CN108398706B - A kind of cruise dispatching management information system and its method - Google Patents
A kind of cruise dispatching management information system and its method Download PDFInfo
- Publication number
- CN108398706B CN108398706B CN201810066118.2A CN201810066118A CN108398706B CN 108398706 B CN108398706 B CN 108398706B CN 201810066118 A CN201810066118 A CN 201810066118A CN 108398706 B CN108398706 B CN 108398706B
- Authority
- CN
- China
- Prior art keywords
- cruise
- unit
- anchor point
- reticular structures
- deck
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of cruise dispatching management information system and its method, system includes GPS device, calibrating installation, and the anchor point for the multiple reticular structures being arranged on cruise deck, and the vertical range of the anchor point of the corresponding multiple reticular structures being arranged on cruise deck is the anchor point for the multiple reticular structures at L and being set in the cabin of cruise, and it multiple is equipped in the labeling apparatus on the object S of dispatching and monitoring, and it is set to the first R-T unit of cruise stern and is set to the second R-T unit of cruise fore, and inertial nevigation apparatus, display device and control processor, the real-time positioning of personnel in cruise and cruise cabin may be implemented, and calibration update can be carried out in real time, positioning accuracy can be improved, and seamless positioning may be implemented, strong applicability, low energy consumption, it is big to compensate for inertial nevigation apparatus compensation calibration error Disadvantage, and improve the monitoring of cruise.
Description
Technical field
The present invention relates to radio satellite positioning fields, and in particular to a kind of cruise dispatching management information system and its method.
Background technique
Currently, needing to pay attention to push cruise transport and overland transport, boat with ocean and maritime travel business is greatly developed
The coordinated development of other defeated equal means of transportation of air transportion, is continuously improved the scientific and technological content and novelty at harbour and ship.To the year two thousand twenty
Bottom, global cruise tourist are expected to break through 30,000,000 person-times, and with the increase of demand, various countries also constantly increase the investment of cruise industry
Add, is also constantly promoted with haulage capacity come the cruise industry totality supply level measured.
The auxiliary facility of cruise is a huge facility of forming a complete and comprehensive system for collecting real estate fees comprising cruise is collecting and distributing with transport hub center
Auxiliary facility and mating and service, cruise facility and its information platform of service, cruise government affairs and business information platform etc., it is huge
Big structural framing needs the system of diversification to cooperate and complete.From the point of view of the practical experience that cruise industry develops, cruise economic
Development need scale is realized by the aggregation of economic factor.Make the mating and clothes of cruise government affairs and business information platform
Business forms cruise city information platform characteristic, i.e. complete networking, resource consolidation, Collaboration, stimulating innovation become mainstream.
The positioning system system important as one, can for periphery other systems and cruise auxiliary facility and its
Staff, passenger etc. provide service in many ways.However, cruise mostly rides the sea for a long time, it is in the prior art mostly to adopt
The positioning of cruise is realized with GPS device or inertial nevigation apparatus.However GPS positioning needs to want meeting the certain visual field and weather
It asks, often will appear can not search the problems such as star or position error are big, the time is long, can not simultaneously for the indoor environment in cabin
Positioning in real time.Inertial nevigation apparatus requires to be calibrated greatly, and positioning then will appear biggish error for a long time.Also, GPS device or
Person's inertial nevigation apparatus needs constantly to carry out in real time, and energy consumption is high, and the time is long.
Also, development rapid growth of the quantity of cruise staff either passenger with cruise, the scheduling pipe of personnel
Reason also becomes increasingly complex, and fast and accurately locating personnel, can effectively manage its behavior, however at present for the positioning of personnel
It is still not accurate enough, it can not effectively meet the requirement of accurate management and running.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of cruise dispatching management information system and its method,
Its real-time positioning that personnel in cruise and cruise cabin may be implemented, and calibration update can be carried out in real time, it is fixed to can be improved
Position precision, and may be implemented seamless positioning, and strong applicability, low energy consumption, compensate for that inertial nevigation apparatus compensation calibration error is big to be lacked
Point, and the monitoring of cruise is improved, management and running efficiency.
