RU2786251C1 - Ship navigation and control complex - Google Patents

Abstract

FIELD: navigation.

SUBSTANCE: invention relates to the field of navigation and can be used to ensure navigational safety of navigation and to generate the required data for ship consumers. The navigation and control complex includes an expert system that provides solutions to emerging problems of navigation, with the formation of recommendations to the watch officer, and automatic activation of safety procedures in critical situations, with the formation of estimates of the index of confidence in decision-making, which is based on the marine computer and includes arrays of information, coding systems, format conversion, information compression, including tools for decoding and decompressing electronic chart files, and includes tools for choosing methods for entering data into the machine environment, ordering information, changing the content of information arrays, compiling various lists and catalogs for data accounting , the information model of the control system and information that make up the information model of the external environment, the laser system of information and coordinate support.

EFFECT: reliability and reliability of the presentation of navigation information is increased.

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Description

The invention relates to the field of navigation and can be used to ensure navigational safety of navigation and to generate the required data for ship consumers.

Ship navigation systems are known (patents RU No. 2260191, 01.10.2005 [1], RU No. 105755Ш, 06.20.2011 [2], RU No. 2453909 C1, 06.20.2012 [3], RU No. 2550887 C2, 05.20.2015 [41 US No. 7751977 B2, July 6, 2010 [5], US No. 9132912 B2, September 15, 2015 [6], US No. 7990263 B2, August 2, 2011 [7J].

A well-known navigation complex for high-speed vessels [1], consists of a receiver-indicator, speed and course meters, an autoplotter, a computer, a navigation control panel, an echo sounder and an indicator, in which the navigation control panel is connected to a radar station and an autopilot, while the complex additionally contains an electronic cartographic a navigation system, an interface unit with a steering gear and an information exchange line connected by its inputs/outputs to the inputs/outputs of a receiver-indicator, speed and heading meters, an autoplotter, a computer, a navigation control panel, an electronic cartographic navigation system, a radar station, an interface unit with a steering gear and an echo sounder, while the receiver-indicator is made in the form of a combined receiver-indicator of radio navigation and satellite navigation systems.

Analysis of the composition and functionality of the analog [1] revealed the following shortcomings:

- designed for use on a separate class of ships and has a narrow application, mainly as navigational measuring equipment;

- interface with direction-finding devices, hydrometeorological complex, astro-navigation complex, automatic identification system, equipment of the international automated warning system (hereinafter NAVTF.X), means of lighting the underwater situation is not provided;

- there are no opportunities for comprehensive control of the main navigational parameters, forecasting the state of marine navigation aids and their remote diagnostics;

- additional power supply is not provided from the reserve ship power supply network and uninterruptible power supplies.

Known is the solution of the ship's integrated bridge system [2], which contains a control panel with an information display device connected to the ship's supporting systems of the main and backup interface circuits, including the central processor, the module

multiplex exchange channels, a network adapter and switches of the local area network, and the external network inputs-outputs of the switches of the local area network of the interface circuits are connected to the devices of the ship's control system and the ship's support systems, it is made multi-section, containing a set of console sections, each of which consists of functionally combined hardware and software tools and modules interconnected via the main and backup channels of the local area network, structurally combined into an integrated console, including at least one section of the power system common for the interface circuits and two console sections connected to the mating ship's providing systems and devices of the ship's control system in each of the interface loops.

Analysis of the composition and functionality of the analogue [2] revealed the following shortcomings:

- redundancy of the integrated console and digital display of navigation parameters is not provided;

- interface with direction-finding devices, astro-navigation complex, automatic identification system, NAVTEX equipment is not provided;

- remote control of the main navigation parameters and remote diagnostics of the state of marine navigation aids are not provided;

- additional power supply from the reserve ship power supply is not provided.

Elimination of the identified shortcomings is also implemented in a well-known technical solution (patent RU No. 2765606 C1, 01.02.2022 [8]) by creating an integrated navigation system for ships and support vessels of the Navy (ISN), which has higher reliability, versatility and advanced functional opportunities.

At the same time, in the well-known technical solution [8], there are the following differences from analogues [1-7]:

- the ISN scheme of the Navy provides for the installation of console sections not at one command post, but at each command post of a ship or support vessel (hereinafter referred to as the ship), interconnected not by the main and backup channels, but by three servers and a local area network, which is equipped with a main and redundant channels for the transmission of navigation data, excluding the loss of information in case of combat and emergency damage;

- the control panel with the information display device is not multi-section, each section of which consists of functionally integrated hardware and software, but consists of three display and control units, supplemented by four automated mobile sets (AMK) of officials; automated workstations (AWS) as part of the integrated bridge system (IMS) and the integrated ship control system, which are built using the principle of modularity;

- not console sections are used as navigation information storage devices, each of which consists of functionally integrated hardware and software and modules, but servers that include an additional electronic component base: analog-to-digital converters (ADC), bearing acquisition devices ( SCP), additional random access memory devices (RAM), calculation units, extraction devices (UI) and destruction devices (CU) of storage devices;

- providing the ISN of the Navy and shipboard consumers with digital cartographic information ((CIC) is implemented by introducing a unified electronic cartographic system (UECS) into the scheme, which receives electronic navigation charts (ENC), geospatial databases (GBD) and other CCI through a unified cartographic server from its composition from the automated system for providing the Navy with digital cartographic information (ASO Navy TsKI), as well as the storage of the TsKI and its broadcast to all consumers of the ship;

- uninterruptible power supply of the system is provided not by uninterruptible power supplies (UPS), which are a block with a storage battery, but by the presence in the scheme of the system for providing uninterruptible power from the main and backup ship's power grid (CES), supplemented by automatic network switches (APS) and UPS, guaranteeing continuous performance of all elements of the ISN of the Navy.

