RU138640U1 - INFORMATION AND MANAGEMENT COMPLEX FOR AUTOMATION OF SHIPPING AND DYNAMIC POSITIONING OF A SHIP - Google Patents

Abstract

An information management complex for automating navigation and dynamic positioning of a vessel, containing a block of measuring instruments for the motion of the vessel (IPDS), a block of sensors of external influences (DVV), a block of control objects (OS), the information outputs of which are connected to a computing unit (WB), which is equipped with filtration devices and temporary smoothing of measurements of the IPDS block and the DVV block, made in the form of a Kalman filter, characterized in that it additionally contains a mathematical model of the vessel (MMS), the block is controlled I am connected with the information-control input-output with the WB, and the IPDS unit includes a block of ship navigation devices (SPS) consisting of an echo sounder, log and gyrocompass, a navigation radar station (NRLS) and a navigation module (NM) includes equipment for the differential version of GPS SNA, equipment of the differential version of the GLONASS SSS, equipment of the inertial navigation system (ANS), equipment of radio navigation systems (RNS), equipment of hydroacoustic navigation systems (GNS) and equipment of radio-geodetic systems ( GS), moreover, the outputs of the GPS SNA, GLONASS SNA, ANN, RNS, GNS and RGS equipment are connected to the inputs of the WB computing unit controller, the SNA equipment is capable of determining the coordinates, speed and course of the vessel, as well as its roll and trim with subsequent filtering the data together with the measurements of the SPS block in the WB computing block, the DVV block includes wind and wave parameters sensors, flow and tidal parameters sensors, and the outputs of all sensors of the DVV block are connected to the corresponding inputs of the controller

Description

IPC (2009) V63N25 / OO

Information management complex for automation

navigation and dynamic positioning of the vessel

The utility model relates to systems for the automatic control of the movement of ships, floating platforms, and is intended for the implementation of automatic control of movement during dynamic positioning under conditions of changing external influences.

The closest information management system for automating navigation and dynamic positioning of a vessel of the same purpose to the claimed utility model in terms of features (Pat. RF No. 107124, publ. 08/10/2011), adopted as a prototype, contains a block of measuring parameters of the vessel’s movement (IPDS ), a block of sensors of external influences (DVV), a block of control objects (OS), the information outputs of which are connected to a computing unit (WB), which is equipped with devices for filtering and temporarily smoothing block measurements IPDS and DVV block, made, for example, in the form of Kalman filters, as well as a control unit connected by the information-control input-output with the WB, and the IPDS block includes a block of marine navigation devices (SPS) consisting of an echo sounder, log and gyrocompass, and a navigation radar station (NRLS) and navigation module (NM) includes equipment for the differential version of the SNA GPS, equipment for the differential version of the SNA "GLONASS", equipment for the inertial navigation system (ANN), equipment for radio navigation systems (RNS), apparatus in hydroacoustic navigation systems (GNS) and equipment of radio-geodetic systems (RGS), the outputs of the GPS SNA, SSS “GLONASS”, ANN, RNS, GNS and RGS are connected to the inputs of the WB computing unit controller, the SNA equipment is capable of determining coordinates, speed and the course of the ship, as well as its

roll and trim followed by filtering the data together with measurements of the SPS unit in the WB computing unit, the DVV unit includes wind and wave parameter sensors, flow and tidal parameters sensors, and the outputs of all sensors of the DVV block are connected to the corresponding inputs of the WB computing unit controller, OU block includes main propellers with variable-speed or adjustable-pitch propellers, steering gear, thruster propeller motors of the “screw in the pipe” type, rotary thrust motors adjustable speed or adjustable pitch of rotary propulsion-steering columns (MPCS) with the corresponding DOW sensors for controlling the impact on these opamps, the WB computing unit includes a controller, software unit (software) and a central processor (CPU), while information outputs are connected to the controller inputs IPDS, DVV and OU blocks, and the outputs of the controller and the software block are connected to the CPU inputs, which is made with the possibility of comparing the measurement data of the current vessel motion parameters with the given program values and forms tion on the results of this comparison, control signals to the op-amp, adaptive control movement of the vessel (containment vessel in a predetermined state) is realized by a computing unit WB in accordance with the algorithm of forming control vector