The present invention provides a kind of cruise dispatching management information systems, GPS device and distance including being set to cruise top
The vertical range of GPS device is the anchor of the calibrating installation being arranged at L and the multiple reticular structures being arranged on cruise deck
The vertical range of the anchor point of point and the corresponding multiple reticular structures being arranged on cruise deck be L at and setting
In multiple reticular structures in the cabin of cruise anchor point and multiple be equipped in the label on the object S of dispatching and monitoring
Equipment, and be set to the first R-T unit of cruise stern and be set to the second R-T unit and the inertial navigation of cruise fore
Device, display device and control processor, GPS device include transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, display device, the first R-T unit and the second transmitting-receiving dress
It sets and is connect respectively with control processor, multiple labeling apparatus are connect with multiple anchor point wireless telecommunications；
Anchor point, the first R-T unit and the second R-T unit of the multiple reticular structures being wherein arranged on cruise deck with
The relative position information of GPS device it is known that the anchor point and calibrating installation for the multiple reticular structures being arranged in the cabin of cruise phase
To location information it is known that the first R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane.
Further, each labeling apparatus includes wireless transmitter.
Further, labeling apparatus has the ID of its own.
Further, control processor calculates the route speed v for obtaining cruise by following formula:
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, ts be transmitter simultaneously to the first R-T unit and the second R-T unit emit signal when
It carves, at the time of t is that the first R-T unit or the second R-T unit receive GPS device and emit signal, b is GPS device distance the
The vertical range of one R-T unit or the second R-T unit, a are the first R-T unit or the second R-T unit apart from GPS device
Vertical range.
Further, anchor point, the first R-T unit and the second transmitting-receiving dress for the multiple reticular structures being arranged on cruise deck
Set with the relative position information of GPS device be the anchor point of multiple reticular structures being arranged on cruise deck, the first R-T unit and
Linear distance, vertical range and difference in height between second R-T unit and GPS device.
The present invention also provides a kind of cruise schedule management methods, sequentially include the following steps:
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after resolving by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device, using the anchor point for the multiple reticular structures being arranged on cruise deck,
The relative position information of first R-T unit and the second R-T unit, calibrating installation and GPS device obtains on cruise deck respectively
The position coordinates of the anchor point for the multiple reticular structures being arranged, the first R-T unit and the second R-T unit, calibrating installation；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck, obtain in the cabin of cruise
The position coordinates of the anchor point for the multiple reticular structures being arranged；
(5) control processor sends positioning request signal extremely using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on cruise deck, and/or sent using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in positioning request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal extremely
At corresponding anchor point；
(6) it is sent to control processor after the received positioning signal of corresponding anchor point, obtains corresponding scheduling through clearing and supervises
The location information of the object S of control, is shown by display device；
(7) kinematic parameter for obtaining cruise is made when meeting GPS positioning condition using the location information that GPS device obtains
For the location information of GPS device；When being unsatisfactory for GPS positioning condition, using kinematic parameter as auxiliary positioning information, in conjunction with
The history location information that GPS device obtains carries out resolving the location information obtained at GPS device position, repeats step (3)-(6).
Further, step (1) specifically:
(1.1) anchor for the multiple reticular structures being arranged on synchronization transmitting signal to cruise deck using transmitter
Point, the first R-T unit and the second R-T unit, anchor point, the first R-T unit of the multiple reticular structures being arranged on cruise deck
With the second R-T unit respectively receive transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting
Anchor point, the anchor point of the interior multiple reticular structures being arranged of the cabin of cruise receives transmitting signal respectively, and record receives hair respectively
At the time of penetrating signal；
(1.2) calculate separately the anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and
The transmitting signal moment of second R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple respectively
The initial measurement distance of the anchor point of reticular structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and connects
The time difference at collection of letters moment, respectively obtain cruise cabin in be arranged multiple reticular structures anchor point and calibrating installation just
Begin measurement distance；
(1.3) anchor point, the first R-T unit, the second transmitting-receiving of the multiple reticular structures being arranged on cruise deck are respectively compared
Difference between device and the known distance and initial measurement of GPS device distance, and it is respectively compared setting in the cabin of cruise
The anchor point of multiple reticular structures and the known distance of calibrating installation and initial measurement distance between difference: if difference is all
Zero, then enter next step, it is corresponding based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of multiple reticular structures, the first R-T unit and the second R-T unit relative to GPS device, so that cruise deck
The anchor points of multiple reticular structures of upper setting, the first R-T unit, the second R-T unit are at a distance from GPS device and known distance
The anchor point for the multiple reticular structures being arranged in the identical and/or corresponding cabin based on difference adjustment cruise is relative to calibration cartridge
The position set so that cruise cabin in be arranged multiple reticular structures anchor point at a distance from calibrating installation with known distance phase
Together, return step (1.1).