At the same time, the technical essence of the well-known invention [8] is to improve the technical state of the ISN of the Navy relative to analogues to a level that provides higher reliability, versatility and wider functionality of the system, as well as the integration of the hardware and software complex of the ISN of the Navy into the IC and the integrated system ship control.

However, along with the advantages of the well-known technical solution [8], it also has a number of disadvantages, the main of which is the almost trivial integration of standard ship navigation equipment into a single navigation system with the addition of the composition of the AMC, united through a local area network and is a well-known modification of the bridge integrated systems that are widely used (Marine navigation technology. Handbook. Under the general editorship of E.L. Smirnov. - St. Petersburg: Elmor, 2002 - 224 p., Smirnov E.L., Yalovenko A.V., Perfilyev V .K. et al. Technical means of navigation. Textbook for universities. St. Petersburg: Elmor, 2000 -656 p.).

In addition, there is the complexity of working with such systems. This complexity is determined by:

- a large set of tasks to be solved by ISN that require numerous initial data;

- a significant number of ISN functions;

- generated various types of signals, warnings and messages that require correct and prompt response;

- simultaneous operation with many navigation devices and controls;

- the ability to solve several problems in parallel;

- concentrated conditional presentation of information about the process of navigation, the need for its correct interpretation and evaluation,

- existing errors, limitations and shortcomings, which should be taken into account when assessing situations.

In addition, when using a known system, it is necessary to take into account the resolution factors of additional monitors. The pixel size of displays on which electronic maps are displayed is about 0.2+0.3 mm. From here, the maximum accuracy of the map scale can be set. For a 1:50000 scale map with a pixel size of 0.3 mm, it is, for example, 15 m. This accuracy is already worse than the DGPS positioning accuracy, and the required positioning accuracy in constrained waters.

The size of symbols also affects the accuracy of the position of objects on the map. For example, a dot representing fire on BSB bitmaps is at least nine pixels wide. On a scale of 1:40,000, this is an area with a diameter of 36 square meters.

Thus, on the one hand, the well-known navigation and information system facilitates the work of the navigator, but on the other hand, makes it more difficult.

When working with such systems, there is a risk of retrusting the ISN, since there is always a certain probability (risk) of incorrect functioning of the ISN and inaccuracy of its data.

The hydrographic data displayed by ISN are no more reliable than the survey data on which they are based, electronic charts, if they are compiled from paper map data, inherit all the errors of paper maps, the presented data of navigation sensors contain errors, errors and limitations of devices interacting with ISN and systems, which affects the accuracy and reliability of the ISN.

The navigator, in addition to the competent operation of the ISN, must be aware of the shortcomings and limitations of all parts of the ISN (hardware, software, data, information sensors, display), use every opportunity to check it, including visual determinations and the use of independent technical means of controlling the movement of the vessel, to exclude the possible negative impact of ISN restrictions on the safety of navigation. ISN is only a technical tool, like any other navigational devices, and it does not relieve the navigator from the obligation to perform continuous visual observation, as required by SOLAS74, from analyzing the quality of charts and the information received, from the need to assess navigation situations, from making decisions on the management of the vessel and responsibility for those decisions.

The objective of the proposed technical solution is to expand the functionality with a simultaneous increase in the reliability and reliability of the presentation of navigation information received through the ISN.

