CN104777482A - Ship bridge collision-prevention system and method - Google Patents

Ship bridge collision-prevention system and method Download PDF

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Publication number
CN104777482A
CN104777482A CN201510222481.5A CN201510222481A CN104777482A CN 104777482 A CN104777482 A CN 104777482A CN 201510222481 A CN201510222481 A CN 201510222481A CN 104777482 A CN104777482 A CN 104777482A
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China
Prior art keywords
ship
target ship
fix
elements
target
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Pending
Application number
CN201510222481.5A
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Chinese (zh)
Inventor
吕植勇
陈振康
罗鹏举
鲁盈利
帅然
王乐
刘昌伟
阮志邦
陶玮凡
何荣
聂闯
张琴兰
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Application filed by Wuhan University of Technology WUT filed Critical Wuhan University of Technology WUT
Priority to CN201510222481.5A priority Critical patent/CN104777482A/en
Publication of CN104777482A publication Critical patent/CN104777482A/en
Pending legal-status Critical Current

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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a ship bridge collision-prevention system. The system is arranged on a collision-prevention building and comprises an emitter, at least two receivers, a processor and a communication module. The emitter is used for emitting electromagnetic waves, the receivers are used for receiving the electromagnetic waves reflected by a target ship, and the processor is used for performing cooperative solving through at least two elliptical orbit equations to obtain positioning coordinates of the target ship according to the signal time difference between the emitter and the receivers and judging whether the positioning coordinates of the target ship are within a dangerous region range; if yes, a ship response system of a ship automatic recognition system is used for obtaining the identity of the target ship, and the communication module is used for performing alarming and early warning on the target ship. By the adoption of the system, the purpose can be achieved as long as fixed radar is used, installation is convenient, and the cost is low.

