CN108489497A - It is a kind of to utilize the anti-safe navaid method hit a submerged reef of map - Google Patents
It is a kind of to utilize the anti-safe navaid method hit a submerged reef of map Download PDFInfo
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- CN108489497A CN108489497A CN201810495554.1A CN201810495554A CN108489497A CN 108489497 A CN108489497 A CN 108489497A CN 201810495554 A CN201810495554 A CN 201810495554A CN 108489497 A CN108489497 A CN 108489497A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
It is proposed by the present invention a kind of using the anti-safe navaid method hit a submerged reef of map the present invention relates to water transport traffic safety navaid technical field, first, using GNSS location technologies and water-level observation and data processing technique, realize the resolving of ship minimum point safe draft elevation；Then by the associated safety navaid element information of acquisition, judge whether that enabling depth datum height fitting equation carries out in boat correction of water level；Finally, according to the vector isobath or safe navigation security system node coordinate set of the matching retrieval of safe draft elevation, and the safe navigation boundary line that mark vector isobath and safe navigation security system are formed is shown on electronic channel chart, the warning on speech play ship and safe navigation boundary is apart from, ship bow to the warning angle with safe navigation boundary.It solves prior art, boundary caused by the lower difficult area buffering area of resolution ratio and navigable waters can not be avoided to join tomography, played the service function of navigation channel map dynamic security navaid.
Description
Technical field
The present invention relates to water transport traffic map navigation safety navaid technical field, be based on terrain match airmanship, and
In conjunction with water transport traffic navigation environment multidimensional variation, a variety of height datums the characteristics of, a kind of of proposition is hit a submerged reef using map is anti-
Safe navaid method.
Background technology
The technical functionality present situation that navigation map API (SDK) is realized：Existing navigation map API (SDK) is widely used in land route
Navigation Service is transported, due to water transport communication navigation there are fluidised form, flow velocity, than a variety of natural environments such as drop, submerged reef, wind-force, mist feelings
Factor influences, and not yet overall application vector contour map；It does not establish and floods random reef and waterway regulation building for suitable
The Storage and Management in Analysis of Underwater Terrain model of Boundary Distortion is navigated by water Deng complicated difficult channel safe and is existed based on depth datum height fitting
The water level that navigates is fitted correction model.Almost all of navigation map API (SDK) does not set foot in water transport communication navigation function technology and opens
Hair.
The research application present situation of the anti-safe navaid technology of map of hitting a submerged reef：The related safe navaid technology of electronic channel chart is ground at present
Study carefully there are two types of method, a kind of method is that difficult area buffering area based on electronic channel chart course line, navigable waters generate safe navigation
Boundary【Li Hair etc. write《Course line dynamic generation algorithm based on the Changjiang river electronic channel chart and realization》】【Yang Baocen etc. writes《It is long
The dynamic calculation model research of river electronic channel chart navigable waters》】, the formation in these face domains needs through GIS platform pre-production,
Pretreatment work amount is larger, operating procedure is more；In drop variation and the larger navigating area real-time release operation of range of stage, low point
The difficult area buffering area of resolution and navigable waters update publication cannot effectively avoid the " Qiantang bore caused by flood wave smoothization characteristic
Head " boundary joins tomography, reduces the Up-to-date state and timeliness of the anti-safe navaid that hits a submerged reef of digital map navigation.【Li Qing etc. writes《Inland river
Electronic channel chart dynamic foam line algorithm and realization》】.Another method is electronic channel chart+number navigation channel entity navigation mark setting,
This method is the digital applications of traditional artificial navigation mark setting, and the feature that relative cost is high, labor intensity is big does not have still
Change, also without the service function of performance map essence dynamic security navaid at all.
The defect of depth of water linear interpolation algorithm model：Depth of water point Linear interpolation algorithm is that the tradition of navigational datum drop is retouched
Method is stated, this method can preferably embody the Spatial Variation of water level in stable level or regular mechanical periodicity period, but
The phase is moved in bad weather condition, flood, the water-level observation data of low-density cannot reflect water level piecewise linear characteristic in real time, no
Suitable for round-the-clock in boat correction of water level.