The problem is solved due to the fact that the complex of navigation and control of the ship, containing marine navigation aids, shipborne means of lighting the surface and underwater conditions, a local area network, servers, a printing device for processing and ensuring the safety of information, a unified electronic cartographic system, a system of unified time, display and control units installed at each command post of the ship, automated workstations as part of the integrated bridge system and the integrated ship control system, automatic network switch and uninterruptible power supplies of the uninterruptible power supply system, while the complex is integrated into each command post of the ship using the principle of modularity, equipped with a remote control with numeration modes controls, which adjusts settings, displays data from marine navigation aids and other ship systems, providing the complex with navigation information, combined with an alarm system, a navigation monitor with touch control or an interactive whiteboard with a projector, automated workstations as part of an integrated bridge system and an integrated ship control system, automated mobile sets of officials. provided with digital cartographic information from a single electronic cartographic system, united by three servers and a local area network equipped with the main and backup channels for the transmission of navigation data, which exclude the loss of information in case of combat and emergency damage, unlike the prototype [8], an expert system has been introduced that provides development of solutions to emerging problems of navigation, with the formation of recommendations to the watch officer, and automatic activation of safety procedures in critical situations, with the formation of estimates of the index of confidence in decision-making, which is based on a marine computer such as MNS - 620 and includes arrays of information, coding systems, format conversion, information compression, including tools for decoding and decompressing electronic chart files, and includes tools for choosing methods for entering data into the machine environment, ordering information, changing the content of information arrays, compiling the effects of various lists and catalogs for data accounting, information model of the management system and information that make up the information model of the external environment, laser information and coordinate support system, Arc View geographic information system, AVHRR NOAA image transformation system, ERS satellite image mapping systems. Dozor ice reconnaissance complex, Physx software modules. Hydrax, Skyx. ANSYSAQWA.GPS, GLONASS, GALILEO, SBAS, GBAS, ship system for planning, automatic collection, registration and processing of hydrological data of the "dKart HIDROCRAPHER" type with data export to HyKit and dKart formats, electronic navigation system of the "Segment" type, providing ENC data conversion in accordance with the IHO S-57 standard and SENC display in accordance with the IHO S-52 standard, a block for solving navigation problems in a paired parallax coordinate system, while the heading indicators contain at least three fiber-optic gyrocompasses with three accelerometers, the SNS receiver indicator is equipped with a reception an antenna with a right-hand polarization pattern and mounted on a mast, receiving antennas with left-hand polarization, with patterns directed downwards and mounted along the sides of the ship, the onboard receiver-indicator of the satellite navigation system is made multichannel based on the central processor of the neuromatrix NM 6403 or NM 6404.

Compared with the prototype [8]. The proposed ISN of ships and vessels contains an expert system that provides solutions to emerging navigation problems, recommendations to the watch officer, automatic activation of safety procedures in critical situations.

The expert system is a set of computing tools based on the marine computer type MNS - 620 for collecting and processing information containing

a computer program that includes the knowledge of experienced navigators about how to solve navigational problems, and is able to offer and explain to the user reasonable solutions in various situations encountered in navigation.

The development of recommendations includes the identification of possible options for solving the problem that has arisen, selecting the best one from them and recommending it to the watch officer. At the same time, the ISN ensures the development of solutions to emerging problems of navigation, the issuance of recommendations to the watch officer, automatic activation of safety procedures in critical situations.

The expert system includes a subsystem of consultations and development of recommendations on expedient behavior (SCVR) of the navigator and contains computing tools with a software package that operates with algorithmic information and non-formalized knowledge in the field of navigation and is able to offer and explain to the navigator reasonable solutions to problems based on mathematical modeling of physical processes and mechanism of human thinking in relation to this area.

SKVR includes programs for making decisions and programs for their explanations. The SCWR not only develops recommendations on expedient behavior, but also gives explanations why such a solution was proposed with the argumentation of its validity. When using an expert system, the navigator receives all the information he needs in order to be sure that a really correct decision has been made. SKVR is a program that allows the operator to get answers to the questions: "How was this or that solution found?" and “Why was this decision made?” One of the main characteristics of the SCVR is its performance, i.e. the speed of obtaining the result and its reliability (reliability). SCVR should find a solution within a reasonable time that would be no worse than the one that can be offered by a specialist in this subject area. The advantage of SCVR is that it usually generates solutions faster than a specialist.

Quite a lot of recommendations on navigation can be obtained from existing manuals and manuals presented in electronic form, as well as on the basis of algorithmic data through direct analytical calculations or using mathematical modeling of vessel movement processes for predicted conditions. These recommendations include the time to start a turn in tight waters in wind and current conditions, the choice of a passing maneuver in relatively simple situations, the choice of a mode of movement in stormy conditions, the choice of the most advantageous route across the ocean, taking into account weather forecasts, speed losses in waves, constant and variable currents, fuel consumption and a number of other cases.

ISN information support includes information arrays (databases and other structured data sets), coding systems, format conversion, information compression, including means of decoding and decompressing EC files. Information support also includes tools for choosing methods for entering data into the machine environment, organizing information, changing the content of information arrays, compiling various lists and catalogs for data accounting, etc. The main component of information support is the data stored in the memory of the ISN. The composition of the ISN data is determined by its purpose. ISN receives, stores, processes, displays information for the purpose of efficient and safe escort of the ship from the port of departure to the port of destination. ISN is a part of the ship's traffic control system and refers to information systems that perform decision preparation operations.

In the general case, management requires information that characterizes the goal of management, including the requirements for achieving it, the management system and the external environment. This also applies to escorting a vessel from the port of departure to the port of destination and in solving the functional tasks assigned to this class of ships and vessels. In general, the composition of the information data of the ISN can be represented in the form of three parts, including, respectively, information defining the purpose of the navigation task being performed with the requirements for its achievement, data that form the information model of the control system, and information that make up the information model of the external environment.

An information model of a management system is understood as a set of information that reflects the composition, properties, relationships, characteristics of this system and its elements. The information model of the external environment includes information that allows you to get a fairly complete picture of the composition, properties, features, relationships of the elements of the environment in which the control is carried out.