Description

Bridge collision avoidance system and collision prevention method
Technical field
The invention belongs to traffic signals field, be specifically related to a kind of bridge collision avoidance system and collision prevention method.
Background technology
Current ship collision prevention radar, be all adopt rotary radar system, cost is high, and maintenance cost is high, easily damages, and rotary radar inconvenience installed by bridge pier.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of bridge collision avoidance system and collision prevention method, adopts fixed type radar, convenient installation, and cost is low, and reports to the police in time.
The present invention for solving the problems of the technologies described above taked technical scheme is: a kind of bridge collision avoidance system, is characterized in that: it is architectural that it is arranged on collision prevention, comprises 1 transmitter, at least 2 receivers, processor and communication modules, wherein
Transmitter is used for emitting electromagnetic wave, receiver is for receiving the electromagnetic wave be reflected back by target ship, processor is used for according to poor by the signal time of transmitter and receiver, combined by least two elliptical orbit equations and solve, obtain the elements of a fix of target ship, judge that the elements of a fix of target ship are whether within the scope of hazardous location, if then utilize the boats and ships answering system of ship automatic identification system to obtain the identity of target ship, communication module is utilized to report to the police and early warning to target ship;
Described elliptical orbit equation sets up using transmitter and one of them receiver as two focuses of ellipse.
By said system, it also comprises warning device, is connected with described processor, reports to the police during for pointing to collision prevention building and hazardous location thereof in the direction of target vessel motions.
By said system, it also comprises filtering module, ship GPS location data are obtained for utilizing ship automatic identification system, the elements of a fix of the target ship obtained with processor compare, judge that the object ship detected is only whether as true boats and ships, if then judge whether the elements of a fix of target ship are positioned at hazardous location further by processor.
The collision prevention method utilizing above-mentioned bridge collision avoidance system to realize, is characterized in that: it comprises the following steps:
The architectural transmitter of S1, collision prevention constantly sends electromagnetic wave towards periphery, and electromagnetic wave is running into target ship back reflection, after receiver receives the electromagnetic wave of reflection, records electromagnetic wave and receives institute's elapsed time from being issued to;
S2, the electromagnetic wave setting wherein 2 receivers to receive receive institute's elapsed time as t from being issued to 1and t 2known electromagnetic velocity of propagation is the light velocity, distance between known transmitter and receiver, set up elliptical orbit equation using transmitter and one of them receiver as two focuses of ellipse, target ship for the point on ellipse respectively, solving equations obtains the elements of a fix that two oval intersection points are target ship;
The elements of a fix of S3, foundation target ship and the prior hazardous location delimited, once find that the elements of a fix of target ship are positioned at hazardous location, then utilize communication module to report to the police and early warning to target ship.
As stated above, a filtration step is increased: the elements of a fix of target ship are converted to gps coordinate between described S2 and S3, compare with the boats and ships coordinate obtained of ship automatic identification system, determine whether true ship, if, then continue S3, then delete the elements of a fix of this target ship if not, get back to S1.
As stated above, when the elements of a fix of target ship differ within 15 meters with the spacing of the boats and ships coordinate obtained of ship automatic identification system, then judge that this target ship is true ship.
Beneficial effect of the present invention is:
1, by adopting present system and method, can only need fixed type radar to realize object, convenient installation, cost is low; The inventive method calculates simple, safe and reliable.
2, by increasing filtering module and filtration step, improving degree of accuracy, avoiding false alarm.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of one embodiment of the invention.
Fig. 2 is that radar receives measurement analysis diagram.
Fig. 3 is the workflow diagram of one embodiment of the invention.
Fig. 4 is alarm, alarm region setting vertical view.
Fig. 5 is alarm, alarm region setting schematic diagram.
In figure: 1-transmitter, 2-first receiver, 3-second receiver, 4-collision prevention is built, 5-target ship.
Embodiment
Below in conjunction with instantiation and accompanying drawing, the present invention will be further described.
