CN103529466A - Ship self-positioning method for two AIS (automatic identification system) reference points - Google Patents

Ship self-positioning method for two AIS (automatic identification system) reference points Download PDF

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CN103529466A
CN103529466A CN201310367727.9A CN201310367727A CN103529466A CN 103529466 A CN103529466 A CN 103529466A CN 201310367727 A CN201310367727 A CN 201310367727A CN 103529466 A CN103529466 A CN 103529466A
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boats
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CN103529466B (en
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姜毅
陈爱平
胡青
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MARITIME BUREAU MINISTRY OF TRANSPORT OF PEOPLE'S REPUBLIC OF CHINA
Dalian Maritime University
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MARITIME BUREAU MINISTRY OF TRANSPORT OF PEOPLE'S REPUBLIC OF CHINA
Dalian Maritime University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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

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Abstract

The invention relates to a ship self-positioning method for two AIS (automatic identification system) reference points, which belongs to the field of positioning and navigating and is realized by a positioning resolution terminal device. The positioning resolution terminal device comprises a main control module, an external auxiliary sensor module, a liquid crystal display module and a power supply module; the power supply module provides power supply support for the positioning resolution terminal device; the external auxiliary sensor module measures auxiliary information of ship motion; the main control module is a core unit of the positioning resolution terminal device and comprises a positioning signal measurement processing module, an AIS base station message extracting module and a positioning resolution processing module; under the condition that a few of AIS positioning reference points exist, a ship still can directly utilize the current device to realize the self-positioning of an AIS, so that the requirements of a space-based and land-based double-backup positioning system promoted by an IMO (international maritime organization) are met. By utilizing the ship self-positioning method for the two AIS reference points, which is disclosed by the invention, the land-based positioning can be realized on the premise of nearly not increasing the cost of a terminal device of the ship, and the reutilization of resource is realized to the maximum extent.

