RU2678762C1 - Method and system for control of vessel location by means of fuzzy logic - Google Patents

Abstract

FIELD: navigation systems.SUBSTANCE: control of the vessel’s location includes obtaining navigation parameters entering the input information block, and then into the information processing block, using fuzzy logic: in the created matrix, each cell is assigned X and Y coordinates, after which it is subjected to fuzzy clustering to highlight areas with increased danger. Location of the vessel is determined by cumulative accounting of navigation information from various sources using fuzzy numbers, as well as the degree of danger of following the vessel along the lines obtained in the block generating preliminary lines in a clustered environment. In the blocks for finding the coordinates X and Y, the coordinates of the cells through which the preliminary laying lines pass are determined. Output data is entered into the unit for checking pre-laying lines in a clustered environment, receiving a current hazard rating and the magnitude of the hazard in a graphical form as you follow the route. It is possible to comprehensively evaluate the safety of the route, safety in the current navigation environment and comprehensively evaluate data from various sources.EFFECT: significantly increases the security of the wiring of the vessel.2 cl, 10 dwg, 1 tbl

Description

The group of inventions relates to the field of navigation, and in particular to methods and systems for controlling the position of a vessel based on fuzzy logic, and can be used to improve navigation safety in cramped navigation conditions.

Currently, there is an important task of constant monitoring of the location of the vessel. At the same time, the modern instruments of the navigation bridge obviously have quite good operating parameters, such as reliability, integrity, accuracy, and the integration of individual readings is a paramount task. At the same time, the correctness of the preliminary and executive gaskets is important.

There is a method according to the patent of the Russian Federation for utility model No. 107124 "Information-control complex for the automation of navigation and dynamic positioning of a vessel", published August 10, 2011 automatic control of the movement of a vessel by a vessel dynamic positioning of a vessel. Its essence lies in the maximum synergy of the combined use of the equipment of a number of different means of coordinating the vessel, the completeness of measurements of external disturbing influences, and the use of all propulsion ship systems and devices as control objects. The technical result is achieved as follows: the information-control complex for automating navigation and dynamic positioning of the vessel contains a block of measuring instruments for the motion of the vessel, a block of sensors of external influences, a block of control objects, the information outputs of which are connected to the computing unit, and also a control unit associated with the information-control input-output with a computing unit, and it includes a block of marine navigation devices comprising an echo sounder, log and gyrocompass, n a navigational radar station and a navigation module in the form of a satellite navigation system receiver indicator, an external impact sensor unit includes wind and wave parameter sensors, a control object unit includes control objects in the form of ship propulsion and steering device with sensors connected to them, the computing unit includes a controller, unit and the central processor, while the information outputs of other blocks are connected to the inputs of the controller, and the outputs of the controller and software block connected to the inputs of the central processor, which is configured to compare the measurement data of the current parameters of the vessel’s movement with the specified program values and generate control signals to the control object from the results of this comparison.

The disadvantages of this method are:

The inability to comprehensively assess the safety of the route, as well as safety in the current navigation environment, since the mentioned method does not provide for the measurement of these parameters

There is no clear indication of the mechanism of filtering and combining data from various sources, which can give rise to a number of problems, in particular, the problems of combining navigation parameters of different nature.

The known method according to the patent of the Russian Federation No. 2207296 "Method for automatic piloting of a vessel", published on 10/13/2000 of the automatic control of the movement of the vessel. The essence of the invention lies in the fact that in a method of automatically navigating a vessel, including measuring the parameters of the vessel’s motion from heading and angular velocity sensors, from the rudder position sensor and a navigation device that determines the current position of the vessel, their subsequent comparison with the programmed values of these motion parameters and forming control signal to the steering gear as a function of the data of the mismatch and speed of the vessel, determined by the navigation device, software motion parameters that determine the position of the court a, obtained by processing the signals about the position of the vessel from the navigation device with the reference passage of the vessel along a given route, while highlighting sections of the passage, which, depending on the width of the section of the passage, are approximated by straight lines for which the programmed values of the course angle are constant and curved sections connecting straight, which are approximated by arcs of a circle of a radius of a turn and transitional sections, while the program values of the course angle, angular speed, steering position are determined in accordance etstvii with a simplified model of the ship traffic in the function of the radius of the turn, current speed and time.

The disadvantages of this method are:

The inability to comprehensively assess the safety of the route, as well as safety in the current navigation environment, since the mentioned method does not provide for the measurement of these parameters.

There is no clear indication of the mechanism of filtering and combining data from various sources, which can give rise to a number of problems, in particular, the problems of combining navigation parameters of different nature.

As a prototype for the proposed group of inventions taken patent of the Russian Federation No. 2519315, published on 06/10/2014, "Method of automatic control of the vessel at a heading and an intelligent system for implementing the method."