Further, it is that visible satellite quantity is at least 4 that GPS positioning condition is met in step (7).
Further, the kinematic parameter for obtaining cruise, specifically:
(7.1) the route speed v of cruise is obtained:
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
Respectively R1 and R2, d1 and d2 are respectively based on the first R-T unit to the measurement distance of device and the second R-T unit is calculated
Displacement, calculation is as follows:
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2)/2, then the route speed v=d/c of cruise；
(7.2) inertial guidance data of cruise, the route speed v and cruise that step (7.1) are obtained are obtained using inertial nevigation apparatus
Inertial guidance data be compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；
If conditions are not met, then compensating correction to inertial nevigation apparatus；
(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.
Detailed description of the invention
Fig. 1 is cruise dispatching management information system structural schematic diagram.
Fig. 2 is cruise dispatching management information system top view.
Fig. 3 is personnel positioning schematic illustration on cruise；
Fig. 4 is that cruise dispatching management information system calibrates more new diagram.
Fig. 5 is cruise dispatching management information system electrical block diagram.
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, should not be understood as limiting the scope of the invention, and field person skilled in the art is according to above-mentioned
Some nonessential modifications and adaptations that summary of the invention makes the present invention, still fall within protection scope of the present invention.
The present invention provides a kind of cruise dispatching management information system and its methods, as shown in attached drawing 1-5, cruise management and running system
System includes the GPS device 1 (being denoted as G point) for being set to cruise top, further includes the calibration that the vertical range apart from GPS device 1 is L
Device 4.When meeting GPS positioning condition, i.e., when visible number of satellite is at least 4, GPS device 1 receives defending from satellite
Sing data obtains the coordinate G (x, y, z) of itself after resolving by control processor.The Location-Unknown of calibrating installation 4, but such as
Shown in Fig. 1, the plane coordinates and GPS device 1 of calibrating installation 4 are identical, and only ordinate has the residual quantity of L, then can be directly sharp
The coordinate G ' (x, y, z-L) of calibrating installation 4 is obtained with coordinate G (x, y, z).
Dispatching management information system further includes multiple anchor points 5 that setting is respectively corresponded in the storehouse Shang Hechuan of cruise deck, and Fig. 3 is cruise
Upper personnel positioning schematic illustration, the anchor point on specific cruise deck is multiple, and forms reticular structure.The setting of anchor point 5
It is corresponding to be set on cruise deck in the cabin of cruise, i.e., the anchor of multiple reticular structures is provided on cruise deck
5 are put, the anchor point for the multiple reticular structures being arranged on the anchor point 5 for the multiple reticular structures being belowdecks correspondingly arranged and cruise deck
5 plane coordinates coordinate difference is identical, and only corresponding ordinate has the residual quantity of L, and is arranged on cruise deck multiple
It is (linear distance between anchor point and GPS device, vertical known to the anchor point 5 of reticular structure and the relative position information of GPS device 1
Distance and difference in height etc.), then in the cabin of cruise on the corresponding cruise deck of the anchor point 5 of multiple reticular structures of setting
Ordinate between the anchor point 5 for the multiple reticular structures being arranged differs L.
