 160 extracts quantitative changes in the motion of the hull according to changes in ship speed or navigation direction, which are operating conditions, from the regular motion analysis DB 140 and constructs a navigation guide DB (S160).

Here, the operating instructions DB is obtained from the corresponding wave information of the motion table 142 corresponding to the ship speed of the currently operating vessel extracted from the database 141 for each loading and ship speed, and the current ship speed information of the actual measurement DB 130. It is constructed by extracting the displacement change and acceleration change of the hull according to the constant unit line speed change and wave direction change (for example, at 15° intervals).

Meanwhile, the operation guidance providing algorithm uses the expected wave conditions of the motion table estimated by the wave estimation algorithm, the actual ship speed of the currently operating ship, and the motion movement data of the actual measurement DB 130 to a constant schedule based on the current ship speed information. 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 can be constructed for each motion, and the ship speed or ship operating direction where the size of the relatively large motion is optimized can be provided.

For example, the navigation guidance providing algorithm, as shown in (a) and (b) of Figure 7, the wave height (Hs), wave period (Tp), and wave direction ( Heading) expected wave conditions, actual ship speed (Vs) of the ship currently in operation, roll and pitch, which are motion data of the actual measurement DB (130), and current ship speed information (Vs = 20 knots). As a standard, the displacement change and acceleration change of the hull according to a certain unit of ship speed change (e.g., 2 knot interval) and wave direction change (e.g., 15° interval) are extracted to create a navigation guide DB for each motion (roll or pitch). It is possible to construct a relatively large value of the magnitude of motion and provide the ship speed or ship's navigation direction at which it is optimized.

In particular, in the case of roll, due to the resonance phenomenon, the size of the roll can be greatly reduced even with a small change in ship speed and direction of the ship, and the navigation guidance providing algorithm changes the current wave direction (300°) and ship speed (20 knots) to ensure efficient navigation. This can provide the optimal line speed corresponding to a roll of any possible size.

In other words, the roll value extracted from the regular motion measurement DB (150) by changing the ship speed by 2 knots and the wave direction by 15° is displayed and provided to provide optimal ship speed information or navigation direction corresponding to the minimum roll value. By providing operation instruction information, it is possible to perform efficient operations.

Another embodiment of the present invention provides a vessel including the wave spectrum real-time estimation system listed above.

Another embodiment of the present invention provides an offshore structure including the wave spectrum real-time estimation system listed above.

Therefore, by using the wave spectrum real-time estimation system as described above and the configuration of the ship including the system, the detection value detected through a single motion measuring instrument and the predicted value at a different predicted position are used to achieve high accuracy in operating ships. By estimating the wave information, it is possible to provide optimal navigation guidance information by presenting changes in motion characteristics according to changes in operating conditions such as ship speed and vessel operating direction in the current operating state. By estimating high-accuracy wave information, It has the effect of more accurately estimating the sea margin due to waves and using it for economic operation solutions at shipyards.

For reference, the description is mainly based on the premise of a ship in operation, but it is not limited to this and can be equally applied to various marine structures.

The embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, so various equivalents may be substituted for them at the time of filing the present application. It should be understood that variations and variations may exist.

110: measuring instrument 111: rotation motion sensor
112: translational motion sensor 120: exercise data conversion unit
130: Actual measurement DB 140: Regular motion analysis DB
141: database 142: motion table
143: Regular motion table 150: Regular motion measurement DB
160: control unit

Claims (15)