The group of inventions of the prototype relates to a method for automatic control of a ship on course and an intelligent system for automatic control of a ship on course. The method consists in using a neural network model of the control object as a model of a control object. To configure the settings of the fuzzy logic algorithm, the vessel’s movement data along the heading and the data of the control actions are obtained and identified, the criteria data of the ship’s motion according to the identified heading data and the data of the control actions are determined using the knowledge base of the ship’s course behavior, a neural network model is selected control on the basis of certain data of the criterial signs of the movement of the vessel, determine the data of the custom parameters of the fuzzy algorithm ogics in accordance with the selected neural network model of the control object. The intelligent system contains a fuzzy logic controller, an emulator for adjusting the control action, direct and feedback connections between the control object, a fuzzy logic controller and an emulator. The emulator is designed as a neural network emulator. A neural network emulator includes a neural network classifier, a block of a neural network model of a control object, and an optimization block. The neural network classifier contains a knowledge base of the ship's course behavior. The technical result is to provide high-speed control processes and efficient filtering of random disturbances of the system.

The disadvantages of the prototype are:

The inability to comprehensively assess the safety of the route, as well as safety in the current navigation environment, since the mentioned method does not provide for the measurement of these parameters.

There is no clear indication of the mechanism of filtering and combining data from various sources, which can give rise to a number of problems, in particular, the problems of combining navigation parameters of different nature.

The technical task of the proposed method and system for monitoring the location of the vessel is to increase the safety of navigation of vessels when passing narrow places, fairways and other sections of waterways.

To solve this problem, a method for controlling the vessel’s location is proposed, which includes obtaining navigational parameters, DIFFERENT in that they use fuzzy logic, for which they create a matrix, each cell of which is assigned the coordinates X and Y, after which it is subjected to fuzzy clustering to highlight areas with increased risk from - due to the proximity to navigational hazards, determine the location of the vessel by aggregating accounting for navigation information from various sources using fuzzy numbers, determine the coordinates of the cells through which the preliminary laying lines pass, the output data is input into a block for checking the preliminary laying lines in a clustered environment, and the current hazard rating and the hazard value in graphical form when following the route are obtained.

To solve this problem, a vessel position control system is proposed, including input and output navigation information blocks, information processing blocks, DISTINCTING in that the system contains a matrix with cells indicated by X and Y coordinates containing navigation safety values obtained by fuzzy clustering, a line generation block preliminary laying in a clustered environment, a block for checking the general lines of a preliminary laying for hazards, blocks for finding X coordinates and U.

The technical result consists in the ability to comprehensively assess the safety of the route, as well as safety in the current navigation situation and comprehensively evaluate data from various sources, which can significantly increase the safety of the ship's wiring, as well as provide the basis for a legal description of the decision-making process regarding the route.

The technical result is achieved due to logical transformations that occur in the cells of the matrices, in which the navigation parameters are taken into account as the degree of belonging of a particular cell to the membership function of the navigation parameter.

The essence of the proposed group of inventions is as follows.

In the case of navigational hazards, for example, in the strait, on the approach to the port, in the narrowness, etc., the matrix generation mechanism and the further functioning of the algorithm are activated. The generated preliminary laying lines receive an assessment of the danger of following, and the skipper also receives an assessment of the danger of the current state of the vessel, in accordance with which he can decide on further actions at a higher level for the operation, a system is used that includes input and output navigation information blocks, information processing blocks , block for generating preliminary laying lines in a clustered environment, block for checking general lines for preliminary laying for availability dangers, blocks finding the coordinates of X and U.

In the proposed method, the disadvantages indicated in the analogues and prototype are eliminated. The advantage of this method of monitoring the location of the vessel is that it allows you to evaluate the current level of security when following a route. In this case, it is easy to take into account all the data of navigation devices. Moreover, this approach allows us to conclude that it is advisable to call at the port in the current navigation situation, based on numerical data, which in turn may subsequently be an important legal tool.

The invention is illustrated by the following drawings.

Figure 1 Block checking the general lines of the preliminary laying for hazards.

Figure 2 Matrix of values;

Figure 3 Discrete function;

Figure 4 Continuous function;

5 Figure error;

6 Coordinates of intersection points and their degrees of belonging;

Fig. 7 Figure of a ship's seat;

Fig. 8 Pre-laying line generation unit in a clustered environment;

Fig.9. The subsystem is responsible for finding the coordinates of the matrix cells along the x axis;

Figure 10 The subsystem responsible for finding the coordinates of the matrix cells along the y axis;

The proposed method for controlling the position of the vessel using fuzzy logic is implemented as follows.

The general scheme is presented in figure 1. It shows the interconnection of the system blocks, including the counter subsystem, which stops when it enters the invalid values of the route safety parameters.

As the input data, a site that is difficult to navigate is selected, on the basis of which the matrix of Fig. 2 is created. Each cell in the matrix is assigned X and Y coordinates. The value “X” corresponds to the horizontal coordinates of the cell, and “Y” - to the vertical. In the matrix, “1” is a navigation hazard, and “0” is the area where safe passage of the vessel is possible. After digitization, this information layer undergoes clustering in order to identify areas with increased danger due to proximity to navigational hazards. The Manhattan measure was chosen as a measure of distance in view of the features of the presentation of data.