Description

A kind of boats and ships autonomic positioning method of two AIS reference point
Technical field
The present invention relates to a kind of boats and ships autonomic positioning method, specifically relate to a kind of boats and ships autonomic positioning method of two AIS reference point, it belongs to positioning and navigation field.
Background technology
At present, marine ships navigation is mainly fixed against Global Navigation Satellite System (GNSS), but the fragility of GNSS is unanimously thought member state of International Maritime Organization (IMO) (IMO): in order to guarantee navigation safety, boats and ships are in the future answered the Position Fixing Navigation System of mandatory carriage space base and continental rise double copies.Along with closing of U.S. Loran system, in order to meet the demand of the empty double copies system in current marine navigation land in the world, in the urgent need to studying new continental rise positioning system.In the e-of IMO navigation strategic research, IMO entrusts International Association of Lighthouse Authorities (IALA) to formulate new world's radio navigation plan.IALA clearly classifies AIS range finding location (AIS-R Mode) as in the future terrestrial radio navigation system.Therefore the range finding that, utilizes existing AIS system to carry out boats and ships is positioned to the study hotspot technology that meets double copies system requirements for current.
At present, the autonomous location that utilizes AIS system to realize boats and ships, when signal coverage condition is better, in the time of can receiving the AIS positioning signal of three and above location reference point, can adopt the poor method of telemetry or range finding to realize location.But when signal coverage condition is poor, for example, in the time of only receiving the AIS positioning signal of two location reference point, owing to there is the asynchronous problem of clock between AIS base station and boats and ships, be difficult to utilize the poor method of traditional telemetry or range finding to position.
Summary of the invention
Problem in view of prior art existence, the object of the invention is to provide a kind of when ais signal coverage condition is poor,, in the time of only receiving the positioning signal of two AIS reference point, externally, under sensor (as compass, log etc.) auxiliary, realize the method for the autonomous location of boats and ships.
To achieve these goals, the technical solution adopted in the present invention is: the boats and ships autonomic positioning method under a kind of two AIS reference point, and it is realized by positioning calculation terminal device; Described positioning calculation terminal device is comprised of main control module, outside auxiliary sensor assembly, LCD MODULE and power module; Described power module provides power supply support for positioning calculation terminal device; The auxiliary sensor assembly in described outside is measured the supplementary of ship motion; Described LCD MODULE stores and demonstration locator data; Described main control module is the core cell of positioning calculation terminal device; It is comprised of positioning signal measurement process module, AIS base station text extraction module and positioning calculation processing module.
Described positioning signal measurement process module is carried out carrier wave measurement to the positioning signal from AIS reference point receiving, obtain the pseudorange information between AIS reference point and boats and ships, and pseudorange information is offered to positioning calculation processing module, for positioning calculation processing module positioning calculation, use.
Described AIS base station text extraction module carries out signal demodulation to the positioning signal from AIS reference point receiving, extract textual information, obtain the precise position information of each AIS location reference point, and the precise position information of base station is exported to positioning calculation processing module.
Described positioning calculation processing module utilizes the output data message of positioning signal measurement process module and AIS base station text extraction module to complete positioning calculation function.
Described supplementary comprises: the speed of a ship or plane of current time and course information.
The treatment step of the boats and ships autonomic positioning method under described two AIS reference point is as follows:
1) the base station number of the AIS positioning signal that main control module real-time judge receives, if the AIS locating base station number receiving equals 2, enter the auxiliary AIS localization method pattern of external sensor, if locating base station number is more than or equal to 3, resolve processing module 8 and directly utilize traditional range finding or the poor method of range finding to realize the positioning calculation of vessel position, proceed to step 7);
2) while entering the auxiliary AIS localization method pattern of external sensor, first according to the auxiliary sensor assembly 3 in outside, obtain the supplementary of ship motion, comprise the speed of a ship or plane and the course information of current time;
3) main control module calculates the change in displacement vector of adjacent two moment boats and ships according to ship motion supplementary;
4) positioning signal measurement process module is carried out carrier wave measurement to the positioning signal of adjacent two moment AIS reference point, obtains the pseudorange information between adjacent two moment AIS reference point and boats and ships, and above-mentioned information is offered to positioning calculation processing module;
5) text extraction module in AIS base station carries out demodulation to the positioning signal of AIS reference point, extracts the textual information from AIS reference point, obtains the accurate positional information of AIS location reference point, and this information is exported to positioning calculation processing module;
6) positioning calculation processing module is according to the output data message of the auxiliary sensor assembly in outside, positioning signal measurement process module, AIS base station text extraction module 7, calls mathematics calculation mode and positions and resolve;
7) locator data is stored in LCD MODULE to demonstration, and proceeds to step 1) repetition said process.
It is as follows that described mathematics calculation mode positions the process of resolving:
First calculate the change in displacement vector △ X of boats and ships k :
Figure 757397DEST_PATH_IMAGE001
(1)
Wherein,
Figure 2013103677279100002DEST_PATH_IMAGE002
,
Figure 238319DEST_PATH_IMAGE003
be respectively constantly kthe speed of a ship or plane of boats and ships and course,
Figure 2013103677279100002DEST_PATH_IMAGE004
for the time interval of adjacent moment, ,
Figure 2013103677279100002DEST_PATH_IMAGE006
be respectively constantly kthe change in displacement component that boats and ships are horizontal and vertical;
Utilize constantly kthe initial position estimation vector of boats and ships with change in displacement vector △ X k , calculate constantly k+ 1 boats and ships estimated position , as the formula (2);
Figure 24375DEST_PATH_IMAGE009
(2)
The positioning equation in adjacent two moment of couple very much in love, obtains positioning equation matrix as the formula (3).
(3)
Wherein,
Figure 174734DEST_PATH_IMAGE011
represent constantly kthe base station measuring jcorresponding pseudorange value,
Figure 2013103677279100002DEST_PATH_IMAGE012
represent constantly kbase station jand the estimated value between vessel position, (d x, d y) represent constantly kdeviation between estimated position and true position.According to the calculation result of positional matrix, can obtain constantly kthe position of boats and ships.
The invention has the beneficial effects as follows: it is in the situation that AIS location reference point is less, and the autonomous location that boats and ships still can directly utilize existing equipment (compass, log etc.) to realize AIS system, meets the space base of IMO proposition and the demand of continental rise double copies positioning system; Utilize the present invention can under the prerequisite that increases hardly boats and ships terminal device cost, realize continental rise location, realize to greatest extent the recycling of resource.
Accompanying drawing explanation
Fig. 1 is watercraft AIS positioning terminal equipment structured flowchart of the present invention;
Fig. 2 is localization process process flow diagram flow chart of the present invention;
In figure: 1, positioning calculation terminal device, 2, main control module, 3, outside auxiliary sensor assembly, 4, LCD MODULE, 5, power module, 6, positioning signal measurement process module, 7, AIS base station text extraction module, 8, positioning calculation processing module.
Embodiment
Embodiment 1
When ais signal coverage condition is poor, only can receive the positioning signal of two AIS reference point, positioning calculation terminal device 1 proceeds to the auxiliary AIS localization method pattern of external sensor automatically.The supplementary of the ship motion obtaining according to the auxiliary sensor assembly 3 in outside, the course that is obtained boats and ships by compass is 45 °, the speed of a ship or plane that is obtained boats and ships by log is 20 joints.
According to the positioning signal from AIS reference point receiving, the positioning signal from AIS reference point being received by 6 pairs of positioning signal measurement process module is carried out carrier wave measurement, the pseudorange obtaining between adjacent two moment AIS base stations 1 and boats and ships is respectively 91360.36 meters and 91376.72 meters, and the pseudorange between AIS base station 2 and boats and ships is respectively 48646.10 meters and 48656.14 meters.By 7 pairs of positioning signals of AIS base station text extraction module, carry out text extraction, export two AIS base stations positional information accurately, the latitude and longitude information of base station 1 is (121 ° of 8 ' 7.97 " E; 38 ° 43 ' 38.52 " N), the latitude and longitude information of base station 2 is (121 ° of 42 ' 57.02 " E, 38 ° 54 ' 17.10 " N).
Positioning calculation processing module 8 is according to the output information of the auxiliary sensor assembly 3 in outside, positioning signal measurement process module 6, AIS base station text extraction module 7, build the positioning equation in adjacent two moment, utilize positioning equation matrix to resolve vessel position for (122 ° of 10 ' 6.12 " E; 38 ° 40 ' 10.14 " N), in LCD MODULE 4, store demonstration.