Specifically, GPS device 1 receives satellite data, after the coordinate G (x, y, z) of itself is calculated, so that it may be based on phase
5 position coordinates of anchor point to the multiple reticular structures being arranged on the Relation acquisition cruise deck of position, while also just obtaining cruise
Cabin in be arranged multiple reticular structures anchor point 5 position coordinates.As shown in figure 3, needing the object of dispatching and monitoring is S,
It can then be carried out by object of the anchor point 5 using the multiple reticular structures being arranged on cruise deck to the dispatching and monitoring on deck
Positioning, the anchor point 5 using the multiple reticular structures being arranged in the cabin of cruise determine the object of the dispatching and monitoring in cabin
Position, the real-time positioning that cruise internal schedule monitored object S thus may be implemented can after showing its position by display device
With the management and running concentrated.
It include multiple labeling apparatus in dispatching management information system, each labeling apparatus includes wireless transmitter, scheduling prison
The object S of control is equipped with labeling apparatus, and labeling apparatus has the ID of its own, and such management and running personnel can be directed to specific
The object S of the dispatching and monitoring of ID carries out locating and monitoring, specifically to the mode of cruise internal schedule monitored object S positioned in real time,
TOA, the various ways such as TDOA, RSSI can be used, and preferably select the object S distance apart from dispatching and monitoring in situation
4 nearest anchor points are realized.In this way, realizing the positioning system inside cruise, and the coordinate of coordinate system and GPS are using identical
Coordinate system, without being converted again, enhanced convenience is intuitive.
Dispatching management information system further includes being set to the first R-T unit 2 of cruise stern and being set to the second of cruise fore
R-T unit 3, wherein the first R-T unit 2, the second R-T unit 3 and GPS device 1 are located at same straight line on a projection plane
On.First R-T unit 2 and the second R-T unit 3 are relative to known to the location information of GPS device 1.
GPS device 1 includes transmitter, and transmitter is sent out to the first R-T unit 2 and the second R-T unit 3 simultaneously in moment ts
Signal is penetrated, the first R-T unit 2 and the second R-T unit 3 are denoted as t1 and t2 at the time of receiving signal respectively.In conjunction with Fig. 3 institute
Show, cruise in the stationary case, after G point emits signal, answer GPS device 1 by the first R-T unit 2 or the second R-T unit 3
It is received when in P point, the distance of 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3 is respectively r1 and r2.
However since cruise has certain route speed v during navigation, then can be an actually-received signal
Position there is certain deviation, such as at P ' point.P point and P ' then have certain displacement d, then by calculating
The route speed v of cruise is obtained, while calibration can be compensated to the position coordinates of anchor point 5, in GPS according to route speed
When dropout, auxiliary positioning is carried out using the data of this compensation calibration, inertial navigation equipment, calibrating installation 4, first can also be received
Transmitting apparatus 2 and the second R-T unit 3 etc. compensate calibration, realize seamless positioning.It is specific:
R=(t-ts)·c；
V=d/c；
Wherein, c is the light velocity, and b is the vertical range of GPS device 1 distance the first R-T unit 2 and the second R-T unit 3, a
Vertical range for the first R-T unit 2 or the second R-T unit 3 apart from GPS device 1.In this way, can be obtained by by calculating
The route speed v of cruise.
Similar with the calculating process of the second R-T unit 3 based on the first R-T unit 2, principle is all shown in Fig. 4 such.In
In actual position fixing process, cruise in the stationary case, 1 distance the first R-T unit 2 of GPS device and the second R-T unit 3
Distance be respectively r1 and r2,1 distance of GPS device is b in the vertical range of the first R-T unit 2 and the second R-T unit 3, the
The vertical range of one R-T unit 2 and the second R-T unit 3 apart from GPS device 1 is respectively a1 and a2, and GPS device 1 and first are received
It is respectively to be based on 2 He of the first R-T unit that the measurement distance of transmitting apparatus 2 and the second R-T unit 3, which is respectively R1 and R2, d1 and d2,
The displacement that second R-T unit 3 is calculated, then for the first R-T unit 2:
R1=(t1-ts) c, R2=(t2-ts)·c；
For normal, the calculated value of d1 and d2 should be identical, but due to the presence of error, two values are had partially
Difference, then eliminating fractional error in order to more objective, enabling d=(d1+d2)/2, then the route speed v=d/c of cruise.