As shown in Figure 1, it is arranged in collision prevention building 4 a kind of bridge collision avoidance system, comprises 1 transmitter, 1, at least 2 receivers (being the first receiver 2 and the second receiver 3 in the present embodiment), processor and communication module, wherein
Transmitter 1 is for emitting electromagnetic wave, receiver is for receiving the electromagnetic wave be reflected back by target ship 5, processor is used for according to poor with the signal time of receiver by transmitter 1, combined by least two elliptical orbit equations and solve, obtain the elements of a fix of target ship 5, judge that the elements of a fix of target ship are whether within the scope of hazardous location, if then utilize the boats and ships answering system of ship automatic identification system to obtain the identity of target ship, communication module is utilized to report to the police and early warning to target ship; Described elliptical orbit equation sets up using transmitter and one of them receiver as two focuses of ellipse.
Preferably, it also comprises warning device, is connected with described processor, and reporting to the police during for pointing to collision prevention building and hazardous location thereof in the direction of target vessel motions, can be sound and light alarm.
Preferably, in order to improve degree of accuracy, it also comprises filtering module, ship GPS location data are obtained for utilizing ship automatic identification system, the elements of a fix of the target ship obtained with processor compare, judge that the object ship detected is only whether as true boats and ships, if then judge whether the elements of a fix of target ship are positioned at hazardous location further by processor.
The collision prevention method utilizing above-mentioned bridge collision avoidance system to realize, as shown in Figure 3, comprises the following steps:
The architectural transmitter of S1, collision prevention constantly sends electromagnetic wave towards periphery, and electromagnetic wave is running into target ship back reflection, after receiver receives the electromagnetic wave of reflection, records electromagnetic wave and receives institute's elapsed time from being issued to.
S2, the electromagnetic wave setting wherein 2 receivers to receive receive institute's elapsed time as t from being issued to 1and t 2known electromagnetic velocity of propagation is the light velocity, distance between known transmitter and receiver, set up elliptical orbit equation using transmitter and one of them receiver as two focuses of ellipse, target ship for the point on ellipse respectively, solving equations obtains the elements of a fix that two oval intersection points are target ship.
As shown in Figure 2, if the coordinate of the first receiver is A, the coordinate of transmitter is true origin O, and the distance of the coordinate of the second receiver to be the distance of B, AO be 2a, OB is 2b, the elements of a fix (x, y) of target ship.
Respectively with A, O for oval intersection point and B, O are for oval intersection point, obtain system of equations:
( x + a ) 2 ( t 1 c ) 2 + y 2 ( t 1 c ) 2 - a 2 = 1 ( x - b ) 2 ( t 2 c ) 2 + y 2 ( t 2 c ) 2 - b 2 = 1
Solving equations obtains:
x = b ( t 1 c ) 2 ( ( t 2 c ) 2 - b 2 ) + a ( t 2 c ) 2 ( ( t 1 c ) 2 - a 2 ) ( t 1 c ) 2 ( ( t 2 c ) 2 - b 2 ) - ( t 2 c ) 2 ( ( t 1 c ) 2 - a 2 ) y = ± ( ( t 1 c ) 2 - a 2 ) ( t 1 c ) 2 · [ b ( t 1 c ) 2 ( ( t 2 c ) 2 - b 2 ) + a ( t 2 c ) 2 ( ( t 1 c ) 2 - a 2 ) ( t 1 c ) 2 ( ( t 2 c ) 2 - b 2 ) - ( t 2 c ) 2 ( ( t 1 c ) 2 - a 2 ) ] 2 - ( ( t 1 c ) 2 - a 2 )
When target ship distance bridge pier is far away, above-mentioned 2 equations can be similar to regards circle as, thus simplified formula:
( x + a ) 2 + y 2 = ( t 1 c ) 2 ( x - b ) 2 + y 2 = ( t 2 c ) 2
Solve:
x = ( t 1 c ) 2 - ( t 2 c ) 2 - a 2 + b 2 2 a - 2 b y = ± [ ( t 1 c ) 2 - ( t 2 c ) 2 + ( a - b ) 2 2 a - 2 b ] 2 - ( t 1 c ) 2 .
The elements of a fix of S3, foundation target ship and the prior hazardous location delimited, as shown in Figure 4 and Figure 5, once find that the elements of a fix of target ship are positioned at hazardous location, then utilize communication module to report to the police and early warning to target ship.In the present embodiment, can be comparatively hazardous location and murther region by risk zontation, when enter comparatively hazardous location time carry out early warning, report to the police when entering murther region.
Preferably, a filtration step is increased: the elements of a fix of target ship are converted to gps coordinate between described S2 and S3, compare with the boats and ships coordinate obtained of ship automatic identification system, determine whether true ship, if, then continue S3, then delete the elements of a fix of this target ship if not, get back to S1.When the elements of a fix of target ship differ within 15 meters with the spacing of the boats and ships coordinate obtained of ship automatic identification system, then judge that this target ship is true ship.
Above embodiment is only for illustration of design philosophy of the present invention and feature, and its object is to enable those skilled in the art understand content of the present invention and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So all equivalent variations of doing according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.