Claims (6)

1. the boats and ships autonomic positioning method under two AIS reference point, it is realized by positioning calculation terminal device; Described positioning calculation terminal device is comprised of main control module, outside auxiliary sensor assembly, LCD MODULE and power module; Described power module provides power supply support for positioning calculation terminal device; The auxiliary sensor assembly in described outside is measured the supplementary of ship motion; Described LCD MODULE stores and demonstration locator data; Described main control module is the core cell of positioning calculation terminal device; It is comprised of positioning signal measurement process module, AIS base station text extraction module and positioning calculation processing module; The treatment step of the boats and ships autonomic positioning method under described two AIS reference point is as follows:
1) the base station number of the AIS positioning signal that main control module real-time judge receives, if the AIS locating base station number receiving equals 2, enter the auxiliary AIS localization method pattern of external sensor, if locating base station number is more than or equal to 3, resolve processing module 8 and directly utilize traditional range finding or the poor method of range finding to realize the positioning calculation of vessel position, proceed to step 7);
2) while entering the auxiliary AIS localization method pattern of external sensor, first according to the auxiliary sensor assembly 3 in outside, obtain the supplementary of ship motion, comprise the speed of a ship or plane and the course information of current time;
3) main control module calculates the change in displacement vector of adjacent two moment boats and ships according to ship motion supplementary;
4) positioning signal measurement process module is carried out carrier wave measurement to the positioning signal of adjacent two moment AIS reference point, obtains the pseudorange information between adjacent two moment AIS reference point and boats and ships, and above-mentioned information is offered to positioning calculation processing module;
5) text extraction module in AIS base station carries out demodulation to the positioning signal of AIS reference point, extracts the textual information from AIS reference point, obtains the accurate positional information of AIS location reference point, and this information is exported to positioning calculation processing module;
6) positioning calculation processing module is according to the output data message of the auxiliary sensor assembly in outside, positioning signal measurement process module, AIS base station text extraction module 7, calls mathematics calculation mode and positions and resolve;
7) locator data is stored in LCD MODULE to demonstration, and proceeds to step 1) repetition said process.
2. the boats and ships autonomic positioning method under a kind of two AIS reference point according to claim 1, it is characterized in that: described positioning signal measurement process module is carried out carrier wave measurement to the positioning signal from AIS reference point receiving, obtain the pseudorange information between AIS reference point and boats and ships, and pseudorange information is offered to positioning calculation processing module, for positioning calculation processing module positioning calculation, use.
3. the boats and ships autonomic positioning method under a kind of two AIS reference point according to claim 1, it is characterized in that: described AIS base station text extraction module carries out signal demodulation to the positioning signal from AIS reference point receiving, extract textual information, obtain the precise position information of each AIS location reference point, and the precise position information of base station is exported to positioning calculation processing module.
4. the boats and ships autonomic positioning method under a kind of two AIS reference point according to claim 1, is characterized in that: described positioning calculation processing module utilizes the output data message of positioning signal measurement process module and AIS base station text extraction module to complete positioning calculation function.
5. the boats and ships autonomic positioning method under a kind of two AIS reference point according to claim 1, is characterized in that: described supplementary comprises: the speed of a ship or plane of current time and course information.
6. the boats and ships autonomic positioning method under a kind of two AIS reference point according to claim 1, is characterized in that: it is as follows that described mathematics calculation mode positions the process of resolving:
First calculate the change in displacement vector △ X of boats and ships k :
Figure 2013103677279100001DEST_PATH_IMAGE001
(1)
Wherein,
Figure 2013103677279100001DEST_PATH_IMAGE002
,
Figure 2013103677279100001DEST_PATH_IMAGE003
be respectively constantly kthe speed of a ship or plane of boats and ships and course,
Figure 2013103677279100001DEST_PATH_IMAGE004
for the time interval of adjacent moment, ,
Figure 2013103677279100001DEST_PATH_IMAGE006
be respectively constantly kthe change in displacement component that boats and ships are horizontal and vertical;
Utilize constantly kthe initial position estimation vector of boats and ships
Figure 2013103677279100001DEST_PATH_IMAGE007
with change in displacement vector △ X k , calculate constantly k+ 1 boats and ships estimated position
Figure 2013103677279100001DEST_PATH_IMAGE008
, as the formula (2);
Figure 2013103677279100001DEST_PATH_IMAGE009
(2)
The positioning equation in adjacent two moment of simultaneous, obtains positioning equation matrix as the formula (3);
Figure 2013103677279100001DEST_PATH_IMAGE010
(3)
Wherein,
Figure 2013103677279100001DEST_PATH_IMAGE011
represent constantly kthe base station measuring jcorresponding pseudorange value,
Figure 2013103677279100001DEST_PATH_IMAGE012
represent constantly kbase station jand the estimated value between vessel position, (dx, dy) represents the deviation between moment k estimated position and true position;
Last according to the calculation result of positional matrix, can obtain constantly kthe position of boats and ships.
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Cited By (10)