The environmental aspect of the anti-safe navaid technology application development of map that hits a submerged reef：The anti-safe navaid technology application mould of map that hits a submerged reef
The essential requirement of type is the underwater topography elevation of ship current location less than rich safety of ship drinking water elevation, core technology
It is to measure elevation and the matched terrain match airmanship of numerical map elevation isopleth【Liu Chengxiang is write《The ground of underwater hiding-machine
Shape matches assistant positioning system research》】.Terrain match airmanship is applied to GNSS satellite signal interruption region or seabed at present
Submarine inertial navigation system navigational correction works, and grade automatic driving technology in track is risen in recent years, is navigated with terrain match
The relevant vector road assisting navigation algorithm of technology【Li Xiang etc. writes《The vector road aided inertial navigation that coarse-fine matching combines
Algorithm》】It is solved extensively.These technological achievements provide very well for the application of the anti-safe navaid technology of hitting a submerged reef of digital map navigation
Demonstration leading action.
With the emergence of multi-beam echo sounding, the high Up-to-date state underwater topography surveying ＆ mapping of airborne ALB high-resolution,
GNSS stars () base enhancing differential system application；The development of sensor technology；Ocean seamless vertical benchmark, inland waterway navigation benchmark
Face research is goed deep into【Xu Jun etc. writes《Dynamic water table guarantee in navigation》】；Underwater topography characteristic analysis method【Open firm equal volume
It writes《Landform in underwater terrain matching navigation navigational can be analyzed》】With relative water depth figure navigating area depth datum height fitting skill
Art【The writings such as Sun Jun《Surface equation solves the Application research of relative water depth correction》】Maturation.Anti- based on navigation map is hit a submerged reef
Safe navaid technology application model, will obtain accurate navigation map ambient field, accurate navigation external key elements parameter in real time and
Strict calculation processing model structure will provide reliable guarantor for the operation of the anti-safe navaid technology application model of hitting a submerged reef of digital map navigation
Barrier.
The prior art there is also defect be：1, pretreatment work amount is larger, operating procedure is more；Drop variation and
In the larger segment real-time release operation of range of stage, the difficult area buffering area of low resolution and navigable waters will be because of map rejuvenations
The sluggish of publication influences " Qiantang bore head " boundary handing-over tomography occur, reduces the Up-to-date state of the anti-safe navaid that hits a submerged reef of digital map navigation
And timeliness；2, electronic channel chart+number navigation channel entity navigation mark setting, this method are the digitlizations of traditional artificial navigation mark setting
Using the feature that relative cost is high, labor intensity is big does not change still, also without playing map essence dynamic security at all
The service function of navaid.3, bad weather condition, flood move the phase, and the prior art cannot reflect navigational datum longitudinal direction well
The morphological feature of gradient, lateral gradient, reversed gradient and turbulent convex-concave consecutive variations compound curved surface, the water-level observation of low-density
Data cannot reflect water level piecewise linear characteristic in real time, be unsuitable for round-the-clock in boat correction of water level.4, centered on stem coordinate
Direct north is the square of axis, cannot form centered on stem coordinate bow to the maximum search range square for axis.
Invention content
The anti-safe navaid method of hitting a submerged reef based on navigation map that the object of the present invention is to provide a kind of obtaining accurate lead
Boat map background field, accurate navigational parameter external in real time and the fusion of strict computation processing method, realization ship's navigation circuit
The anticollision designing technique of upper reef；It solves prior art, can not effectively avoid the lower difficult area buffering area of resolution ratio
Join tomography with boundary caused by navigable waters, has played the service function of map essence dynamic security navaid, reduced work
Intensity.