In this way, by the location information of the route speed and cruise that finally can be obtained by cruise, and utilize cruise
Route speed information the compensation correction of location information is carried out to cruise, and when GPS signal is unavailable, utilize the boat of cruise
The auxiliary positioning of row velocity interpolation, and the calibration to inertial navigation equipment, and the auxiliary positioning etc. carried out with inertial navigation equipment cooperation.
During actual management and running, cruise schedule management method sequence includes the following steps:
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(1.1) anchor for the multiple reticular structures being arranged on synchronization transmitting signal to cruise deck using transmitter
Point, the first R-T unit and the second R-T unit, anchor point, the first R-T unit of the multiple reticular structures being arranged on cruise deck
With the second R-T unit respectively receive transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting
Anchor point, the anchor point of the interior multiple reticular structures being arranged of the cabin of cruise receives transmitting signal respectively, and record receives hair respectively
At the time of penetrating signal；
(1.2) calculate separately the anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and
The transmitting signal moment of second R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple respectively
The initial measurement distance of the anchor point of reticular structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and connects
The time difference at collection of letters moment, respectively obtain cruise cabin in be arranged multiple reticular structures anchor point and calibrating installation just
Begin measurement distance；
(1.3) anchor point, the first R-T unit, the second transmitting-receiving of the multiple reticular structures being arranged on cruise deck are respectively compared
Difference between device and the known distance and initial measurement of GPS device distance, and it is respectively compared setting in the cabin of cruise
The anchor point of multiple reticular structures and the known distance of calibrating installation and initial measurement distance between difference: if difference is all
Zero, then enter next step, it is corresponding based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of multiple reticular structures, the first R-T unit and the second R-T unit relative to GPS device, so that cruise deck
The anchor points of multiple reticular structures of upper setting, the first R-T unit, the second R-T unit are at a distance from GPS device and known distance
The anchor point for the multiple reticular structures being arranged in the identical and/or corresponding cabin based on difference adjustment cruise is relative to calibration cartridge
The position set so that cruise cabin in be arranged multiple reticular structures anchor point at a distance from calibrating installation with known distance phase
Together, return step (1.1).
(2) GPS device receives the satellite data from satellite, and the coordinate G of itself is obtained after resolving by control processor
(x, y, z)；
(3) the coordinate G (x, y, z) based on GPS device, using the anchor point for the multiple reticular structures being arranged on cruise deck,
The relative position information of first R-T unit and the second R-T unit, calibrating installation and GPS device obtains on cruise deck respectively
The position coordinates of the anchor point for the multiple reticular structures being arranged, the first R-T unit and the second R-T unit, calibrating installation；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck, obtain in the cabin of cruise
The position coordinates of the anchor point for the multiple reticular structures being arranged；
(5) control processor sends positioning request signal extremely using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on cruise deck, and/or sent using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in positioning request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal extremely
At corresponding anchor point；
(6) it is sent to control processor after the received positioning signal of corresponding anchor point, obtains corresponding scheduling through clearing and supervises
The location information of the object S of control, is shown by display device；
(7) kinematic parameter for obtaining cruise, when meeting GPS positioning condition, i.e., visible number of satellite is at least 4, benefit
Location information of the location information for using GPS device to obtain as GPS device；When being unsatisfactory for GPS positioning condition, joined using movement
Number is used as auxiliary positioning information, carries out resolving the position obtained at GPS device position in conjunction with the history location information that GPS device obtains
Confidence breath, repeats step (3)-(6).