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CN104049239A (en) * 2014-05-30 2014-09-17 大连海事大学 Self-organizing ship locating method based on moving reference point assistance
CN104614708A (en) * 2015-02-13 2015-05-13 武汉大学 Ship remote wireless automatic locating system and method
CN104656076A (en) * 2015-02-13 2015-05-27 武汉大学 Ship remote self-positioning method and system based on reference ship information guidance
CN106066469A (en) * 2016-05-24 2016-11-02 大连海事大学 A kind of boats and ships self-organizing cooperative localization method of two AIS reference points
CN106093859A (en) * 2016-07-15 2016-11-09 大连海事大学 A kind of self-organizing ship-positioning system based on dirigible and localization method thereof
CN106597004A (en) * 2017-02-14 2017-04-26 珠江水利委员会珠江水利科学研究院 Land-based ship speed measurement device and method
CN107315164A (en) * 2017-06-01 2017-11-03 大连海事大学 A kind of ship autonomic positioning method of single AIS reference points
CN108562923A (en) * 2018-04-16 2018-09-21 大连海事大学 A kind of Multi-source Information Fusion ship's fix method based on AIS ship station
CN108802787A (en) * 2018-06-29 2018-11-13 深圳市乐驭智能技术有限公司 Localization method, device, computer equipment and storage medium
CN110164185A (en) * 2019-06-05 2019-08-23 大连海事大学 A kind of ship collision prevention system based on AIS

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CN104049239B (en) * 2014-05-30 2016-08-24 大连海事大学 A kind of self-organizing ship's fix method based on moving reference point auxiliary
CN104049239A (en) * 2014-05-30 2014-09-17 大连海事大学 Self-organizing ship locating method based on moving reference point assistance
CN104614708A (en) * 2015-02-13 2015-05-13 武汉大学 Ship remote wireless automatic locating system and method
CN104656076A (en) * 2015-02-13 2015-05-27 武汉大学 Ship remote self-positioning method and system based on reference ship information guidance
CN106066469B (en) * 2016-05-24 2019-01-18 大连海事大学 A kind of ship self-organizing cooperative localization method of two AIS reference points
CN106066469A (en) * 2016-05-24 2016-11-02 大连海事大学 A kind of boats and ships self-organizing cooperative localization method of two AIS reference points
CN106093859A (en) * 2016-07-15 2016-11-09 大连海事大学 A kind of self-organizing ship-positioning system based on dirigible and localization method thereof
CN106597004A (en) * 2017-02-14 2017-04-26 珠江水利委员会珠江水利科学研究院 Land-based ship speed measurement device and method
CN107315164A (en) * 2017-06-01 2017-11-03 大连海事大学 A kind of ship autonomic positioning method of single AIS reference points
CN107315164B (en) * 2017-06-01 2020-12-08 大连海事大学 Ship autonomous positioning method with single AIS reference point
CN108562923A (en) * 2018-04-16 2018-09-21 大连海事大学 A kind of Multi-source Information Fusion ship's fix method based on AIS ship station
CN108562923B (en) * 2018-04-16 2021-12-28 大连海事大学 Multi-source information fusion ship positioning method based on AIS ship station
CN108802787A (en) * 2018-06-29 2018-11-13 深圳市乐驭智能技术有限公司 Localization method, device, computer equipment and storage medium
CN108802787B (en) * 2018-06-29 2022-07-22 深圳市乐驭智能技术有限公司 Positioning method, positioning device, computer equipment and storage medium
CN110164185A (en) * 2019-06-05 2019-08-23 大连海事大学 A kind of ship collision prevention system based on AIS

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