It is proposed by the present invention a kind of using the anti-safe navaid method hit a submerged reef of map, including：S1, it is controlled by system login
Module, typing course line, navigating area and ship parameter information, into S2；S2, pass through locating module and network server, acquisition ship
Current location three-dimensional coordinate, bow to and water level, into S3, S3, by data calculation module, the ship parameter information of typing, with
The ship current location three-dimensional coordinate and water level of acquisition resolve ship minimum point safe draft elevation and stem plane coordinates, into
Enter S4；S4, by correction of water level value judgment module, judge whether ship minimum point safe draft elevation needs to change in boat water level
Just, if it is desired, enter S5, if it is not needed, into S6；S5, module is resolved by matrix, using curved surface height fitting side
Journey, resolve the current minimum point safe draft elevation of ship boat correction of water level value, into S6；S6, using navigation channel space and geographical
Information database and the retrieval of terrain match technology and the matched vector isobath of the current minimum point safe draft elevation of ship and peace
Full navigation security system node coordinate set, into S7；S7, it marked by application terminal module, show or broadcast relevant information,
First, according to ship current time position and route information, and S6 is combined, vector etc. is marked on electronic channel chart application terminal
Deep line or safe navigation security system form marine operation safety boundary line；Secondly, according to ship current time position and bow to,
Resolve obtain ship at a distance from safe navigation boundary line, ship bow to the angle with safe navigation boundary line, into S8；S8、
Terminate.
The use principle of the present invention is, first, real using GNSS location technologies and water-level observation and data processing technique
The resolving of existing safe draft elevation；Then associated safety navaid element information is obtained by forms such as object marks, judges whether to enable
Depth datum height fitting equation is carried out in boat correction of water level；Finally, the vector retrieved is matched according to safe draft elevation
Isobath or safe navigation security system node coordinate set of vectors, and mark vector isobath and peace are shown on electronic channel chart
The safe navigation boundary that full navigation security system is formed, speech audio play ship and the warning distance on safe navigation boundary, ship
Bow is to the warning angle with safe navigation boundary.
The a kind of of the present invention is had the beneficial effect that using the anti-safe navaid method hit a submerged reef of map, is obtained by step S3, S6
The coordinate set of a plurality of vector contour or safe navigation security system node that match with safe draft elevation range, passes through step
The coordinate set of rapid S3, S7 segmentation mark vector contour or safe navigation security system node, it is a kind of anti-using map to meet
0.5 meter of the navigation map ambient field elevation design precision contour interval for the safe navaid method foundation hit a submerged reef, design segment maximum are fallen
Poor 10%, the Reference Design basis of 40 kilometers/hour of ship's navigation maximum speed, improves a kind of peace for utilizing map to prevent hitting a submerged reef
Sample frequency, timeliness and the Up-to-date state for the data that full navaid method obtains.By the acquisition of step S4, S5 in boat correction of water level
Value can effectively avoid relative water depth figure navigating area, bad weather condition, flood period, due to the caused safety of drop and fluctuation of water table
It navigates by water boundary and joins tomography distortion effect, improve the reliability of safe navigation supported information application.Pass through S6 underwater topography features point
The safe navigation security system that model delimited is analysed, suitable flood caused by random reef, waterway regulation building safety navigation Boundary Distortion is avoided
Safe navigation supported information mistake.Present invention design obtains beneficial technology due to fully comprehensively analyzing method operating status
Processing means.
Description of the drawings
Fig. 1 is that a kind of of the present invention utilizes the anti-safe navaid method flow diagram to hit a submerged reef of map；
Fig. 2 is a kind of soft and hardware flow chart using the anti-safe navaid method hit a submerged reef of map of the present invention；
Fig. 3 is that a kind of of the present invention is shown using the anti-safe navaid method navigation channel square range of search judgement hit a submerged reef of map
It is intended to；
Fig. 4 is that a kind of of the present invention judges stream using the anti-safe navaid method navigation channel square range of search hit a submerged reef of map
Cheng Tu；
Fig. 5 is that a kind of of the present invention enables safe draft elevation in boat water level using the anti-safe navaid method hit a submerged reef of map
Correct logic judgment flow chart；
Fig. 6 is that a kind of of the present invention enables safe navigation security system object mark category using the anti-safe navaid method hit a submerged reef of map
Property logic judgment flow chart；
Wherein：1. processor；2. application terminal module；3. system login control module；4. locating module；5. data calculation
Module；6. correction of water level value judgment module；7. matrix resolves module；8. navigation channel geo-spatial data library；10. safe navigation
Boundary line；11. network server.