U = U (Z, F), where U is the control vector representing the set of m control actions (U ₁ , U ₂ , ... U _m ) on the OS block: U ^T = (U ₁ , U ₂ , ... U _m ); Z is an observation vector representing a set of n parameters (z ₁ , z ₂ , ..., z _n ) of the vessel, measured and evaluated by the IPDS block: Z ^T = (z ₁ , z ₂ , ... z _n );

F is a vector of perturbing influences, representing a set of k perturbing influences (f ₁ , f ₂ , ..., f _k ) measured by the DWE unit: F ^Т = (f ₁ , f ₂ , ..., f _k ), and in accordance with the specified program the values of the parameters of the model of the movement of the vessel, located in the memory of the software unit, synchronization

operation of the IPDS, DVV, OU, VB blocks and the control block is carried out in real time by SIS signals, the control block is combined with the WB computing block, made in the form of a skipper (MS) module, and includes a control and monitoring block (BUK) connected by the information control input -exit with the information display unit (BOI), the output of which is connected to the registration unit (BR), the BOI information display unit and the registration unit BR are devices for visualization, storage and output of text and graphic information and include laser an inkjet printer, a plotter-plotter of digital electronic cards in a given scale and in a given coordinate system, as well as a magnetic data recording device made in the form of a magneto-optical storage device, and the BUK unit is connected by the information-control input-output to the central processor of the computing unit BB and the control outputs of the BUK block are connected to the inputs of the IPDS, DVV and OU blocks, while the MS skipper module is made in the form of stationary equipment in the wheelhouse of the vessel, as well as in the form of additional trans portable user modules based on laptop-type personal computers, including means for interfacing with the onboard local area network (LAN), the computational unit BB of the MS boatmaster module with the appropriate software is connected to the onboard LAN of the vessel or interacts with the ship's technical systems and devices via a wireless LAN, the module MS boatmaster, made on the basis of a laptop-type personal computer and interacting with a wireless LAN, is made in two versions: 1) with possibly access of the skipper and 2) with the possibility of restricting the use of information reading and blocking the implementation of the functions of the management of the vessel. In FIG. 1 presents a general structural diagram of an information management system for automation of navigation and dynamic

ship positioning; figure 2 shows a diagram of a navigation module for determining the position of the vessel.

In the drawings, the following notation:

1 - block measuring the parameters of the movement of the vessel (block IPDS);

2 - block of sensors of external influences (block DVV);

Z - a block of control objects (OS block);

4 - module skipper (MS);

5 - computing unit (WB) of the collection and processing of information;

b - a block of ship's navigation devices (SNP block): echo sounder, log,

gyro-compass;

7 - navigation radar (radar);

8 - navigation module (NM) determining the position of the vessel;

9 - sensor wind parameters;

10 - sensor parameters of the waves;

11 - sensor flow parameters;

12 - sensor parameters of tidal effects;

13 - control objects (OS): propellers, thrusters and

etc .;

14 - sensors of control objects (DOU);

15 - control and monitoring unit (BUK);

16 - block display (visualization) of information Battles;

17 - registration unit (plotter, printer, etc.) - BR;

18 - controller computing unit;

19 - software block (software block);

20 - central processing unit (CPU);

21 - output control actions on the vessel;

22 - GPS GPS equipment (differential mode);

23 - equipment SIS "GLONASS" (differential mode);

24 - equipment inertial navigation system (ANN);

25 - equipment of radio navigation systems (RNS);

26 - equipment for sonar navigation systems (HANS);

27 - equipment of radio-geodetic systems (RGS).

For all the completeness and apparent redundancy of the measuring equipment proposed in the prototype information management system, its main disadvantage is the inability to predict the results of control actions. The consequence of this is the control of the object solely by the deviations of the controlled motion parameters from their authorized values, i.e. in fact, trial and error management, which reduces both the accuracy of the results and the effectiveness of the entire information management system.

Thus, the information management complex selected as a prototype requires technological refinement, taking into account the current level of development of computer and information technologies and the existing practice of their use in navigation.