A single measuring device disposed at a single specific location on the hull to detect first motion data of the hull in real time;
a motion data conversion unit that converts the first motion data detected by the measuring device into second motion data at a predicted position different from the specific single position;
an actual measurement DB constructed by the first exercise data and the second exercise data;
A regular motion analysis DB constructed by calculating hull motion data according to changes in wave direction and wave period through analysis and normalizing it based on the first specific motion;
a regular motion measurement DB constructed by normalizing a second specific motion of the actual measurement DB that is the same as the first specific motion; and
Determine the wave direction and wave period from the regular motion analysis DB that is most similar to the regular motion measurement DB, estimate wave height information in the operating sea area based on linear characteristics, and operate by motion changes according to changes in operating conditions through the operating guidance provision algorithm. Including a control unit that provides guidance information,
Blue spectrum real-time estimation system. According to claim 1,
The instrument is,
Characterized in that it includes a rotational motion sensor that detects rotational motion displacements of pitch, roll, and yaw, and a translational motion sensor that detects translational motion displacements of surge, sway, and heave,
Blue spectrum real-time estimation system. According to claim 2,
The exercise data conversion unit,
Characterized by converting and predicting the acceleration in three axes of the second motion data from the measured value of the first motion data, respectively.
Blue spectrum real-time estimation system. According to claim 3,
The acceleration is predicted by the following [Equation 1] and [Equation 2],
[Equation 1]

Here, Ax, _p1 and Ay, _p1 and Az, _p1 are the acceleration at a specific single location (p1) of the instrument placed at a distance of x1, y1, z1 from the COG of the hull, respectively, is the angular velocity or angular acceleration, g is the gravitational acceleration,
[Equation 2]

Here, Ax, _p2 and Ay, _p2 and Az, _p2 are the acceleration at the predicted position (p2), which is separated by x2, y2, and z2, respectively, from the COG of the hull.
Blue spectrum real-time estimation system. According to claim 1,
The instrument is placed in the cabin area,
The motion data conversion unit converts the first motion data of the cabin area into the second motion data of the cargo loading area,
Blue spectrum real-time estimation system. According to claim 1,
The regular motion analysis DB is,
Through analysis while changing the loading condition and ship speed information of the relevant hull, the displacement and acceleration of the hull according to changes in wave direction and wave period are calculated based on unit significant wave height, and are constructed by normalizing based on the first specific motion. to,
Blue spectrum real-time estimation system. According to claim 6,
The regular motion measurement DB is,
The displacement and acceleration of the first motion data and the second motion data are input, and actual measurement raw data is configured for each certain time unit, and normalized based on the second specific motion of the actual measurement DB that is the same as the first specific motion. Characterized by being built by,
Blue spectrum real-time estimation system. According to claim 7,
The control unit,
Determine the wave direction and wave period from the regular motion analysis DB that is most similar to the regular motion measurement DB, and motion analysis data obtained from the unit significant wave height corresponding to the determined wave direction and wave period, the first motion data, and the second motion data. Characterized by estimating wave height information by a wave estimation algorithm from
Blue spectrum real-time estimation system. According to claim 8,
The operation guidance providing algorithm is,
The expected wave conditions of the motion table estimated by the wave estimation algorithm, the actual ship speed of the ship currently in operation, and the motion movement data of the actual measurement DB are based on the change in ship speed and wave direction by a certain unit based on the current ship speed information. Characterized by extracting displacement changes and acceleration changes of the hull, constructing a navigation guide DB for each motion, and providing ship speed or ship operating direction at which the magnitude of motion of a relatively large value is optimized,
Blue spectrum real-time estimation system. According to claim 8,
The actual measurement DB is,
Characterized in that the displacement of the first motion data and the acceleration of the second motion data are stored as effective values in a specific time unit,
Blue spectrum real-time estimation system. According to claim 8,
A regular motion table that configures a motion table based on unit significant wave height consisting of raw data of motion corresponding to loading conditions and line speed, and normalizes the raw data by normalizing the size of the first specific motion among the motions in the motion table to 1. Characterized in constructing the regular motion analysis DB by configuring,
Blue spectrum real-time estimation system. According to claim 8,
Characterized in that a combination that minimizes the covariance value with the data of the regular motion measurement DB is selected from the regular motion analysis DB,
Blue spectrum real-time estimation system. According to claim 8,
The blue estimation algorithm is,
Based on linear characteristics, the data of the regular motion analysis DB built based on the unit significant wave height and the motion value detected by the instrument are used to estimate wave height information in real time, using the least squares method,
Blue spectrum real-time estimation system. A vessel comprising a wave spectrum real-time estimation system according to any one of claims 1 to 13. An offshore structure comprising a wave spectrum real-time estimation system according to any one of claims 1 to 13.