Specific implementation mode
The a kind of of the present invention is made using the anti-safe navaid method hit a submerged reef of map in the following with reference to the drawings and specific embodiments
Further instruction.
In order to make the goal of the invention of the present invention, technical solution be more clear, we illustrate one kind by taking navigation map API as an example
Utilize the anti-safe navaid method structure design hit a submerged reef of map.
1, system login control module writes organization flow navigator fix and the data processing interaction of responsible system using C++
Work, responsible ship have the input of related parameter and the acquisition of GNSS receiver data, acquisition Online release current leg water level,
The navigation channels element such as depth datum fitting parameter and the interaction process of intermediate data calculate.
2, matrix is resolved module and is worked out using MATLAB, and height fitting surface equation is compiled as DLL dynamic link libraries
It is responsible for the resolving of comparatively safe drinking water height fitting and navigational datum height fitting parameter.
3, application terminal is responsible for resolving, the inspection of the external square of minimum search circle using the establishment of JavaScript engine module
Rope safe draft elevation match underwater topography elevation vector isobath, safe navigation security system node coordinate vector data set and
The judgement of current leg depth datum correlation water gauge, water level information, depth datum fitting parameter and intersecting ranges；Mark is anti-
It hits a submerged reef safe navaid early warning boundary and security warning distance, security warning course is broadcast.
It is proposed by the present invention a kind of using the anti-safe navaid method hit a submerged reef of map, including：S1, it is controlled by system login
Module 3, typing course line, navigating area and ship parameter information, into S2；S2, pass through locating module 4 and network module 11, acquisition vessel
Oceangoing ship current location three-dimensional coordinate, bow to and water level, into S3, S3, by data calculation module 5, the ship parameter information of typing,
With the ship current location three-dimensional coordinate and water level of acquisition, ship minimum point safe draft elevation and stem plane coordinates are resolved,
Into S4；S4, by correction of water level value judgment module 6, judge whether ship minimum point safe draft elevation needs in boat water level
Correction, if it is desired, enter S5, if it is not needed, into S6；S5, module 7 is resolved by matrix, using curved surface height fitting
Equation, resolve the current minimum point safe draft elevation of ship boat correction of water level value, into S6；S6, using navigation channel spatially
Manage information database 8 and terrain match technology retrieval with the matched vector isobath of the current minimum point safe draft elevation of ship and
Safe navigation security system node coordinate set, into S7；S7, it marked by application terminal module 2, show or broadcast related letter
Breath according to ship current time position and route information, and combines S6, vector isobath is marked on electronic channel chart first
Or safe navigation security system, form marine operation safety boundary line；Secondly, according to ship current time position and bow to resolving
Obtain ship at a distance from safe navigation boundary line, ship bow to the angle with safe navigation boundary line, into S8；S8, end.
Use principle：First, using GNSS location technologies and water-level observation and data processing technique, realize that safe draft is high
The resolving of journey；Then relevant factor information is obtained by forms such as object marks, judges whether to enable depth datum height fitting side
Cheng Jinhang is in boat correction of water level；Finally, the vector contour retrieved or safe navigation guarantee are matched according to safe draft elevation
Line node coordinate set, and show that the ship that mark vector isobath and safe navigation security system are formed is pacified on electronic channel chart
Full navigation boundary line, speech audio play ship at a distance from safe navigation boundary line 10, ship bow to safe navigation boundary
The angle of line 10.
It has the beneficial effect that：The a plurality of vector contour for obtaining matching with safe draft elevation range by step S3, S6
Or the coordinate set of safe navigation security system node, mark vector contour or safe navigation guarantee are segmented by step S3, S7
The coordinate set of line node is high to meet a kind of navigation map ambient field using the anti-safe navaid method foundation hit a submerged reef of map
0.5 meter of journey design accuracy contour interval designs the reference of segment maximum drop 10%, 40 kilometers/hour of ship's navigation maximum speed
Design basis, improve a kind of sample frequency of the data obtained using the anti-safe navaid method hit a submerged reef of map, timeliness and
Up-to-date state.By what step S4, S5 obtained relative water depth figure navigating area, terrible weather item can be effectively avoided in boat correction of water level value
Part, flood period improve safety and help since the caused safe navigation boundary of drop and fluctuation of water table joins tomography distortion effect
The reliability of boat Information application.The safe navigation security system delimited by S6 underwater topography Characteristic Analysis Models avoids fitting and floods unrest
Safe navigation supported information mistake caused by reef, waterway regulation building safety navigation Boundary Distortion.Present invention design is due to fully complete
Face analyzes method operating status, obtains beneficial technical finesse means.