The purpose of the proposed technological refinement is to carry out a step-by-step assessment of the adequacy of the selected values of the control signals with access to their optimal values by the method of computer prediction of the vessel’s motion using its mathematical model and the transmission of the optimal control signal to the control objects.

In this case, as a criterion for assessing the adequacy of the selected values of the control signals, the difference in the values of the given coordinates corresponding to the given position of the vessel and the calculated coordinate values using computer simulation (forecasting) based on the mathematical model of the vessel is considered.

The main difference between the proposed information management system for automating navigation and dynamic positioning of the vessel from the prototype is the assessment of the adequacy of control signals and the determination of optimal control signals by computer simulation (forecasting) of the vessel’s movement

on the basis of its mathematical model, which allows minimizing the time for the vessel to reach a given position (a given point, a given trajectory, a given position line, etc.), thereby significantly reducing the energy costs of the propulsion-steering complex that controls the vessel, and also save the technical resource of the propulsion and steering complex.

The technical result is a high positioning accuracy and a minimum time for occupying a positioning point by a vessel, a floating platform with automatic movement control in conditions of changing external influences.

The technical result is achieved as follows.

The information and control complex for automating navigation and dynamic positioning of a vessel contains a block of measuring instruments for the motion of the vessel (IPDS), a block of sensors of external influences (DVV), a block of control objects (OS), the information outputs of which are connected to a computing unit (WB), which is equipped with devices filtering and temporary smoothing of measurements of the IPDS block and the DVV block, made in the form of a Kalman filter and characterized in that it contains a mathematical model of the vessel (MMS), a control unit connected in formation-controlling input-output with the WB, and the IPDS block includes a block of ship navigation devices (SPS) consisting of an echo sounder, lag and gyrocompass, a navigation radar station (NRLS) and a navigation module (NM) includes equipment for the differential version of the GPS SNA, equipment for the differential version SNS “GLONASS”, equipment of inertial navigation system (ANN), equipment of radio navigation systems (RNS), equipment of hydroacoustic navigation systems (GNS) and equipment of radio-geodetic systems (RGS), moreover, moves apparatus SNA "GLONASS» GPS SNA, INS, PHC, SOT and CSG connected to inputs of a computing unit WB controller apparatus configured SNA

 the ability to determine the coordinates, speed and course of the vessel, as well as its roll and trim, followed by filtering the data together with the measurements of the SPS unit in the IB computing unit, the DVV unit includes wind and wave parameters sensors, flow and tidal parameters sensors, and the outputs of all block sensors DVV are connected to the corresponding inputs of the controller of the WB computing unit, the op-amp unit includes main propellers with variable speed or adjustable pitch propellers, steering gear, engines screw-in-pipe filling devices (PrV), adjustable speed rotary engines or adjustable pitch rotary Moving-steering columns (MPCs) with corresponding DOW sensors for controlling the impact on these op-amps, the WB computing unit includes a controller, a software (software) unit, and ShchI central processor), while the information outputs of the IPDS, DVV and OU blocks are connected to the controller inputs, and the outputs of the controller and software block are connected to the CPU inputs, characterized in that the CPU performs a step-by-step assessment of adequacy in selected values of the control signals with reaching their optimum values by computer-assisted forecasting of the vessel’s motion using its mathematical model and transmitting the optimal control signal to the control objects, synchronization of the operation of the IPDS, DVV, OU, VB and control unit is carried out in real time by the SNA signals, the control unit is combined with the WB computing unit, made in the form of a boatmaster (MS) module, and includes a control and monitoring unit (BUK), which is associated with information. control input-output with information display unit (BOI), the output of which is connected to the registration unit (BR), the unit of information display BOI and registration unit BR are devices for visualization, storage and output of text and graphic information and include a laser inkjet printer, plotter plotter digital electronic maps in a given scale and in a given coordinate system, and

there is also a magnetic data recording device made in the form of a magnetic optical drive, and the BUK block is connected by the information-control input-output to the central processor of the computing unit of the WB, and the control outputs of the BUK block are connected to the inputs of the IPDS, DVV, and OU blocks, while the boatmaster of the MS is made in the form of stationary equipment in the wheelhouse of the vessel, as well as in the form of additional portable modules of users based on personal computers such as a laptop, including means for interfacing with the aircraft computer network (LAN), the computing unit of the WB module of the MS boatmaster module with the appropriate software is connected to the ship's on-board LAN or interacts with ship technical systems and devices via a wireless LAN, the MS boatmaster module, based on a personal computer such as a laptop and interacting with a wireless LAN , made in two versions: 1) with the ability to access the skipper and 2) with the possibility of restricting the use of reading information, and blocking the implementation and ship control functions.

