WO2018219963A1 - Procédé et système de calcul d'un itinéraire de navire à l'aide de données d'itinéraire historiques - Google Patents

Procédé et système de calcul d'un itinéraire de navire à l'aide de données d'itinéraire historiques Download PDF

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Publication number
WO2018219963A1
WO2018219963A1 PCT/EP2018/064096 EP2018064096W WO2018219963A1 WO 2018219963 A1 WO2018219963 A1 WO 2018219963A1 EP 2018064096 W EP2018064096 W EP 2018064096W WO 2018219963 A1 WO2018219963 A1 WO 2018219963A1
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WO
WIPO (PCT)
Prior art keywords
vessel
route
experience
position data
data
Prior art date
Application number
PCT/EP2018/064096
Other languages
English (en)
Inventor
Thomas FJELD
Original Assignee
Stormgeo As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of WO2018219963A1 publication Critical patent/WO2018219963A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096877—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement
    • G08G1/096888—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement where input information is obtained using learning systems, e.g. history databases
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
    • B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16B—BIOINFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR GENETIC OR PROTEIN-RELATED DATA PROCESSING IN COMPUTATIONAL MOLECULAR BIOLOGY
    • G16B45/00—ICT specially adapted for bioinformatics-related data visualisation, e.g. displaying of maps or networks