Wherein S3：Ship minimum point safe draft elevation, stem coordinate reduction mathematical model and ship type coordinate use logic
Judgment models obtain ship minimum safe drinking water elevation and stem coordinate；
XStem=XGNSS+DShip type×cos(αCourse-αShip type)
YStem=YGNSS+DShip type×sin(αCourse-αShip type)
HSafe draft elevation=HGNSS-hAntenna-hDrinking waterOr HSafe draft elevation=HWater level-hDrinking water
Advantageous effect：It can obtain ship minimum point by ship current location water level and GNSS three-dimensional coordinates and eat safely
Water elevation；By Reasonable Arrangement GNSS antenna, ship type coordinate is excluded in the anti-safe navaid technology application model of map of hitting a submerged reef
Operation improves model calculation processing efficiency.
S4 judges ship current flight navigating area, ship minimum point safety according to navigating area information, weather information and water level information
Whether drinking water elevation needs in boat correction of water level.Purpose simplifies operation minimum point safe draft elevation, improves a kind of entire utilization
The operational efficiency of the anti-safe navaid method hit a submerged reef of map.
S5 obtains depth datum fitting parameter according to depth datum fitting parameter partition information；Enable surface equation
Height fitting algorithm model, resolve the current minimum point safe draft elevation of ship boat correction of water level value.In conjunction with step S4 energy
It realizes that bad weather condition and flood level change and obtains the current minimum point safe draft elevation of ship under period navigation environment
In boat correction of water level value, a kind of round-the-clock application using the anti-safe navaid method hit a submerged reef of map is realized.
Safe draft elevation is in the navigating area information that boat correction of water level model is according to setting, depth datum fitting parameter point
Area judges, obtains the depth datum fitting parameter and water level information of subregion publication online；Surface equation height fitting is enabled to calculate
Ship is currently navigated position safe draft elevation with physics approach fit approach, is resolved based on depth datum in boat by method model
Comparatively safe drinking water height fitting corrected value.In boat correction of water level fit mathematics model：
G (x, y)=b0+b1x+b2y+b3x2+b4y2+b5xy
Parameter b0、b1、b2、b3、b4、b5Pass through principle of least square method VTPV=min is resolved.
Assuming that fitting points are n, error equation can be obtained by quadratic polynomial equation：
g1+v1=b0+b1x1+b2y1+b3x1 2+b4y1 2+b5x1y1
g2+v2=b0+b1x2+b2y2+b3x2 2+b4y2 2+b5x2y2
………………….
gn+vn=b0+b1xn+b2yn+b3xn 2+b4yn 2+b5xnyn
Error equation is：
V=BX-L
Wherein V=[v1、v2….vn]T
X=[b0b1b2b3b4b5]T
L=[g1 g2……. gn]T
According to least square method, the solution of equation is obtained：
X=- (BTB)-1BTL
Table 1
| Project category | Error (u) in fitting | Maximum residul difference (v) |
| Basal plane fitting parameter | ± 0.009 meter | 0.016 meter |
Navigational datum height fitting parameter testing precision statistics in 2014；
Table 2
| Divide reel number | Survey elevation | Basal plane elevation | Correct the depth of water | It is fitted the depth of water | It is maximum poor |
| S1 | 157.421 rice | 161.9 rice | 4.54 rice | 4.48 rice | 0.06 meter |
| S2 | 161.647 rice | 162.0 rice | 0.42 meter | 0.35 meter | 0.07 meter |
| S3 | 160.173 rice | 162.1 rice | 2.02 rice | 1.93 rice | 0.09 meter |
Quadratic Surface Equation height fitting and point maximum poor statistics of band relative water depth correction achievement.