In addition to the data mentioned above, the ISN uses information that defines the goal set for the control system, and information related to the requirements for achieving it, including various types of instructions, navigation rules and other guidance documents.

Information reflecting the vessel as a traffic control system and its external environment includes numerous data, the main of which are information on navigational and hydrometeorological conditions, existing recommendations and instructions for navigation, data on visual, radio engineering and other navigational aids, information on installed traffic routes, types of navigation areas, ship reporting systems and ship traffic services, measures to protect the marine environment, information about ports, data on current weather and its forecasts, corrective documents, navigational warnings from radio services, data on the state of the ship and its mechanisms information about the ship's maneuverability and seaworthiness, information about the position of own ship and its kinematic parameters, information about the position of ships in the navigation area and their kinematic parameters, recommendations and instructions received from control systems mobile reception, information about other factors affecting the safety of navigation. With all this information or with its main part, the ISN operates, performing, to one extent or another, information services for the decision-making process for managing the ship.

All the necessary data in the ISN are stored in the form of structured information sets: records, lists, tables, arrays, databases and their other sets. The main information is stored in the ISN in the form of databases. A database (DB) is a collection of data organized according to certain rules that establish general principles for describing, storing and manipulating information. Storing data in a database ensures centralized management, compliance with standards, security and integrity of information, reduces redundancy and eliminates inconsistency of information. Databases are independent of application programs. Working with the database information is carried out with the help of special software tools.

ISN databases, as part of the ship's control system, contain information about this control system and its external environment with such a minimum redundancy that ensures their optimal use in the navigation process. It is necessary to single out two independent functions performed by databases in control systems, this is the formation of information models of the object and the environment and the reference function. The function of the formation of information models of the object and the environment consists in the accumulation of all relatively stable information about the ship and the environment necessary for management in order to solve navigation problems in the ISN. The memory of the ship's navigation and information system stores chart data, information about navigation aids, tidal phenomena and other elements of the ship's navigation areas. Since this information reflects the elements and properties of the external environment, they constitute its informal information model. Key relatively stable information about the external environment for the vessel. is concentrated in the cartographic database (CBD).

CBD information is used by ISN in almost all tasks related to escorting a ship from the port of departure to the port of destination. It is available to navigators and for various references.

The external environment is also characterized by other information located in the information bases and in other structured arrays of the ISN.

The totality of this information together with the CBD form an unformalized information model of the external environment.

In addition, information about the ship on which this system is installed, its dimensions, draft, controls, maneuvering properties, etc. is placed in the memory of the ISN. The totality of these data represents an information model of the ship's control system.

If the information models of the ship and its environment are incomplete in the memory of the ISN, then the system provides for the possibility of their improvement.

In addition, ISN ensures that information models are adequate to the actual composition and properties of the environment and control system.

The reference function of databases is to quickly issue, upon request, the information necessary for navigators at different points in time when escorting a ship from the port of departure to the port of destination and in solving the tasks assigned to this class of ships.

The selection of two autonomous functions allows you to create, accumulate and change, as necessary, data in databases, regardless of user programs that will use this data in the future.

The information that the ISN operates on can be classified according to various criteria. The most common of them is the classification of information about the external environment depending on the type of objects it reflects. The external environment of the vessel includes objects, phenomena and processes that affect the process of navigation. In characterizing these elements of information, it is customary to distinguish the following categories: geographical; navigation and hydrographic; about maritime mobile objects; meteorological; hydrological; climatic and others. Geographic information characterizes the elements of the surface of the lithosphere and the navigation stationary objects located on it. Geographical data includes information about the surface and underwater relief, about the coastline, about dangers and obstacles, about structures for household and other purposes, etc. Navigational and hydrographic information is information about navigable routes and areas, their fixed and floating fencing, positional systems, etc. It is part of geographic information.

Information about marine mobile vehicles (the movement of which is purposeful) reflects their properties, tactical and technical data, position, movement elements, etc. Meteorological information characterizes the state of the atmosphere. It includes data on temperature, air humidity, clouds, fogs and visibility, atmospheric pressure and wind, air masses, fronts, baric systems, etc. Hydrological (oceanological) information reflects the state of the hydrosphere of the seas and oceans. Hydrological characteristics include water temperature, salinity and density, direction and speed of currents, speed of sound propagation in water, waves, tides, ice, icebergs, etc.

Climatic information is information about the long-term weather patterns of regions. It includes, for certain periods of the year (months, seasons) at different points on the Earth, the average statistical hydrometeorological characteristics obtained from the results of observations over many years.

Classification of information according to belonging to the content of the map. The main relatively stable information about the external environment for the ship is concentrated on navigational charts. It includes geographic information, part of hydrological data. Cartographic information plays an extremely important role in navigation. Based on this, when considering a number of issues, it is accepted that the information operated by the ISN is divided into cartographic and non-cartographic information.

Cartographic information reflects the situation of the ship's navigation areas, characterizes the location, properties, connections of objects and phenomena important in navigation.