Claims (6)

1. a bridge collision avoidance system, is characterized in that: it is architectural that it is arranged on collision prevention, comprises 1 transmitter, at least 2 receivers, processor and communication modules, wherein
Transmitter is used for emitting electromagnetic wave, receiver is for receiving the electromagnetic wave be reflected back by target ship, processor is used for according to poor by the signal time of transmitter and receiver, combined by least two elliptical orbit equations and solve, obtain the elements of a fix of target ship, judge that the elements of a fix of target ship are whether within the scope of hazardous location, if then utilize the boats and ships answering system of ship automatic identification system to obtain the identity of target ship, communication module is utilized to report to the police and early warning to target ship;
Described elliptical orbit equation sets up using transmitter and one of them receiver as two focuses of ellipse.
2. bridge collision avoidance system according to claim 1, is characterized in that: it also comprises warning device, is connected with described processor, reports to the police during for pointing to collision prevention building and hazardous location thereof in the direction of target vessel motions.
3. bridge collision avoidance system according to claim 1, it is characterized in that: it also comprises filtering module, ship GPS location data are obtained for utilizing ship automatic identification system, the elements of a fix of the target ship obtained with processor compare, judge that the object ship detected is only whether as true boats and ships, if then judge whether the elements of a fix of target ship are positioned at hazardous location further by processor.
4. the collision prevention method utilizing the bridge collision avoidance system described in claim 1 to realize, is characterized in that: it comprises the following steps:
The architectural transmitter of S1, collision prevention constantly sends electromagnetic wave towards periphery, and electromagnetic wave is running into target ship back reflection, after receiver receives the electromagnetic wave of reflection, records electromagnetic wave and receives institute's elapsed time from being issued to;
S2, the electromagnetic wave setting wherein 2 receivers to receive receive institute's elapsed time as t from being issued to 1and t 2known electromagnetic velocity of propagation is the light velocity, distance between known transmitter and receiver, set up elliptical orbit equation using transmitter and one of them receiver as two focuses of ellipse, target ship for the point on ellipse respectively, solving equations obtains the elements of a fix that two oval intersection points are target ship;
The elements of a fix of S3, foundation target ship and the prior hazardous location delimited, once find that the elements of a fix of target ship are positioned at hazardous location, then utilize communication module to report to the police and early warning to target ship.
5. collision prevention method according to claim 4, it is characterized in that: increase a filtration step between described S2 and S3: the elements of a fix of target ship are converted to gps coordinate, compare with the boats and ships coordinate obtained of ship automatic identification system, determine whether true ship, if, then continue S3, then delete the elements of a fix of this target ship if not, get back to S1.
6. collision prevention method according to claim 5, is characterized in that: when the elements of a fix of target ship differ within 15 meters with the spacing of the boats and ships coordinate obtained of ship automatic identification system, then judge that this target ship is true ship.
CN201510222481.5A 2015-04-30 2015-04-30 Ship bridge collision-prevention system and method Pending CN104777482A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105717923A (en) * 2016-01-16 2016-06-29 上海大学 Unmanned surface vessel ocean dynamic obstacle avoiding control algorithm based on ellipse clustering-collision awl deduction
CN106971631A (en) * 2017-04-19 2017-07-21 上海新海信通信息技术有限公司 A kind of railroad bridge Anticollision Radar early warning system
CN107610530A (en) * 2017-09-27 2018-01-19 镇江市鹏申电子科技有限公司 It is a kind of can early warning object ship acoustooptic alarm system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101320085A (en) * 2008-07-21 2008-12-10 哈尔滨工业大学 Ultra-broadband wall-through point target positioning and imaging method based on back-projection algorithm
CN101986170A (en) * 2010-10-25 2011-03-16 安徽中超信息***有限公司 Bridge collision prevention radar alarming management system
CN202210356U (en) * 2011-09-08 2012-05-02 浙江海洋学院 Anti-collision early warning system of cross-sea bridge
CN202816157U (en) * 2012-08-31 2013-03-20 东莞市莞银电子科技有限公司 Bridge early-warning detection system
CN203520648U (en) * 2013-07-03 2014-04-02 佛山科学技术学院 Improved collision-avoidance monitoring system for bridge
CN104067141A (en) * 2011-11-21 2014-09-24 大陆-特韦斯贸易合伙股份公司及两合公司 Method and device for the position determination of objects in road traffic, based on communication signals, and use of the device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101320085A (en) * 2008-07-21 2008-12-10 哈尔滨工业大学 Ultra-broadband wall-through point target positioning and imaging method based on back-projection algorithm
CN101986170A (en) * 2010-10-25 2011-03-16 安徽中超信息***有限公司 Bridge collision prevention radar alarming management system
CN202210356U (en) * 2011-09-08 2012-05-02 浙江海洋学院 Anti-collision early warning system of cross-sea bridge
CN104067141A (en) * 2011-11-21 2014-09-24 大陆-特韦斯贸易合伙股份公司及两合公司 Method and device for the position determination of objects in road traffic, based on communication signals, and use of the device
CN202816157U (en) * 2012-08-31 2013-03-20 东莞市莞银电子科技有限公司 Bridge early-warning detection system
CN203520648U (en) * 2013-07-03 2014-04-02 佛山科学技术学院 Improved collision-avoidance monitoring system for bridge

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105717923A (en) * 2016-01-16 2016-06-29 上海大学 Unmanned surface vessel ocean dynamic obstacle avoiding control algorithm based on ellipse clustering-collision awl deduction
CN105717923B (en) * 2016-01-16 2019-02-19 上海大学 The unmanned boat ocean dynamic obstacle avoidance control algolithm deduced based on oval cluster-collision cone
CN106971631A (en) * 2017-04-19 2017-07-21 上海新海信通信息技术有限公司 A kind of railroad bridge Anticollision Radar early warning system
CN107610530A (en) * 2017-09-27 2018-01-19 镇江市鹏申电子科技有限公司 It is a kind of can early warning object ship acoustooptic alarm system

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Application publication date: 20150715