The kinematic parameter for obtaining cruise, specifically:
(7.1) the route speed v of cruise is obtained:
Enable GPS device distance in the vertical range of the first R-T unit and the second R-T unit be b, the first R-T unit and
Vertical range of second R-T unit apart from GPS device is respectively a1 and a2, and GPS device and the first R-T unit and second are received and dispatched
Respectively R1 and R2, d1 and d2 are respectively based on the first R-T unit to the measurement distance of device and the second R-T unit is calculated
Displacement, calculation is as follows:
R1=(t1-ts) c, R2=(t2-ts)·c；
Enable d=(d1+d2)/2, then the route speed v=d/c of cruise；
(7.2) inertial guidance data of cruise, the route speed v and cruise that step (7.1) are obtained are obtained using inertial nevigation apparatus
Inertial guidance data be compared, if meeting threshold condition, correction is not compensated to inertial nevigation apparatus, into next step；
If conditions are not met, then compensating correction to inertial nevigation apparatus；
(7.3) inertial guidance data is obtained based on inertial nevigation apparatus in real time, as auxiliary positioning information.
Although for illustrative purposes, it has been described that exemplary embodiments of the present invention, those skilled in the art
Member it will be understood that, can be in form and details in the case where the scope and spirit for not departing from invention disclosed in appended claims
On the change that carry out various modifications, add and replace etc., and all these changes all should belong to appended claims of the present invention
Protection scope, and each step in the claimed each department of product and method, can in any combination
Form is combined.Therefore, to disclosed in this invention the description of embodiment be not intended to limit the scope of the invention,
But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or
Its equivalent is defined.
Claims (2)
1. a kind of cruise schedule management method, which is characterized in that realized using dispatching management information system, wherein dispatching management information system packet
The GPS device for being set to cruise top is included, and the vertical range apart from GPS device is the calibrating installation being arranged at L and postal
The anchor point and the corresponding multiple netted knots being arranged on cruise deck for the multiple reticular structures being arranged on wheel deck
The vertical range of the anchor point of structure is the anchor point of multiple reticular structures at L and being set in the cabin of cruise and multiple
It is equipped in the labeling apparatus on the object S of dispatching and monitoring, and is set to the first R-T unit and the setting of cruise stern
In the second R-T unit and inertial nevigation apparatus of cruise fore, display device and control processor, GPS device includes transmitter；
GPS device, calibrating installation, multiple anchor points, inertial nevigation apparatus, display device, the first R-T unit and the second R-T unit point
It is not connect with control processor, multiple labeling apparatus are connect with multiple anchor point wireless telecommunications；
Anchor point, the first R-T unit and the second R-T unit and GPS for the multiple reticular structures being wherein arranged on cruise deck fill
The relative position information set is it is known that the anchor point for the multiple reticular structures being arranged in the cabin of cruise and the relative position of calibrating installation
Information is it is known that the first R-T unit, the second R-T unit and GPS device are located along the same line on a projection plane；
Cruise schedule management method sequence includes the following steps:
(1) in the case where cruise is static, initial calibration is carried out to cruise dispatching management information system；
(2) GPS device receive the satellite data from satellite, obtained after being resolved by control processor itself coordinate G (x, y,
z)；
(3) the coordinate G (x, y, z) based on GPS device, utilizes the anchor point for the multiple reticular structures being arranged on cruise deck, first
The relative position information of R-T unit and the second R-T unit, calibrating installation and GPS device obtains be arranged on cruise deck respectively
The anchor points of multiple reticular structures, the first R-T unit and the second R-T unit, calibrating installation position coordinates；
(4) position coordinates of the anchor point based on the multiple reticular structures being arranged on cruise deck obtain setting in the cabin of cruise
Multiple reticular structures anchor point position coordinates；
(5) control processor sends positioning request signal to cruise using the anchor point for the multiple reticular structures being arranged on cruise deck
The object S of dispatching and monitoring on deck, and/or positioning is sent using the anchor point for the multiple reticular structures being arranged in the cabin of cruise