Definitions

  • the invention regards a method for preparing and presenting proposed routes for the shipping/merchant fleet.
  • the method can, however, be used for all kinds of vessels where a suitable data source is provided.
  • a route is comprised of "waypoints". This is a point where the vessel must make a change in course. Between these waypoints, a line is drawn, thus providing a route. This is usually done manually, either at paper charts/map or digitally, by a user placing the waypoints him/herself.
  • a method and system has been developed to allow a user to enter route destination and calculate a route based on AIS location data.
  • the object of the invention is to provide a flexible and reliable method and system for preparing and presenting route proposals for ships.
  • AIS Automatic Identification System
  • IMO the UN Maritime Organization
  • the system is based on ships transmitting their AIS information via VHF on a regular basis, and the signal is captured by either a land based station or satellite.
  • AIS is also used by maritime traffic centers to keep track of shipping traffic within its areas of responsibility.
  • the information can comprise the following parameters:
  • AIS is an important monitoring tool in the national preparedness along the coast.
  • the Norwegian Coastal Administration is responsible for the operation of AIS stations in Norway and communicates AIS information to other public authorities.
  • the main rescue centers, Coast Guard and the police are some of the users who use AIS in their daily operations.
  • Saved AIS data can be used, inter alia, to map transport patterns and trends in transport planning and analysis.
  • a method for calculating a route for a vessel comprises providing first position data indicating the starting position of the vessel, providing second position data indicating the position of the destination of the vessel, providing experience position data for previously sailed positions between current position and destination of the vessel, and based on the experience position data, calculate a route for the vessel from its current position to the destination of the vessel.
  • a system for calculating a route for a vessel comprises a recording device for receiving and recording first position data indicating the starting position of the vessel and second position data indicating the position of the destination of the vessel, at least one database device for recording and storing experience position data for previously sailed positions between the starting position and the destination of the vessel, and data processing means adapted to, based on the experience position data, calculate a route for the vessel from its starting position to the destination of the vessel.
  • the first position data representing the starting position of the vessel is in one embodiment the current position of the vessel. These data are determined for example using GPS, corrected or uncorrected. Alternatively, the coordinates on the map of the starting position of the vessel can be read from a map, table, or determined in another known manner.
  • the first position data may also include information about course, direction and/or speed of the vessel in the starting position. This is particularly relevant when the starting position coincides with the vessel's current position.
  • the experience position data is in one embodiment AIS data.
  • the experience position data may include information about the direction associated with each position of the previously sailed positions.
  • the experience position data includes location data for a ship that has sailed from Oslo to Copenhagen. As described above, this ship sent out AIS information on a regular basis.
  • the AIS information is stored in a database where each position received for the ship is also linked to information about which direction the ship was sailing.
  • the directional information may be roughly specified as north-south, or it may be in the form of the specific compass heading the ship had in the corresponding position.
  • the route can then be calculated by selecting from the database the experience position data associated with the same starting position and destination and using these as the basis for the route. This can be done by the fact that the experience position data contains information about the starting position and destination, or by selecting from the database experience position data located between the starting position and the destination, and the route is selected, that for example has the highest density of experience position data.
  • the route calculation can also take into account information provided by the user, such as places to be navigated, or whether the route is to in sheltered waters or in open waters.
  • the calculation of the route can also use data that indicates separation zones.
  • Separation zones are zones between the sea routes
  • the calculation of the route for the vessel is based on the fact that experience positions are actual positions where a vessel has previously been physically present. This means that none of the experience positions will be on land or otherwise represent a risk.
  • AIS data may also include ship type and dimension information
  • the calculation of route in some embodiments could take this into account. For example, the calculation will only use experience position data from ships of the same size (depth, weight) as the vessel for which the route is calculated.
  • Information about the ship's swing radius can also be known and taken into account when calculating the route. This can for example be done by using only experience positions corresponding to or located a certain distance from a route that follows the ship's swing radius.
  • Calculation of a route may include, in one embodiment, drawing lines between nearby experience positions. The more points that represent the experience positions used, the more accurate the route becomes. The calculation may in some
  • embodiments include utilizing experience positions within a predetermined area or experience positions having a predetermined maximum and/or minimum distance between them.
  • the calculation may include using a smoothing function or an averaging feature to smooth out lines drawn between each point on the route.
  • the final calculated route may include, in one embodiment, calculating waypoints for the route. This can be done directly based on experience position data or after a line is drawn between experience positions with or without smoothing the line.
  • Such waypoints can also be calculated by averaging experience position data across an area.
  • Figure 1 illustrates the principle of radio localization of ships and indicates how this can be used in connection with the invention.
  • Figure 2 illustrates by way of example how AIS data recorded in a map can be used to map sailing patterns.
  • Figure 3 shows an example of a calculated route in sheltered waters and open waters for the same distance.
  • Figure 4 shows an example of route calculation taking into account separation zones.
  • Figure 5 shows an example of a possible presentation of a calculated route.
  • Figure 1 illustrates the principle of radio localization of ships and indicates how this can be used in connection with the invention.
  • a ship 1 1 sends out its position information or other information, such as, for example, AIS information, via VHF on a regular basis.
  • the signal is captured by either a land-based station 10 if near enough land or satellite 12.
  • the received data is stored and can be used as experience position data in the method and system of the invention.
  • Figure 2 shows a section of AIS data recorded in a map. It is clearly seen in figure 2a that there is a concentration of shipping traffic in specific areas. When you enlarge the image (see Figure 2b), it becomes clear that the position points and lines drawn through each point are not accurate enough to provide a route proposal.
  • the method and system according to the invention solve this by not looking at one ship at a time, but utilizing experience position data, in this case AIS position points, from multiple ships.
  • the actual AIS positions will not be on land, so if you have enough points, you can draw a line between the closest location points and avoid crossing land. In addition, it is taken into account the direction of each ship at each position point. If you have enough points, then the route proposal becomes quite accurate. In some cases, at least 95% of the waypoints are used as proposed without change.
  • the first port When a ship sails from one port to another, the first port will be assigned to the first position data indicating the starting position of the vessel for the sailing.
  • the other port (destination) is assigned to second position data indicating the position of the destination of the vessel.
  • Experience data is provided, e.g. AIS data, for previously sailed positions between the current position and the destination of the vessel, and based on the experience position data, a route is calculated for the vessel from its current position to the destination of the
  • a route in open waters will look like the dotted line 30 in Figure 3a.
  • the route is calculated using experience position points for only 2 months.
  • Figure 3b shows an example of a route proposal 31 in sheltered waters on the same distance as in Figure 3a. As you can see, this follows the most common route very accurately without crossing land. Even with just 2 months of points.
  • the calculation of route takes into account the direction of the ship in each individual point. This means that separation zones 40, 41 can be taken into account in relation to which direction the route is selected.
  • Figure 4a shows an example of separation zones that ships in the English Channel must comply with, recorded in a map. The calculated route to and from the same ports will then change depending on which direction you want to sail, ie which ports are the starting position and destination.
  • Figure 4b shows that in the English
  • a route from eg. Oslo to Rome will show a northern route 42 that corresponds to the separation zone, and opposite a southern route 43 if the route goes from Rome to Oslo.
  • Figure 5 shows an example of a possible presentation of a route calculated as described above.
  • the route is presented here with waypoints, Wl 1 , W12, lines 50 between waypoints and with the boat's swing radius 51 (can be changed by user).