The work of the complex is as follows.

The process of automatic control of the vessel’s movement includes (Zolotov V.V., Freidzon I.R. Control complexes of complex ship systems. - L .: Sudostroenie, 1986. - 232 pp .; Rodionov A.I., Sazonov A.E. Automation of navigation . - 2nd ed., Revised and additional - M.: Transport, 1983. - 216 p.) Measurement of the motion parameters of the vessel by the IPDS block 1, measurement of the parameters of external influences by the DVV 2 block, comparison in the WB 5 computing block of the data of the block IPDS 1 of the current parameters of the vessel’s movement with the set software 19 software values of the motion model, the formation of about the results of this comparison of control signals, the CPU 20 performs a step-by-step evaluation

the adequacy of the selected values of the control signals with reaching their optimal values by the method of computer forecasting the movement of the vessel using its mathematical model and transmitting the optimal control signal to the opamp 13 of the opamp 3. The skipper module 4 serves to control and control this process.

The inputs of the controller 18 receive information from the outputs of the SNP 6, NRLS 7 unit, as well as from the outputs of the navigation module NM 8, which includes a combination of GPS 22 equipment, equipment 23 of the GLONASS SNA, equipment 24 of the ANN, equipment 25 of the RNS (for example, phase equipment and pulse-phase RNS), equipment 26 GNS and equipment 27 RGS (radio phase and laser).

The equipment of the SNA 22 and 23 is configured to determine

coordinates, speed and course of the vessel, as well as its roll and trim with

subsequent data filtering together with measurements of the SIC unit b

WB computing unit 5.

The redundancy of measurements with equipment 22-27 in conjunction with the data of the SNP 6 and NRLS 7 blocks provides an increase in the accuracy of determining the position of the vessel [3, 4]. The complex information of a set of various types of equipment 6, 7, 22-27 for determining the coordinates of the vessel is processed by CPU 20 by means of Kalman filtering and temporary. The values of the measured parameters of the external effects of wind, waves, currents and tides, determined by the sensors 9-12 of the DVV 2 unit, and the information of the sensors DOU 14 of the OS unit 3 also go to the input of the controller 18 and then to the CPU 20, where the observation vector and the vector of disturbing effects are determined , and also a control vector is formed on the OS 13 of block 3 with the output 21 of the control actions on the vessel.

The control vector U is formed by the WB5 computing unit according to the above algorithm and in accordance with the specified program values of the parameters of the vessel’s motion model,

located in the memory of software unit 19. The RAM block includes main propellers with variable speed or adjustable pitch propellers, a steering device, screw-in-tube type PRM motors, MPLD rotary motors with corresponding sensors of DOU 14 for controlling the impact on these RAMs.

The BOI information display unit 16 and the BR registration unit 17 are devices for visualizing, storing and outputting text and graphic information and include a laser inkjet printer, a plotter-plotter of digital electronic maps in a given scale and in a given coordinate system, as well as a magnetic data recording device made in the form of a magnetic optical drive.

The synchronization of the operation of the IPDS 1, DVV2, OUZ, VB5 blocks and the skipper module 4 is carried out in real time by the SNA signals (blocks 22 and 23).

The WB 5 computing unit with the corresponding software of the 19 software unit and the MS 4 skipper module are connected to the ship's on-board LAN with the possibility of implementing information exchange lines with ship technical systems and tools (blocks 1, 2, and 3), as well as users of the AUDS system. The MS 4 skipper module can be made in the form of stationary equipment in the wheelhouse of the vessel, as well as in the form of additional portable modules based on personal computers such as a laptop, including means for interfacing with the onboard local area network of the LAN, or interacting with ship technical systems and devices via wireless LAN

At the same time, the MS boatmaster module, based on a personal

a laptop computer and interacting with a wireless LAN,

made in two versions: 1) with the ability to access the skipper and 2) with

the possibility of restricting the use of reading information, and

blocking the implementation of ship management functions (to exclude unauthorized access to the ship management process).