In order to understand how many matrix cells occupies the area of the figure of the error in determining the position of the vessel (OMS), the location of the vessel is determined and the accuracy of the coordinates obtained is estimated using a method based on fuzzy logic.

The essence of the proposed method for determining the location of the vessel is to correlate the coordinates of the degree of belonging obtained by processing various position lines. Processing a series of measurements is performed using the theory of fuzzy numbers. From n measurements, the degree of belonging of the values of the navigation parameter is determined by the methods specified in [4]. There is a series of measurements for landmark 1. Data processing is presented in the form of a table:

Table. Landmark measurement processing 1

Navigation parameter n _i / N Rationing results 106.7 0.02 0,045454545 106.8 0.08 0.181818182 106.9 0.44 one 107 0.34 0.772727273 107.1 0,07 0.159090909 107,2 0.05 0.113636364

The first column shows the values of the navigation parameter. Next, the number of measurements in the group (n _i ) is divided by the total number of measurements (N). The results obtained in the second column are normalized, i.e. divided by the maximum value. For clarity, a graph is constructed in accordance with the data of the third column. The obtained values are presented in figure 3.

Landmark 2 measurements are processed in the same way.

Discrete values are then interpolated smoothed. Applied interpolation by the second degree Gaussians. Formula (1) is derived that describes a continuous function.

F (x) = a1 * exp (- ((x-b1) / c1) ^ 2) (1)

The resulting continuous function is presented in figure 4 with reference to landmark 1.

Corresponding actions are taken for reference 2.

To build the surface of the vessel, the corresponding degrees of accessories are applied to each cell. For compulsory medical insurance, we obtain the following sequence for bearing: the coordinates of the points of intersection of the extreme values of bearings are determined. The resulting error pattern is in a conditional rectangle, the boundaries of which are known (see figure 5).

Within the obtained rectangle, measurement values are taken for landmark 1 and, accordingly, for landmark 2. The coordinates of all intersection points are found using trigonometric functions (see Fig. 6). Using formula (1), which describes a continuous function, the values of bearings of the center for landmark 1 and 2 are found for each cell. These values are assigned the corresponding degree of belonging. Bearing values that go beyond the error figure inscribed in the rectangle are assigned the degree of membership 0. The individual membership degrees of each bearing, which are in the range [0, 1], are determined.

Ultimately, in the aforementioned figure of errors, the regions defined by the coordinates with the same degrees of membership are distinguished, which give a visual assessment of the location of the vessel. The resulting areas are presented in Fig.7.

It should be noted that the figure of the OMS error according to the method described above occupies an area 6 times smaller than the area of one matrix cell, which in turn allows you to check the general lines of the preliminary laying for hazards without using different norms, measures or rules for combining the cells.

The block for generating pre-laying lines, shown in Fig. 8, allows you to determine the coordinates of the cells through which the lines of pre-laying in a clustered environment pass, it consists of several subsystems shown in Figs. 9 and 10. The first subsystem is responsible for finding the coordinate of the matrix cell along the x axis , the second subsystem is along the y axis. To get started, you must enter the coordinates of the matrix cell with which the countdown and the course value in degrees will begin. After the data has been entered into the corresponding blocks, processing takes place, and ultimately the coordinates of all the cells of the matrix are obtained, through which the general line of the preliminary laying in the form of a table passes. Further, on the basis of the data obtained, the lines are checked for hazards using the block shown in figure 1. If a danger is detected in one of the cells through which the line passes, then the verification process stops and the “Stop simulation” block lights up. The simulation results show both the magnitude of the hazard at the moment and the hazard graph associated with following at this course. The method is extremely fast in calculations and quite simple.

Information sources

1. RF patent No. 107124 “Information management complex for the automation of navigation and dynamic positioning of a vessel”

2. RF patent No. 2207296 "Method for the automatic wiring of a vessel."

3. RF patent No. 2519315 "Method for automatic control of a vessel at a heading and an intelligent system for implementing the method" (prototype)

4. L. Rutkovsky. Methods and technology of artificial intelligence / trans. from polish. I.D. Rudinsky. - M .: Hotline – Telecom, 2010.- 520 p., Ill.

Method and system for vessel position control using fuzzy logic

Claims (2)

1. A method of monitoring the position of the vessel, including obtaining navigation parameters, DIFFERENT in that they use fuzzy logic, which creates a matrix, each cell of which is assigned the coordinates X and Y, after which it is subjected to fuzzy clustering to highlight areas with increased risk due to proximity to navigational hazards, determine the location of the vessel by aggregating the navigation information from various sources using fuzzy numbers, determine the coordinates of the cells through which In the process of preliminary laying, the output data is input into the block for checking the preliminary laying lines in a clustered environment, they receive the current hazard assessment and the hazard value in graphical form when following the route. 2. A system for monitoring the position of the vessel, including input and output navigation information blocks, information processing units, DISTINCTING in that the system contains a matrix with cells indicated by X and Y coordinates, containing navigation safety values obtained by fuzzy clustering, a block for generating preliminary laying lines in a clustered environment, a unit for checking the general lines of the preliminary laying for hazards, blocks for finding the coordinates of X and Y.

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