Cartographic information reflects elements of the navigation environment that are stable in time and remain constant for a long time. With the help of conventional signs, they are depicted on paper maps.

Available time-varying cartographic elements (eg depths, coastline position, magnetic declination) are represented on the map only by their constant component.

Non-cartographic information includes all information related to navigation, with the exception of cartographic data. This is information about mobile devices, about time-varying components of objects displayed on the map, about factors that disturb the navigation process, as well as other elements (climatic data, information about ports, etc.).

Disturbing factors are dynamic objects, processes, phenomena that affect the wiring process, the behavior of which is not purposeful. These include hydrometeorological processes and phenomena, drifting dangerous objects, etc.

Information exchange of systems of the information and control complex with information and measuring, executive, information and control devices, and the computer system of the complex is carried out by means of the ISN. At the same time, the ISN performs complex processing of information and the formation of object state parameters and control signals, forecasting the development of situations in the computer system of the complex, identifying the situation in the computer system of the complex, generating recommendations for the crew on actions in the current situation, taking into account the forecast of its development. When identifying the situation and forming recommendations, along with the current information measured and calculated by the systems of the complex, expert knowledge is used that is entered into the knowledge base, while sound, speech, visual-symbolic, visual-text communication channels with the crew are used, in each of which the signal synthesized in relation to the current situation.

To identify the situation and generate recommendations, prompt input of information perceived by the crew is carried out, the introduction of expert knowledge into the knowledge base is carried out by recording the generated recommendations and the initial data used in their formation, together with the subsequent analysis of this information and the adjustment of expert knowledge in the knowledge base according to the results of the analysis.

The system for generating estimates of the index of confidence in decision making of estimates of bias for interactive decision making contains a processor of the device, which performs the main computing operations necessary for the operation of the device or the functionality of one or more of its components. The processor executes the necessary machine-readable instructions contained in the main memory. The memory is made in the form of RAM and contains the necessary software logic that provides the required functionality.

Data storage means can be made in the form of HDD, SSD disks, raid array, network storage, flash memory, optical storage media (CD, DVD, MD, Blu-Ray disks), etc. and allows for long-term storage of various types information, such as the aforementioned files with user data sets, databases containing records of time intervals measured for each user, user IDs, etc.

Interfaces are standard means for connecting and working with the server part, for example, USB, RS232, RJ45, LPT, COM, HDMI, PS / 2, Lightning, Fire Wire, etc.

The choice of interfaces depends on the specific version of the processor, which can be a personal computer, mainframe, server cluster, thin client, smartphone, laptop, etc. , chief electrician, etc.)

The keyboard is used as a means of data input in any embodiment of the system that implements the proposed technical solution. The keyboard hardware can be any known: it can be either a built-in keyboard used on a laptop or a separate device connected to a desktop computer, server, or other computer device. In this case, the connection can be either wired, in which the keyboard connection cable is connected to the PS / 2 or USB port located on the system unit of the desktop computer, or wireless, in which the keyboard exchanges data via a wireless communication channel, for example, a radio channel, with base station, which, in turn, is directly connected to the system unit, for example, to one of the USB ports. In addition to the keyboard, data input tools can also be used: joystick, display (touchscreen), projector, touchpad, mouse, trackball, light pen, speakers, microphone, etc.

Network interaction means are selected from a device that provides network data reception and transmission, for example, an Ethernet card, WLAN / Wi-Fi module, Bluetooth module, BLE module, NFC module, IrDa, RFID module, GSM modem, etc. With the help of networking tools, data exchange is organized over a wired or wireless data transmission channel, for example, WAN, PAN, LAN (LAN), Internet, WLAN, WMAN or GSM. All components of the device are connected via a local area network, as in the prototype [8].

The laser information and coordinate system includes a laser range finder, an information transmission system, an optoelectronic direction finder, a guidance system (opto-mechanical drive), a guidance and tracking control system (command generator for an opto-mechanical drive), a computer-control system, a retroreflector panel, direction finder, laser transmitting system, photodetector system, guidance system, wide-angle coordinator, cloud sensor. Laser rangefinder measurements make it possible to autonomously correct ephemeris errors in the ship's coordinate support. The technology for autonomous correction of satellite ephemeris can be based on the well-known method of partial solution of the ephemeris problem, in which the position of the satellite along the orbit is specified. Direction finding of coastal laser direction finders and leading signs is also provided.

The onboard receiver-indicator of the satellite navigation system is a software implementation of a matched filter (unlike traditional correlation type receivers) using an NM 6403 or NM 6404 neuromatrix as a central processor.

The matched filter allows you to drastically reduce the search cycle for signals by delay to a millisecond level (for comparison, in correlation receivers, the search cycle is 20 s) and thereby increase the probability of correctly detecting a signal with noise in a given time interval, as well as raise the noise immunity threshold (up to 6- 10dB).

The onboard receiver-indicator of the satellite navigation system (BPISNS) allows you to provide:

- joint processing of code and phase measurements to solve the navigation problem for a small number of observed navigation spacecraft (NSV), up to one, in two-dimensional navigation;

- direct measurement of an unknown number of phase cycles in the process of capturing a carrier for tracking;

- exclusion of the ionospheric error in a single-frequency receiver using an integral navigation parameter;

- suppression of errors caused by multipath propagation of radio signals in code and phase measurements up to the centimeter level;

the use of an adaptive robust filter to improve the integrity of the navigation field in the presence of interference;

- use of a software ultra-narrow-strobe correlator and a theoretically optimal hardware delay discriminator;

- measurement of the projection of the linear acceleration vector of the BISNS antenna;

- the number of tracking channels for HKA (GPS, GLONASS, GALILEO) and interference sources up to 40, with a receiver sensitivity up to 180 dBW and with a noise component of code / phase measurements up to 5 / 0.05 cm;

- the frequency of information output is up to 50 Hz, the signal recapture time after its short-term loss is up to 3 milliseconds, with the time for resuming the observation in case of a complete loss of radio visibility up to 20 s, no more than 1 s;

- the use of a neuromatrix-type processor provides an excess of computing power up to 3-5 billion operations / s, which can be used to process information from systems that are part of the ship's onboard equipment.

Structurally, the BPISNS is a receiver consisting of seven microcircuits and modular unified software. The BPISNS is equipped with a receiving antenna with a right-hand polarization pattern and mounted on the ship's mast, with left-hand polarization receiving antennas with downward-directed patterns and installed along the ship's sides, which makes it possible to determine the plumb line deviation (PLE) in the "on line" mode, by calculation of geodetic coordinates.

To calculate the geodetic coordinates of the ship (ϕо, λо, Ho) with an offset due to the inclination of the reflecting water surface (oceans) relative to the reference ellipsoid, both direct and reflected from the sea surface radio signals are used. And then the geodetic coordinates of the ship (ϕo, λo, Ho) are calculated with an offset due to the inclination of the reflecting water surface (oceans) relative to the reference ellipsoid according to the formula:

where

F(UOL) - function from UOL;

ϕо, λо, Ho - latitude, longitude and height of the vessel in geographical coordinates by direct radio signals,

ϕg, λg, -Ng - latitude, longitude and height of the vessel in geographical coordinates based on reflected signals; according to the calculated geodetic coordinates, the inclination of the water surface is determined due to the UOL in latitude and longitude according to the formulas:

where ΔЦϕ, ΔЦλ - the slope of the water surface (oceans) in latitude and longitude;

ΔSϕ, ΔSλ - linear values of coordinate differences;

M, N - radii of curvature of the normal section of the meridian and longitude of the reference ellipsoid;

Δϕ, Δλ - differences of geodetic coordinates for direct and reflected signals.

The ship uses three antennas to receive radio signals. One antenna is installed on the ship's mast with a directivity pattern in the upper hemisphere with right polarization for receiving direct GLONASS and GPS radio signals, two other antennas are installed along the sides of the ship with a downward directivity pattern and are made with left polarization for receiving GLONASS and GPS radio signals reflected from the sea surface. In this case, the sum of radio signals from two receiving antennas with left-hand polarization spaced by 180 degrees in azimuth is fed to the receiver indicator. In this case, the updated ephemeris values are supplied to the receiver.

The use of two antennas of the SNS receiver indicator with left-hand polarization with radiation patterns in the lower hemisphere and spaced 180 degrees in azimuth, to which the sum of radio signals from two receiving antennas with left-hand polarization with radiation patterns in the lower hemisphere and spaced 180 degrees in azimuth, improves reliability obtaining the final results, since the evolution of the sea vessel from the port and starboard sides is taken into account.

In the process of navigation on board the vessel, the conditions are checked that the current values of the UOL do not exceed the permissible value of the UOL for these navigation conditions. When passing through the allowable value of the SVL for these navigation conditions and continuing to increase the deviation of the SVL from the allowable value for more than a given period of change in the SVL, the parameters of the main blocks of the ship's on-board systems are continuously recorded to identify the reasons for the change in the SVL.

The block for solving navigation problems in a paired parallax coordinate system is designed to improve the accuracy of determining coordinates during mutual direction finding of two ships located in the coverage area of radar, radio direction finders or hydroacoustic means. The principle of operation of the block for solving navigation problems in a paired parallactic coordinate system is based on well-known algorithms (Guzevich S.N. “Parallactic coordinate system as the basis for reliable location measurements” // “Aerospace Instrumentation” 2020 No. 4, c15-24, Guzevich S.N. "The use of the parallactic coordinate system for navigation measurements" // "Aerospace Instrumentation" 2020 No. 12, pp. 35-45).

A paired parallactic spherical coordinate system provides control over the nature of the interaction during measurement, by dividing the mutual angles of the observed fields of objects in space into equal parts according to linear and angular parameters, providing their connection with the “golden section” dependence.

The paired parallactic spherical coordinate system provides the transfer of information about the angles of observation of objects by projection and projection, providing a comparison of the obtained projections on two orthogonal axes of the measurement plane. Projection connects the fields of objects with a common observation plane, providing their connection by opposite parallactic angles and the dependence of the geometric mean. The projection displays the centered orientation of the observation axis in projections of the observation angle on the coordinate axes of the measurement plane in the ball, linking them with a trigonometric relationship.

Fields of objects play the main role in the transfer of information about the position, orientation and size of the object, providing their connection according to the dependencies of the geometric mean, which are natural dependencies.

The implementation of a paired parallactic spherical coordinate system can significantly reduce the errors in determining the coordinates of both your ship and the ship located in the zone of possible contact. In a paired parallactic spherical coordinate system, an accurate geometric description of the cubic attenuation of object fields in space depending on the parallactic angle of their observation is provided, providing unambiguous solutions to direct and inverse problems in determining angles and distances in determining the ship's position.

The ship's system of planning, automatic collection, registration and processing is a system of the “dKart HIDROCRAPHER” type and provides automated planning of such functions as cutting tablets, laying tacks, channel axes, drawing a coastline, collecting, primary processing and selecting data from an external control and measuring equipment in real time; post-processing, cameral processing and editing of the obtained data, building a relief model, creating a three-dimensional image of a relief model, building isobaths, as well as a relief profile, building and outputting a reporting tablet to a printer, exporting data to HyKit and dKart formats, which is especially important when conducting research and work and missions assigned to the ship.

Electronic navigation system type "Segment", provides ENC data conversion in accordance with the IHO S-57 standard; SENC display in accordance with IHO S-52; a set of functions in accordance with the IHO standard (resolution A 817 (19)) on the technical and operational characteristics of ECDIS; use of information from standard ship receiver-indicators of satellite and radio navigation systems, gyrocompass, log.

The composition of the technical means forming the ISN also includes the following systems.

Maritime satellite communication station of the INMARSAT Mini-M standard type TT-3046, which includes: a transceiver; stabilized antenna with antenna amplifier; handset with stand; antenna cable; 10-32 V DC power supply and is designed to transmit voice and digital information through the RS-232C port with a transmission rate of up to 2.4 Kbaud.

The proposed technical solution uses software modules SINTEZ.EXE, ll.REZ, MODEL.TPU, TST.MOD, meteorological information from meteorological artificial satellites (MISZ) of the "Meteor", "NOAA" type in the form of images of the underlying surface and cloud cover of the Earth, facsimile and telegraph information from radio meteorological centers.

When a vessel navigates in the Arctic seas, the ISN includes the Arc View geographic information system, the AVHRR NOAA image transformation system, the ERS, RADAST satellite image mapping system, and the Dozor ice reconnaissance complex.

The proposed ISN also has the technical capabilities of interfacing with geographic information systems such as "Neva" and "Ocean", as well as ECDIS "Soenki 400-19". At the same time, the claimed ISN contains software modules Physx, Hydrax, Skyx, ANSYSAQWA.GPS, GLONASS, GALILEO , SBAS, GBAS.

Traditional gyrocompasses used in the prototype are heavy and bulky, consume a lot of energy, require constant and uninterrupted power supply, and are expensive. At the same time, after switching on, the time for such heading sensors to become ready is several hours. Quite stringent requirements are imposed on the installation of classical gyrocompasses on a ship. These devices are sensitive to shock, vibration, temperature changes, rolling and have limitations in these parameters. Classical gyrocompasses usually require maintenance and preventive measures. At present, the classical HA are being replaced by more advanced devices based on modern technologies and excluding the use of gimbals (platforms stabilized in the horizon plane). These new heading sensors have sensing elements rigidly connected to the ship's hull. There are no moving parts in them. Strapdown gyrocompasses and other measurement devices that have no moving parts are more reliable, consume little power, require little or no maintenance.

In a number of modern GC samples, optical ring laser gyrometers (RLG - Ring Laser Giroscope) are used. also called fiber optic (fiber optic) gyrosensors - FOG (FOG - Fiber Optic Giroscope). Fiberoptic gyro compasses have already been installed on several marine vessels. A system with three FO-gyrometers, supplemented by three accelerometers, can serve as a kinematic state sensor of the vessel, which measures: heading, roll, trim, longitudinal, transverse and vertical movement of the hull.

In addition, as part of the ISN situation lighting circuit, a command broadcasting device of the Olympus type is used to broadcast voice service commands, an integrated automatic control system for the technical means of a vessel of the MANAGER 300 type, a marine electric type TES-75 typhon for giving sound signals, a system for receiving external sound signals with visual indication of the direction to the sound source of the "Fork tuning fork" type.

It is also possible to combine the ISN computer with the radar by means of an interface module by means of automatic tracking of the GMDSS global maritime security system and a voyage data recorder, including hull stress calculations, ship kinematic parameters, a static database, a dynamic database.

The technical implementation of the proposed technical solution is similar to the structural and logical scheme of the ISN of the prototype in terms of combining all the ship's technical facilities into an integrated bridge system, connected by a local area network.

As in the prototype, the proposed system can be conditionally divided into three circuits: ISN and means of lighting the situation, processing and ensuring the safety of information, modeling, and generating calculated data.

The structure of the ISN contour and means of lighting the situation includes: direction finders of the heading system, astronavigation complex, hydrometeorological complex, correction tools for terrestrial and satellite radio navigation systems, heading guidance system, logs, navigation echo sounders, NAVTEX equipment, data from external sources of additional navigation information, automatic identification systems, means of illumination of the surface situation, means of illumination of the underwater situation, single time systems. The functions of the contour are: calculation of the state vector of the ship, determination of the parameters of the movement of targets, illumination of the near sea situation, obtaining navigation information and generating navigation data.

The presentation of information through the ISN is regulated by functional affiliation. So, for example, the information provided to the officer on watch contains data about his own ship (current position, kinematic parameters, past path, planned route and a number of other elements), radar image and kinematic parameters of ARPA targets, AIS transponder data about other ships, information about the navigation fence , on optical and radio navigational aids, navigation manuals, use of ARPA data and the AIS transponder, elements of service of coastal traffic control systems, hydrometeorological information (long-term data, current weather information, data on ice conditions, forecast information and a number of others.

The circuit for processing and ensuring the safety of information includes: ISN servers combined with system units and a printing device. The ISN scheme of the Navy provides for the optimal number of servers, but depending on the design of the ship, their number can be changed to the number of ISN service posts, but not less than two. The functions of the circuit are: receiving, displaying, processing, ensuring the safety of information, unified ship time, broadcasting the required information to ship consumers, as well as to the modeling circuit, solving navigation problems and generating calculated data.

The set of information generated in the ISN is sufficient to ensure the navigational safety of navigation and the fulfillment of the tasks assigned to the ship. It characterizes the position, movement of the ship, data on maneuvering objects and other calculated information at a predetermined point in time, taking into account the control actions exerted on the ship, the effects of the external environment, the current and simulated situation, the CCI, the BGD, which ensure the safe and timely exit of the ship to a given position, a given course and speed, its movement along a given trajectory in accordance with the task assigned to the ship.

The proposed integrated navigation system for ships and vessels has high reliability, versatility and advanced functionality. The implementation of the presented technical solutions allows solving the problems of ensuring navigational safety of navigation and generating the required data for shipboard consumers at each ISN workplace.

Sources of information.

1. Patent RU No. 2260191, 01.10.2005.

2. Patent RU No. 105755111, 06/20/2011.

3. Patent RU No. 2453909 C1, 06/20/2012.

4. Patent RU No. 2550887 C2, May 20, 2015.

5. US patent No. 7751977 B2, 07/06/2010.

6. US patent No. 9132912 B2, 09/15/2015.

7. US patent No. 7990263 B2, 08/02/2011.

8. Patent RU No. 2765606 C1, 01.02.2022.

Claims (1)

The ship navigation and control complex, containing marine navigation aids, shipborne surface and underwater lighting, local area network, servers, printing device for information processing and security, a unified electronic cartographic system, a single time system, display and control units installed on each command post of the ship, automated workstations as part of the integrated bridge system and the integrated ship control system, automatic network switch and uninterruptible power supplies of the uninterruptible power supply system, while the complex is integrated into each command post of the ship using the principle of modularity, equipped with a remote control with controls control of the numeration modes, which adjusts the settings, displays data from marine navigation aids and ship systems that provide the complex with navigation information, jointly equipped with an alarm system, a navigation monitor with touch control or an interactive whiteboard with a projector, workstations as part of an integrated bridge system and an integrated ship control system; automated mobile sets of officials, provided with digital cartographic information from a single electronic cartographic system, united by three servers and a local area network equipped with main and backup navigation data transmission channels that exclude information loss during combat and emergency damage, characterized in that an expert system has been introduced , which provides the development of solutions to emerging problems of navigation, with the formation of recommendations to the watch officer, and the automatic activation of safety procedures in critical situations, with the formation of estimates of the index of confidence in decision-making, which is based on the MNS-620 type marine computer and includes arrays of information, systems encoding, format conversion, information compression, including tools for decoding and decompressing electronic chart files, and includes tools for selecting methods for entering data into the machine environment, organizing information, changing changing the content of information arrays, compiling various lists and catalogs for data accounting, information model of the control system and information constituting the information model of the external environment, laser information and coordinate support system, Arc View geographic information system, AVHRR NOAA image transformation system, systems for constructing maps from satellite ERS images. ice reconnaissance complex "Dozor", software modules Physx, Hydrax, Skyx, ANSYSAQWA.GPS, GLONASS, GALILEO, SBAS, GBAS, ship planning system, automatic collection, registration and processing of hydrological data of the "dKart HIDROCRAPHER" type with data export to HyKit formats and dKart, an electronic navigation system of the "Segment" type, which provides ENC data conversion in accordance with the IHO S-57 standard and SENC display in accordance with the IHO S-52 standard, a block for solving navigation problems in a paired parallax coordinate system, while the heading indicators contain at least three fiber-optic gyrocompasses with three accelerometers; the basis of the central neuromatrix processor NM 6403 or NM 6404.