S6, to data application algorithm model, establishes minimum external search circle square according to stem coordinate and bow；According to ship
The oceangoing ship right vertex angle of direction of advance square encloses logic judgment with diagonal, determines that ship is currently minimum in square aearch region
The matched vector isobath of point safe draft elevation and safe navigation security system node coordinate set.The anti-safe navaid of map that hits a submerged reef
Technology application model resolves model using positioning bow to data application, 1., is formationed stem coordinate be the center of circle, bow to azimuth orientation
Minimum external search circle square aearch model, 2., using the round square right vertex both sides of the minimum external search of direction of advance
Angle with it is diagonal combine judge intersecting ranges logical process model, maximize and retrieve the ship current safety drinking water matched water of elevation
Lower landform altitude isopleth, safe navigation security system phasor coordinate set and associated depth reference plane fitting parameter, water level information.
The minimum external square Coordinate Computational Mathematics Model of search circle of 2 kilometer radius：
X(i=a, d)=XStem+2000÷cos45°×cos(αCourse±45°)
Y(i=a, d)=YStem+2000÷sin45°×sin(αCourse±45°)
X(i=b, c)=XStem+2000÷cos45°×cos(αCourse±180°±45°)
Y(i=b, c)=YStem+2000÷sin45°×sin(αCourse±180°±45°)
Safe navigation security system described in S6 delimited according to underwater topography Characteristic Analysis Model for complicated difficult segment
Navigate by water waters and hinder boat waters vector boundary line, determine it by obtaining its node coordinate set and correlation attribute information
This season operating water level range, preferential operation definition, solve bridge, fit and flood the emphasis segments such as random reef, waterway regulation building, safety
Navigation channel boundary, security warning distance, security warning course distortion phenomenon are navigated by water, realizes its safe navigation guaranteeing role, it is ensured that ship
Oceangoing ship safety difficult area domain difficulty navigation channel.Underwater topography Characteristic Analysis Model：
ρ=σ+γφsinθ+γλcosθ
Being navigated by verification, coefficient ρ is bigger, and terrain roughness is bigger, and earth's surface is broken, the easier mistake in safe navigation boundary line
Very.When the safe navigation security system delimited by ρ values meet DEM resolution ratio determination limiting value, can solve navigable waters with
Difficult area domain safe navigation boundary line.
S7 can retrieve the matched underwater topography vector isobath of a plurality of different safe draft elevations, peace according to route information
Full navigation security system node coordinate set, and elevation segmentation mark is absorbed water according to ship current safety and broadcasts the anti-safe navaid that hits a submerged reef
Warn boundary, warning distance, warning course information.Advantageous effect：The anti-safe navaid technology application process of map that hits a submerged reef uses one
The matched underwater topography elevation equivalence line method of the secondary a plurality of different safe draft elevations of retrieval, and absorbed water according to ship current safety
The microcirculation Interactive Design on elevation segmentation mark safe navigation navigation channel boundary, improves the anti-safe navaid technology application of map of hitting a submerged reef
Model sample frequency improves the anti-safe navaid technology application model dynamic operation precision of map of hitting a submerged reef.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, those skilled in the art is come
It says, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention
Protection domain within.
Claims (6)
1. a kind of utilizing the anti-safe navaid method hit a submerged reef of map, which is characterized in that including：S1, mould is controlled by system login
Block, typing course line, navigating area and ship parameter information, into S2；S2, by locating module and network server, acquisition ship is worked as
Front position three-dimensional coordinate, bow to and water level, into S3, S3, by data calculation module, the ship parameter information of typing and is adopted
The ship current location three-dimensional coordinate and water level of collection resolve ship minimum point safe draft elevation and stem plane coordinates, enter
S4；S4, by correction of water level value judgment module, judge whether ship minimum point safe draft elevation needs in boat correction of water level,
If desired, into S5, if it is not needed, into S6；S5, module is resolved by matrix, using curved surface height fitting equation, solution
Calculate the current minimum point safe draft elevation of ship boat correction of water level value, into S6；S6, using navigation channel spatial geographic information number
According to library and the retrieval of terrain match technology and the matched vector isobath of the current minimum point safe draft elevation of ship and safe navigation
Security system node coordinate set, into S7；S7, it marked by application terminal module, show or broadcast relevant information, first,
According to ship current time position and route information, and S6 is combined, vector isobath is marked on electronic channel chart application terminal
Or safe navigation security system, form marine operation safety boundary line；Secondly, according to ship current time position and bow to resolving
Obtain ship at a distance from safe navigation boundary line, ship bow to the angle with safe navigation boundary line, into S8；S8, end.
2. a kind of safe navaid method for utilizing map to prevent hitting a submerged reef as described in claim 1, it is characterised in that：S4 is according to navigating area
Information, weather information and water level information, judge whether ship current flight navigating area, ship minimum point safe draft elevation need
Navigate correction of water level.
3. a kind of safe navaid method for utilizing map to prevent hitting a submerged reef as described in claim 1, it is characterised in that：S5 is according to depth
Reference plane fitting parameter partition information obtains depth datum fitting parameter；Enable surface equation height fitting algorithm model, solution
Calculate the current minimum point safe draft elevation of ship boat correction of water level value.
4. a kind of safe navaid method for utilizing map to prevent hitting a submerged reef as described in claim 1, it is characterised in that：S6 is according to stem
Coordinate and bow establish minimum external search circle square to data application algorithm model；It is right according to ship direction of advance square
Vertex angle encloses logic judgment with diagonal, determines the current minimum point safe draft elevation matching of ship in square aearch region
Vector isobath and safe navigation security system node coordinate set.
5. a kind of safe navaid method for utilizing map to prevent hitting a submerged reef as described in claim 1, it is characterised in that：Peace described in S6
Navigation security system is for complicated difficult segment entirely, and what foundation underwater topography Characteristic Analysis Model was delimited navigate by water waters and hinder boat
The vector boundary line in waters, by obtain its node coordinate set and correlation attribute information determine its this season operating water level range,
Preferential operation definition, realizes its safe navigation guaranteeing role.
6. a kind of safe navaid method for utilizing map to prevent hitting a submerged reef as described in claim 1, it is characterised in that：S7 can be according to boat
Line information retrieves the matched underwater topography vector isobath of a plurality of different safe draft elevations, safe navigation security system node is sat
Mark set, and according to ship current safety absorb water elevation segmentation mark broadcast anti-safe navaid warning boundary of hitting a submerged reef, warning distance,
Warn course information.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866885A (en) * | 2019-04-12 | 2019-06-11 | 北京虹湾威鹏信息技术有限公司 | A kind of unmanned boat is prevented stranded with relevant method of relying on oneself |
| CN111414442A (en) * | 2020-01-08 | 2020-07-14 | 重庆大学 | Navigation mark position checking method based on navigation channel topographic map and water level data |
| US20200369351A1 (en) * | 2019-05-24 | 2020-11-26 | Garmin Switzerland Gmbh | Marine docking and object awareness system |
| CN116151625A (en) * | 2023-03-02 | 2023-05-23 | 海南师范大学 | Marine ship risk assessment method based on big data analysis |
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| CN104729486A (en) * | 2015-03-16 | 2015-06-24 | 东南大学 | Bathymetric surveying method without tide observation based on quasigeoid refinement |
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| CN110136487A (en) * | 2018-02-02 | 2019-08-16 | 孙军 | The anti-safe navaid technical application model that hits a submerged reef of digital map navigation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109866885A (en) * | 2019-04-12 | 2019-06-11 | 北京虹湾威鹏信息技术有限公司 | A kind of unmanned boat is prevented stranded with relevant method of relying on oneself |
| US20200369351A1 (en) * | 2019-05-24 | 2020-11-26 | Garmin Switzerland Gmbh | Marine docking and object awareness system |
| CN111414442A (en) * | 2020-01-08 | 2020-07-14 | 重庆大学 | Navigation mark position checking method based on navigation channel topographic map and water level data |
| CN116151625A (en) * | 2023-03-02 | 2023-05-23 | 海南师范大学 | Marine ship risk assessment method based on big data analysis |
| CN116151625B (en) * | 2023-03-02 | 2023-08-29 | 海南师范大学 | Marine ship risk assessment method based on big data analysis |
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