The object S of dispatching and monitoring in request signal to the cabin of cruise after corresponding label equipment receives, sends positioning signal to correspondence
Anchor point at；
(6) it is sent to control processor after the received positioning signal of corresponding anchor point, obtains corresponding dispatching and monitoring through resolving
The location information of object S, is shown by display device；
(7) obtain cruise kinematic parameter, when meeting GPS positioning condition, using GPS device obtain location information as
The location information of GPS device；When being unsatisfactory for GPS positioning condition, using kinematic parameter as auxiliary positioning information, in conjunction with GPS
The history location information that device obtains carries out resolving the location information obtained at GPS device position, repeats step (3)-(6)；
Wherein, step (1) specifically:
(1.1) anchor point for the multiple reticular structures being arranged on synchronization transmitting signal to cruise deck using transmitter, the
One R-T unit and the second R-T unit, anchor point, the first R-T unit and of the multiple reticular structures being arranged on cruise deck
Two R-T units receive respectively transmitting signal, and respectively record receive transmitting signal at the time of；
Emit the anchor point for the multiple reticular structures being arranged in cabin of the signal to cruise in synchronization using calibrating installation transmitting,
The anchor point for the multiple reticular structures being arranged in the cabin of cruise receives transmitting signal respectively, and record receives transmitting signal respectively
At the time of；
(1.2) anchor point relative to the multiple reticular structures being arranged on cruise deck, the first R-T unit and second are calculated separately
The transmitting signal moment of R-T unit and the time difference for receiving the signal moment are arranged on acquisition cruise deck multiple netted respectively
The initial measurement distance of the anchor point of structure, the first R-T unit and the second R-T unit and GPS device；
It calculates separately the transmitting signal moment of the anchor point for the multiple reticular structures being arranged in the cabin relative to cruise and receives letter
The time difference at number moment obtains the initial survey of the anchor point and calibrating installation of the multiple reticular structures being arranged in the cabin of cruise respectively
Span from；
(1.3) anchor point, the first R-T unit, the second R-T unit of the multiple reticular structures being arranged on cruise deck are respectively compared
The difference between the known distance and initial measurement of GPS device distance, and be respectively compared be arranged in the cabin of cruise it is more
Difference between the anchor point of a reticular structure and the known distance of calibrating installation and initial measurement distance: if difference is all zero,
Then enter next step, it is corresponding more based on being arranged on difference adjustment cruise deck if at least one difference is not zero
The position of the anchor point of a reticular structure, the first R-T unit and the second R-T unit relative to GPS device, so that on cruise deck
The anchor point for the multiple reticular structures being arranged, the first R-T unit, the second R-T unit at a distance from GPS device with known distance phase
The anchor point for the multiple reticular structures being arranged together and/or in the corresponding cabin based on difference adjustment cruise is relative to calibrating installation
Position so that cruise cabin in be arranged multiple reticular structures anchor point at a distance from calibrating installation with known distance phase
Together, return step (1.1).
2. the method as described in claim 1, it is characterised in that: meeting GPS positioning condition in step (7) is visible satellite quantity
At least 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066118.2A CN108398706B (en) | 2018-01-23 | 2018-01-23 | A kind of cruise dispatching management information system and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066118.2A CN108398706B (en) | 2018-01-23 | 2018-01-23 | A kind of cruise dispatching management information system and its method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108398706A CN108398706A (en) | 2018-08-14 |
| CN108398706B true CN108398706B (en) | 2019-11-08 |
Family
ID=63094195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810066118.2A Expired - Fee Related CN108398706B (en) | 2018-01-23 | 2018-01-23 | A kind of cruise dispatching management information system and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108398706B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109581290B (en) * | 2018-11-28 | 2021-01-01 | 珠海优特电力科技股份有限公司 | Anchor point positioning instrument, positioning method and device of wireless positioning system |