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Ocean & Marine Engineering (AREA)
  • Human Resources & Organizations (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Development Economics (AREA)
  • Game Theory and Decision Science (AREA)
  • Databases & Information Systems (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un système de calcul d'itinéraire de navire consistant à fournir des premières données de position indiquant la position de départ du navire, par exemple par la réception et l'enregistrement dans un dispositif d'enregistrement. En outre, des deuxièmes données de position sont fournies, les deuxièmes données indiquant la position de la destination du navire, et ces dernières pouvant être reçues et enregistrées dans le dispositif d'enregistrement. Des données de position historiques concernant des positions ayant fait l'objet d'une navigation précédemment entre la position en cours et la destination du navire, par exemple mémorisées dans une base de données, sont utilisées afin de calculer un itinéraire destiné au navire depuis la position de départ jusqu'à la destination du navire.
PCT/EP2018/064096 2017-05-30 2018-05-29 Procédé et système de calcul d'un itinéraire de navire à l'aide de données d'itinéraire historiques WO2018219963A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20170880 2017-05-30
NO20170880A NO343162B1 (no) 2017-05-30 2017-05-30 Fremgangsmåte og system for beregning av en rute for fartøy

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WO2018219963A1 true WO2018219963A1 (fr) 2018-12-06

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WO (1) WO2018219963A1 (fr)

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CN112650237B (zh) * 2020-12-21 2021-12-28 武汉理工大学 基于聚类处理和人工势场的船舶路径规划方法和装置

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US6708113B1 (en) * 1999-07-17 2004-03-16 Robert Bosch Gmbh Navigation method for a means of transport
WO2008096376A1 (fr) * 2007-02-08 2008-08-14 Marorka Appareil et procédé de choix d'itinéraire
US20100185471A1 (en) * 2009-01-16 2010-07-22 Henry Chen Analyzing voyage efficiencies
CN103531043A (zh) * 2013-09-27 2014-01-22 重庆大学 基于航线匹配的船舶点到点航行时间估算方法

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US7818120B2 (en) * 2006-11-30 2010-10-19 Raytheon Company Route-planning interactive navigation system and method
GB2469632A (en) * 2009-04-20 2010-10-27 J & M Inertial Navigation Ltd Portable rescue apparatus for guiding a person back to a reached waypoint position
WO2011160687A1 (fr) * 2010-06-23 2011-12-29 Tomtom International B.V. Système et procédé d'optimisation et de mise à jour dynamique d'informations d'itinéraire
US9086278B2 (en) * 2012-12-21 2015-07-21 Navionics Spa Apparatus and methods for routing
GB201404040D0 (en) * 2014-03-07 2014-04-23 Tomtom Int Bv Reconstructing routes using electronic map data
US20170254649A1 (en) * 2014-08-07 2017-09-07 Navionics Spa Apparatus and methods for routing

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US6708113B1 (en) * 1999-07-17 2004-03-16 Robert Bosch Gmbh Navigation method for a means of transport
WO2008096376A1 (fr) * 2007-02-08 2008-08-14 Marorka Appareil et procédé de choix d'itinéraire
US20100185471A1 (en) * 2009-01-16 2010-07-22 Henry Chen Analyzing voyage efficiencies
CN103531043A (zh) * 2013-09-27 2014-01-22 重庆大学 基于航线匹配的船舶点到点航行时间估算方法

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ENMEI TU ET AL: "Exploiting AIS Data for Intelligent Maritime Navigation: A Comprehensive Survey", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 3 June 2016 (2016-06-03), XP080705648 *
MUELLER REINHARD ET AL: "The Historical AIS Data Use for Navigational Aids", 1 January 2005 (2005-01-01), XP055504908, Retrieved from the Internet <URL:https://portal.helcom.fi/Archive/Shared%20Documents/TRANSIT%20ROUTE%20EWG%204-2005_Presentation%20Historical%20AIS%20Data%20Use%20for%20Navigational%20Aids.pdf> [retrieved on 20180906] *

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NO20170880A1 (no) 2018-11-19
NO343162B1 (no) 2018-11-19

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