Thus, it follows from the formula and from the description of the complex and its work that its purpose is achieved with the indicated technical result, which is in a causal relationship with the set of essential features of the independent claim.

Claims (1)

An information management complex for automating navigation and dynamic positioning of a vessel, containing a block of measuring instruments for the motion of the vessel (IPDS), a block of sensors of external influences (DVV), a block of control objects (OS), the information outputs of which are connected to a computing unit (WB), which is equipped with filtration devices and temporary smoothing of measurements of the IPDS block and the DVV block, made in the form of a Kalman filter, characterized in that it additionally contains a mathematical model of the vessel (MMS), the block is controlled I am connected with the information-control input-output with the WB, and the IPDS unit includes a block of ship navigation devices (SPS) consisting of an echo sounder, log and gyrocompass, a navigation radar station (NRLS) and a navigation module (NM) includes equipment for the differential version of GPS SNA, equipment of the differential version of the GLONASS SSS, equipment of the inertial navigation system (ANS), equipment of radio navigation systems (RNS), equipment of hydroacoustic navigation systems (GNS) and equipment of radio-geodetic systems ( GS), moreover, the outputs of the GPS SNA, GLONASS SNA, ANN, RNS, GNS and RGS equipment are connected to the inputs of the WB computing unit controller, the SNA equipment is capable of determining the coordinates, speed and course of the vessel, as well as its roll and trim with subsequent filtering the data together with the measurements of the SPS block in the WB computing block, the DVV block includes wind and wave parameters sensors, flow and tidal parameters sensors, and the outputs of all sensors of the DVV block are connected to the corresponding inputs of the controller WB unit, ОУ unit includes main propellers with variable speed or adjustable pitch propellers, steering gear, thruster screws in the pipe-screw type, variable speed or adjustable pitch rotary engines of rotary propulsion and steering columns (MPC) with the corresponding sensors of the DOW control actions on these op-amps, the WB computing unit includes a controller, a software unit (software) and a central processor (CPU), while information is connected to the controller inputs the outputs of the IPDS, DVV and OU blocks, and the outputs of the controller and the software block are connected to the CPU inputs, while the CPU performs a step-by-step assessment of the adequacy of the selected values of the control signals with reaching their optimal values by computer-aided prediction of the vessel’s motion using its mathematical model and transmission of the optimal the control signal to the control objects, synchronization of the operation of the IPDS, DVV, OU, VB and the control unit is carried out in real time by the signals of the SNA, the control unit is combined with a computing unit WB eye, made in the form of a boatmaster (MS) module and includes a control and monitoring unit (CLC), connected by an information-control input-output with an information display unit (BOI), the output of which is connected to a registration unit (BR), a BOI information display unit and the registration unit BR are devices for visualization, storage and output of text and graphic information and include a laser inkjet printer, plotter-plotter of digital electronic cards in a given scale and in a given coordinate system, as well as a magnetic device the final data record, made in the form of a magnetic optical drive, and the BUK block is connected by the information-control input-output to the central processor of the computing unit of the WB, and the control outputs of the BUK block are connected to the inputs of the IPDS, DVV and OU blocks, while the MS boatmaster module made in the form of stationary equipment in the wheelhouse of the vessel, as well as in the form of additional portable user modules based on personal computers such as a laptop, including means of interfacing with the onboard local computer th network (LAN), the computing unit of the WB module of the MS boatmaster module with the corresponding software is connected to the ship’s onboard LAN or interacts with the ship’s technical systems and devices via wireless LAN, the MS boatmaster module, based on a personal computer such as a laptop and interacting with the wireless LAN, made in two versions: 1) with the ability to access the skipper and 2) with the possibility of restricting the use of reading information, and blocking the implementation of control functions udnom.

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