| CN111163422B (en) * | 2019-12-06 | 2021-01-05 | 北京海兰信数据科技股份有限公司 | Method, equipment and system for transmitting information between ships |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1926584A (en) * | 2004-03-04 | 2007-03-07 | 皇家飞利浦电子股份有限公司 | A time-of-flight measurement system and a method of operating the system |
| CN103791916A (en) * | 2014-01-28 | 2014-05-14 | 北京融智利达科技有限公司 | Combined vehicle navigation system based on micro-electromechanical system (MEMS) inertial navigation |
| CN105242023A (en) * | 2015-11-10 | 2016-01-13 | 四方继保（武汉）软件有限公司 | Unmanned ship achieving multi-function monitoring of water area |
| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| WO2017048779A1 (en) * | 2015-09-14 | 2017-03-23 | Red Point Positioning Corporation | Method to estimate and compensate for nlos bias in time difference of arrival estimate |
| CN106960287A (en) * | 2017-04-06 | 2017-07-18 | 华电重工股份有限公司 | Offshore construction ship personnel positioning management system and method |
| CN107179420A (en) * | 2017-07-13 | 2017-09-19 | 赵辰 | A kind of use directional ultrasonic measurement ship speed through water and the method in direction |
-
2018
- 2018-01-23 CN CN201810066118.2A patent/CN108398706B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1926584A (en) * | 2004-03-04 | 2007-03-07 | 皇家飞利浦电子股份有限公司 | A time-of-flight measurement system and a method of operating the system |
| CN103791916A (en) * | 2014-01-28 | 2014-05-14 | 北京融智利达科技有限公司 | Combined vehicle navigation system based on micro-electromechanical system (MEMS) inertial navigation |
| WO2017048779A1 (en) * | 2015-09-14 | 2017-03-23 | Red Point Positioning Corporation | Method to estimate and compensate for nlos bias in time difference of arrival estimate |
| CN105242023A (en) * | 2015-11-10 | 2016-01-13 | 四方继保（武汉）软件有限公司 | Unmanned ship achieving multi-function monitoring of water area |
| CN106525044A (en) * | 2016-10-18 | 2017-03-22 | 天津大学 | Person positioning navigation system and method of large naval ship based on ship structure chart |
| CN106960287A (en) * | 2017-04-06 | 2017-07-18 | 华电重工股份有限公司 | Offshore construction ship personnel positioning management system and method |
| CN107179420A (en) * | 2017-07-13 | 2017-09-19 | 赵辰 | A kind of use directional ultrasonic measurement ship speed through water and the method in direction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108398706A (en) | 2018-08-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112747747B (en) | Improved UWB/IMU fusion indoor pedestrian positioning method | |
| US11002824B2 (en) | Ultra-wideband assisted precise positioning system and method | |
| CN104614750B (en) | Vehicle position determination method | |
| JPS60205800A (en) | Monitoring for moveent of vehicle from central station | |
| CN106525044B (en) | The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing | |
| US20090128405A1 (en) | Method and Device for Determining the Group Position of a Mobile Object, in Particular an Aircraft on an Airport | |
| CN105390028A (en) | Correction method and system of ship sailing trajectory | |
| CN108398706B (en) | A kind of cruise dispatching management information system and its method | |
| CN108459539A (en) | Flight deck display system for executing glide-path verification procedure and method | |
| CN109084774A (en) | A kind of unmanned plane cluster localization method based on channel state information | |
| CN108337309A (en) | A kind of vehicle data management method and system | |
| CN111158036A (en) | Nacelle attitude real-time measurement, calculation and monitoring device | |
| CN104360362A (en) | Method and system for positioning observed object via aircraft | |
| CN108519581A (en) | The system and method that ship based on UWB positions in ship lock | |
| CN106093855A (en) | The navigation control method of unmanned plane and control system | |
| CN107133764A (en) | A kind of vehicle temporary scheduling system and method based on Beidou satellite navigation | |
| CN103983235A (en) | Method for measuring engineering parameters of base station antenna | |
| CN106546236B (en) | Based on architecture structure drawing from the offshore platform personnel positioning navigation system of host computer | |
| CN106441309B (en) | Mars approach section distributed freedom air navigation aid based on covariance mixing together | |
| CN108828643A (en) | A kind of indoor and outdoor seamless positioning system and method based on grey forecasting model | |
| CN105866811B (en) | A kind of double star seat localization method based on ground co-operation signal | |
| CN108732535A (en) | A kind of localization method, device and equipment | |
| CN105973223A (en) | Indoor navigation method and device thereof | |
| KR101106575B1 (en) | The apparatus of positioning of goods and the method thereof | |
| CN109996281A (en) | Signal strength test method, apparatus, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191108 Termination date: 20220123 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |